CN102147046A - Two-freedom parallel mechanism capable of rotating and decoupling - Google Patents
Two-freedom parallel mechanism capable of rotating and decoupling Download PDFInfo
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- CN102147046A CN102147046A CN201110051877XA CN201110051877A CN102147046A CN 102147046 A CN102147046 A CN 102147046A CN 201110051877X A CN201110051877X A CN 201110051877XA CN 201110051877 A CN201110051877 A CN 201110051877A CN 102147046 A CN102147046 A CN 102147046A
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Abstract
The invention discloses a two-freedom parallel mechanism capable of rotating and decoupling. The mechanism mainly comprises a fixed base, a moving platform and two branches connecting the fixed base and the moving platform, wherein one branch and a kinematic pair connected with the moving platform and the fixed base are rotation pairs; two connecting rods one ends of which are provided with the rotation pairs are connected through a moving pair, and the moving direction of the moving pairs is vertical to the axis of the two rotation pairs in the branch; the other branch and the moving pair connected with the moving platform are hook joints, the other branch and the moving pair connected with the fixed base are rotation pairs, and the hook joint and the rotation pair are connected through a connecting rod; the two branches are in parallel with axes of two rotation pairs connected with the fixed base, and are also in parallel with an axis in the hook joints; and the other axis of the hook joints is collinear with the axis of the rotation pair of the other branch connected with the moving platform. According to the invention, because two rotations of the moving platform are completely decoupling, the performance is excellent, the working space is enlarged, the mechanism is easy to control, and is simple and convenient to calibrate.
Description
Technical fieldThe present invention relates to mechanical field, particularly paralleling mechanism is learned.
Background techniqueSince the last century the eighties, paralleling mechanism obtains to use very widely at industry fields such as virtual-shaft machine tool, fine motion operating table, various motion simulator and power and torque transducers because of characteristics such as it has the rigidity height, bearing capacity is big, cumulative error is little, dynamic characteristic is good, compact structures.With respect to serial mechanism, the paralleling mechanism working space is little, has strong coupling between the motion, and the control difficulty is bigger.
Summary of the inventionThe object of the present invention is to provide that a kind of mechanism is simple, working space is big, be easy to control, demarcate the two-degree-of-freedom parallel mechanism that rotates decoupling zero easily.The present invention mainly comprises fixed pedestal, moving platform and is connected and fixed pedestal and two branches of moving platform.One end of two branches all is connected with fixed pedestal, and the other end all is connected with moving platform.One of them branch forms by three kinematic pair with two connecting rods that they connect together, promptly be revolute pair with the kinematic pair that moving platform links to each other with fixed pedestal, two connecting rods that one end is provided with revolute pair are connected by sliding pair, the axis normal of two revolute pairs in the moving direction of sliding pair and this branch; Another branch is made up of two kinematic pair and a connecting rod, and the kinematic pair that links to each other with moving platform is a Hooke's hinge, and the kinematic pair that links to each other with fixed pedestal is a revolute pair, and Hooke's hinge is connected by connecting rod with revolute pair.Two revolute pair axis that above-mentioned two branches link to each other with fixed pedestal are parallel to each other, and also parallel with an axis in the Hooke's hinge; An other axis of this Hooke's hinge and the axis conllinear of another branch's revolute pair that links to each other with moving platform.Moving platform of the present invention has two independent rotation degrees of freedom, and these two are rotated decoupling zero each other, the kinology function admirable.
The present invention compared with prior art has following advantage: because two rotation of moving platform are full decoupled, so function admirable, flexibility height, working space enlarges, and is easy to control, demarcation is easy.The present invention can be applicable to telescope, photographic camera, positioner, radar tracking, solar panel, missile launcher, gun laying positioning equipment etc.
Description of drawings
Fig. 1 is a schematic perspective view of the present invention.
Embodiment
In a kind of two-degree-of-freedom parallel mechanism schematic perspective view that rotates decoupling zero shown in Figure 1, an end of two branches all is connected with fixed pedestal 1, and the other end is connected with moving platform 7.One of them branch forms by three kinematic pair with two connecting rods that they connect together, promptly the kinematic pair that links to each other with moving platform is a revolute pair 6, the kinematic pair that links to each other with fixed pedestal is a revolute pair 2, the connecting rod 3 that one end is provided with revolute pair is connected by sliding pair 4 with connecting rod 5, the axis normal of two revolute pairs in the moving direction of sliding pair and this branch; Another branch is made up of two kinematic pair and a connecting rod, and the kinematic pair that links to each other with moving platform is a Hooke's hinge 8, and the kinematic pair that links to each other with fixed pedestal is a revolute pair 10, and Hooke's hinge is connected by forked link 9 with revolute pair.Two revolute pair axis that above-mentioned two branches link to each other with fixed pedestal are parallel to each other, and also parallel with an axis in the Hooke's hinge; An other axis of this Hooke's hinge and the axis conllinear of another branch's revolute pair that links to each other with moving platform.
