CN101863021A - Two-degree-of-freedom parallel mechanism of plane polar coordinate - Google Patents
Two-degree-of-freedom parallel mechanism of plane polar coordinate Download PDFInfo
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- CN101863021A CN101863021A CN 201010198854 CN201010198854A CN101863021A CN 101863021 A CN101863021 A CN 101863021A CN 201010198854 CN201010198854 CN 201010198854 CN 201010198854 A CN201010198854 A CN 201010198854A CN 101863021 A CN101863021 A CN 101863021A
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- rod member
- degree
- motion platform
- parallel mechanism
- sliding sleeve
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Abstract
The invention relates to a two-degree-of-freedom parallel mechanism of a plane polar coordinate, which is characterized by comprising a fixed platform, wherein two ends of the fixed platform are fixedly connected with a swing motor respectively; output shafts of the two swing motors are fixedly connected with a first member bar respectively; the other ends of the two first member bars are connected with a second member bar respectively; the other ends of the two second member bars are connected with two ends of a same motion platform respectively; a connecting rod is hinged on the middle part of the fixed platform; the middle part of the motion platform is fixedly connected with a sliding bush; and the other end of the connecting rod is penetrated in the sliding bush. The two-degree-of-freedom parallel mechanism uses the connecting rod to limit the orientation of the motion platform on the basis of a closed-loop kinematical chain so as to realize the two-degree-of-freedom motion of the motion platform under a polar coordinate system. The two-degree-of-freedom parallel mechanism can be widely applied to two-degree-of-freedom motion occasions of various plane polar coordinates.
Description
Technical field
The present invention relates to the two-degree-of-freedom parallel mechanism in a kind of Robotics field, particularly about a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate.
Background technology
Parallel institution is meant the closed loop moving system that is made of a plurality of parallel kinematic chains, and mechanism has two above frees degree, drives by parallel way.Parallel institution has load weight than big, and accumulated error is little, and the precision height is easy to motor is placed on the pedestal, alleviates movement load, the movement velocity height, and inverse kinematics is found the solution advantages such as convenient.In recent years, because that the lower-mobility parallel institution has is simple in structure, advantage such as it is lower to design, make, control cost has been used to fields such as medical surgical equipment, motion simulation, machine-building, automation assembling, Precision Machining measurement, microelectronics manufacturing.
The flat lower-mobility parallel institution has had some selections now, such as: the patent No. is: the patent of invention of CN200310112572.0, disclose a kind of two-degree-of-freedom plane parallel robot mechanism, it can realize that motion platform is planar along the translational motion of level and vertical direction.But in some occasions that needs the polar coordinates operation, there are some restrictions in the application of said mechanism: such as: 1, need rotate the motion that just can convert under the polar coordinates, increase the complexity of system, reduce precision in increase in the motion of motion platform; 2, the working space utilization rate is low or the like.And in the prior art, also few based on polar flat lower-mobility parallel institution.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of be easy to realize in the plane two-freedom at a high speed, high-precision motion, and this motion is easy to the two-degree-of-freedom parallel mechanism of plane polar coordinate represented by the polar coordinate system on the fixed platform.
For achieving the above object, the present invention takes following technical scheme: a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: it comprises a fixed platform, the fixedly connected respectively swing motor in described fixed platform two ends, fixedly connected one first rod member of difference on the output shaft of two described swing motors, the other end of two described first rod members connects one second rod member respectively, the other end of two described second rod members is connected to the two ends of same motion platform, described fixed platform middle part is hinged with a connecting rod, the fixedly connected sliding sleeve in the middle part of described motion platform, the other end of described connecting rod is located in the described sliding sleeve.
Each described first rod member and each described second rod member are by being articulated and connected.
Each described first rod member is located in the rod member sliding sleeve, and each described rod member sliding sleeve is fixedly connected on the end of each described second rod member.
One described first rod member is connected with described second rod member by hinge, and another described first rod member is located in the rod member sliding sleeve, and described rod member sliding sleeve is fixedly connected on the end of another described second rod member.
One end of each described second rod member and described motion platform is connected through the hinge.
Each described second rod member is located in the motion platform sliding sleeve, and two described motion platform sliding sleeves are fixedly connected on the two ends of described motion platform.
One end of one described second rod member and described motion platform is connected through the hinge, and another described second rod member is located in the motion platform sliding sleeve, and described motion platform sliding sleeve is fixedly connected on the other end of described motion platform.
The length of two described first rod members that correspondence position is provided with is identical or different.
The length of two described second rod members that correspondence position is provided with is identical or different.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, therefore the present invention can be implemented in the two-freedom motion under the polar coordinate system owing to utilize the orientation of connecting rod constrained motion platform on the basis of closed loop moving chain.2, the present invention make the motion platform quality less, so the movement load weight ratio is big because drive motors is arranged on the fixed platform, and speed is fast, the precision height, and accumulated error is little.3, the present invention is owing to adopt rod member as moving component, and therefore simple in structure, cost is low.The present invention can be widely used in the various plane polar coordinates two-freedom motion occasions that need to realize.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is the embodiment of the invention 2 structural representations
Fig. 3 is the embodiment of the invention 3 structural representations
Fig. 4 is the embodiment of the invention 4 structural representations
The specific embodiment
Be described in detail of the present invention below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Figure 1, the present invention includes a fixed platform 1, the fixedly connected respectively swing motor 2 in fixed platform 1 two ends, fixedly connected one first rod member 3 of difference on the output shaft of two swing motors 2, the other end of two first rod members 3 connects one second rod member 5 by a hinge 4 respectively, the other end of two second rod members 5 connects the two ends of same motion platform 7 respectively by a hinge 6, be hinged with a connecting rod 8 at fixed platform 1 middle part, be fixedly connected with a sliding sleeve 9 at the middle part of motion platform 7, the other end of connecting rod 8 is located in the sliding sleeve 9, and then forms the closed loop moving chain of a two-degree-of-freedom parallel mechanism of plane polar coordinate.
During the present embodiment operation, have two swing motors 2 identical or that rotating speed is different and drive 3 rotations of one first rod member respectively, one end of two second rod members 5 rotates with respect to two first rod members 3 when rotating with two first rod members 3 under the effect of hinge 4 separately, motion platform 7 is under the acting in conjunction of two second rod members 5 and connecting rod 8, move i.e. motion platform 7 output plane polar coordinates motion along connecting rod 8 axis are upper and lower in the time of with connecting rod 8 swings.
Embodiment 2:
As shown in Figure 2, the difference of present embodiment and embodiment 1 is to change the hinge 4 between each first rod member 3 and second rod member 5 into a rod member sliding sleeve 10, the outer wall of each rod member sliding sleeve 10 is fixedly connected on an end of one second rod member 5, and each first rod member 3 is located in the corresponding rod member sliding sleeve 10.
During the present embodiment operation, two swing motors 2 with identical or different rotating speed drive one first rod member 3 respectively and rotate, one end of two second rod members 5 moves along two first rod members, 3 axis are upper and lower when rotating with two first rod members 3 under the effect of rod member sliding sleeve 10, motion platform 7 is under the acting in conjunction of two second rod members 5 and connecting rod 8, move i.e. motion platform 7 output plane polar coordinates motion along connecting rod 8 axis are upper and lower in the time of with connecting rod 8 swings.
Embodiment 3:
As shown in Figure 3, present embodiment is all different with embodiment 1 and embodiment 2, and difference is between two first rod members and second rod member, and one is adopted hinge 4 to connect, and one is adopted rod member sliding sleeve 10 to connect.
During the present embodiment operation, the motion of second rod member 5 of connection hinge 4 one sides is identical with embodiment 1, the motion of second rod member 5 of connection rod member sliding sleeve 10 1 sides is identical with embodiment 2, motion platform 7 is under the acting in conjunction of two second rod members 5 and connecting rod 8, move i.e. motion platform 7 output plane polar coordinates motion along connecting rod 8 axis are upper and lower in the time of with connecting rod 8 swings.
Embodiment 4:
As shown in Figure 4, present embodiment and the difference of embodiment 1 are being connected each second rod member 5 and motion platform 7 one ends, change motion platform sliding sleeve 11 into by hinge 6, the outer wall of each motion platform sliding sleeve 11 is fixedly connected on an end of motion platform 7 respectively, and each second rod member 5 is located in the corresponding motion platform sliding sleeve 11.
During the present embodiment operation, two swing motors 2 with identical or different rotating speed drive one first rod member 3 respectively and rotate, one end of two second rod members 5 rotates with respect to two first rod members 3 when rotating with two first rod members 3 under the effect of motion platform sliding sleeve 11, motion platform 7 is under the acting in conjunction of motion platform sliding sleeve 11 that is connected with two second rod members 5 and connecting rod 8, move i.e. motion platform 7 output plane polar coordinates motion along connecting rod 8 axis are upper and lower in the time of with connecting rod 8 swings.