Claims (1)
1. two-degree-of-freedom parallel mechanism that rotates decoupling zero, comprise fixed pedestal, moving platform and two branches that they are linked together, it is characterized in that: an end of these two branches all is connected with fixed pedestal, the other end all is connected with moving platform, one of them branch forms by three kinematic pair with two connecting rods that they connect together, with the kinematic pair that moving platform links to each other with fixed pedestal is revolute pair, two connecting rods that one end is provided with revolute pair are connected by sliding pair, the axis normal of two revolute pairs in the moving direction of sliding pair and this branch; Another branch is made up of two kinematic pair and a connecting rod, the kinematic pair that links to each other with moving platform is a Hooke's hinge, the kinematic pair that links to each other with fixed pedestal is a revolute pair, Hooke's hinge is connected by connecting rod with revolute pair, two revolute pair axis that above-mentioned two branches link to each other with fixed pedestal are parallel to each other, and also parallel with an axis in the Hooke's hinge; An other axis of this Hooke's hinge and the axis conllinear of another branch's revolute pair that links to each other with moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110051877XA CN102147046B (en) | 2011-03-04 | 2011-03-04 | Two-freedom parallel mechanism capable of rotating and decoupling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110051877XA CN102147046B (en) | 2011-03-04 | 2011-03-04 | Two-freedom parallel mechanism capable of rotating and decoupling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102147046A true CN102147046A (en) | 2011-08-10 |
| CN102147046B CN102147046B (en) | 2012-11-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110051877XA Expired - Fee Related CN102147046B (en) | 2011-03-04 | 2011-03-04 | Two-freedom parallel mechanism capable of rotating and decoupling |
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| CN (1) | CN102147046B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN107131406A (en) * | 2017-05-19 | 2017-09-05 | 哈尔滨工业大学 | A kind of two-degree-of-freedoparallel parallel camera directing mechanism |
| CN108161901A (en) * | 2017-12-27 | 2018-06-15 | 中国地质大学（武汉） | A kind of two turns of parallel institutions with high deflection capacity |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10138177A (en) * | 1996-11-01 | 1998-05-26 | Agency Of Ind Science & Technol | Three-freedom micromanipulator |
| JPH10329078A (en) * | 1997-06-02 | 1998-12-15 | Ricoh Co Ltd | Parallel link manipulator device |
| EP0868255B1 (en) * | 1995-12-20 | 1999-09-08 | Alexander Konrad Wiegand | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101863131A (en) * | 2010-05-21 | 2010-10-20 | 清华大学 | Redundant driving main transmission device of mechanical servo numerical control turret punching machine |
-
2011
- 2011-03-04 CN CN201110051877XA patent/CN102147046B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0868255B1 (en) * | 1995-12-20 | 1999-09-08 | Alexander Konrad Wiegand | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| JPH10138177A (en) * | 1996-11-01 | 1998-05-26 | Agency Of Ind Science & Technol | Three-freedom micromanipulator |
| JPH10329078A (en) * | 1997-06-02 | 1998-12-15 | Ricoh Co Ltd | Parallel link manipulator device |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101863131A (en) * | 2010-05-21 | 2010-10-20 | 清华大学 | Redundant driving main transmission device of mechanical servo numerical control turret punching machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN103624559B (en) * | 2013-11-25 | 2016-05-04 | 燕山大学 | A kind of two rotate full decoupled parallel institution |
| CN107131406A (en) * | 2017-05-19 | 2017-09-05 | 哈尔滨工业大学 | A kind of two-degree-of-freedoparallel parallel camera directing mechanism |
| CN108161901A (en) * | 2017-12-27 | 2018-06-15 | 中国地质大学（武汉） | A kind of two turns of parallel institutions with high deflection capacity |
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| Publication number | Publication date |
|---|---|
| CN102147046B (en) | 2012-11-21 |
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