The various embodiments described above only are used to illustrate the present invention, and wherein the structure of each parts, connected mode etc. all can change to some extent, such as: the connected mode of first rod member 3 and second rod member 4 in the foregoing description 2 and 3 can be used among the embodiment 4; Again such as: two second rod members 5 also can use hinge 6 by an end with the connected mode at motion platform 7 two ends among the embodiment 4, and the other end uses the mode of motion platform sliding sleeve 11.Every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (9)
1. two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: it comprises a fixed platform, the fixedly connected respectively swing motor in described fixed platform two ends, fixedly connected one first rod member of difference on the output shaft of two described swing motors, the other end of two described first rod members connects one second rod member respectively, the other end of two described second rod members is connected to the two ends of same motion platform, described fixed platform middle part is hinged with a connecting rod, the fixedly connected sliding sleeve in the middle part of described motion platform, the other end of described connecting rod is located in the described sliding sleeve.
2. a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as claimed in claim 1 is characterized in that: each described first rod member and each described second rod member are by being articulated and connected.
3. a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as claimed in claim 1 is characterized in that: each described first rod member is located in the rod member sliding sleeve, and each described rod member sliding sleeve is fixedly connected on the end of each described second rod member.
4. a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as claimed in claim 1, it is characterized in that: described first rod member is connected with described second rod member by hinge, another described first rod member is located in the rod member sliding sleeve, and described rod member sliding sleeve is fixedly connected on the end of another described second rod member.
5. as claim 1 or 2 or 3 or 4 described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: an end of each described second rod member and described motion platform is connected through the hinge.
6. require 1 or 2 or 3 or 4 described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as power, it is characterized in that: each described second rod member is located in the motion platform sliding sleeve, and two described motion platform sliding sleeves are fixedly connected on the two ends of described motion platform.
7. as claim 1 or 2 or 3 or 4 described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: an end of described second rod member and described motion platform is connected through the hinge, another described second rod member is located in the motion platform sliding sleeve, and described motion platform sliding sleeve is fixedly connected on the other end of described motion platform.
8. as claim 1 or 2 or 3 or 4 or 5 or 6 or 7 each described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: the length of two described first rod members that correspondence position is provided with is identical or different.
9. as claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 each described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: the length of two described second rod members that correspondence position is provided with is identical or different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010198854 CN101863021A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010198854 CN101863021A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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| CN101863021A true CN101863021A (en) | 2010-10-20 |
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| CN 201010198854 Pending CN101863021A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353773A (en) * | 2015-11-20 | 2016-02-24 | 清华大学 | Biped robot walking non-single period gait control method |
| CN107398925A (en) * | 2017-08-28 | 2017-11-28 | 燕山大学 | A kind of planar linkage telecontrol equipment |
| CN108706465A (en) * | 2018-06-12 | 2018-10-26 | 武汉理工大学 | A kind of double chain type crane |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11303419A (en) * | 1998-04-21 | 1999-11-02 | Mitsui Miike Mach Co Ltd | Cutting device for structure surface |
| CN1628939A (en) * | 2003-12-16 | 2005-06-22 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN200981236Y (en) * | 2006-10-25 | 2007-11-28 | 哈尔滨工程大学 | Two freedoms spatial parallel mechanism |
-
2010
- 2010-06-04 CN CN 201010198854 patent/CN101863021A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11303419A (en) * | 1998-04-21 | 1999-11-02 | Mitsui Miike Mach Co Ltd | Cutting device for structure surface |
| CN1628939A (en) * | 2003-12-16 | 2005-06-22 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN200981236Y (en) * | 2006-10-25 | 2007-11-28 | 哈尔滨工程大学 | Two freedoms spatial parallel mechanism |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353773A (en) * | 2015-11-20 | 2016-02-24 | 清华大学 | Biped robot walking non-single period gait control method |
| CN107398925A (en) * | 2017-08-28 | 2017-11-28 | 燕山大学 | A kind of planar linkage telecontrol equipment |
| CN108706465A (en) * | 2018-06-12 | 2018-10-26 | 武汉理工大学 | A kind of double chain type crane |
| CN108706465B (en) * | 2018-06-12 | 2020-08-04 | 武汉理工大学 | Double-chain type crane |
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Open date: 20101020 |