CN102357881A - Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains - Google Patents
Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains Download PDFInfo
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- CN102357881A CN102357881A CN2011102834517A CN201110283451A CN102357881A CN 102357881 A CN102357881 A CN 102357881A CN 2011102834517 A CN2011102834517 A CN 2011102834517A CN 201110283451 A CN201110283451 A CN 201110283451A CN 102357881 A CN102357881 A CN 102357881A
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Abstract
The invention discloses a three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains. The mechanism comprises a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an execution mechanism sub-chain, wherein the first five-bar mechanism closed-loop sub-chain and the second five-bar mechanism closed-loop sub-chain are located in the same plane; the first five-bar mechanism closed-loop sub-chain can control a first rotary table to move in the plane; the second five-bar mechanism closed-loop sub-chain can control a second rotary table to move in the plane; and the spatial three-dimensional translation and one-dimensional rotation of a movable platform can be realized through the movement of the first rotary table and the second rotary table. In the invention, the spatial four-degree-of-freedom movement output of the three-dimensional translation and one-dimensional rotation of the movable platform is controlled by two symmetric closed-loop sub-chains, the direct and inverse problems of kinematics of the mechanism are easy to solve, and the control is convenient; and moreover, as driving motors are mounted on a rack and the bars can be made into light bars, the mechanism weight is effectively reduced, and the mechanism has good rigidity, small inertia and good dynamic performance.
Description
Technical field
The present invention relates to the robot field, particularly a kind of three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain.
Background technology
Parallel institution is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Two or more frees degree are arranged; And mechanism with the parallel way driving; Have advantages such as precision is higher, compact conformation, rigidity is high, bearing capacity is strong greatly, obtained preferably at aspects such as motion simulator, parallel machine, micro-manipulating robot, extracting robots and used.But existing parallel institution basically all is a branch does not contain closed loop; For the parallel institution of number of degrees of freedom, greater than the side chain number; Some side chain must be provided with two or more driving links, this joint of side chain of just having to motor is installed in, thus cause problems such as mechanism's poor rigidity, inertia are big, joint error accumulation; The mechanism dynamic poor-performing, the control difficulty.
Summary of the invention
The object of the present invention is to provide a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of the 5R of containing closed loop subchain, solve problems such as traditional number of degrees of freedom, is big greater than the parallel institution poor rigidity of side chain number, inertia, joint error accumulation.
The present invention achieves the above object through following technical scheme: a kind of three-dimensional translation and one-dimensional rotation parallel mechanism of the 5R of containing closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
The said first five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame.First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair; The first connecting rod other end is connected with second connecting rod through the 3rd revolute pair; The second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair, and first driving lever and the motion of second driving lever drive first connecting rod and the second connecting rod motion can be controlled the motion of first turntable in plane, first five-rod closed loop subchain place.
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame.The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair; The third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair; The 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair, and the 3rd driving lever and the motion of the 4th driving lever drive third connecting rod and the 4th link motion can be controlled the motion of second turntable in plane, second five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and moving platform.First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with the 5th connecting rod through the 11 revolute pair; First turntable is connected with the 6th connecting rod through the 12 revolute pair; The 5th connecting rod other end is connected with seven-link assembly with moving platform through the 13 revolute pair, and the 6th connecting rod other end is connected with moving platform through the 14 revolute pair, and moving platform is connected with the 8th connecting rod through the 15 revolute pair; The seven-link assembly other end is connected with second turntable through the 16 revolute pair; The 8th connecting rod other end is connected with second turntable through the 17 revolute pair, and second turntable passes through the 8th revolute pair and is connected with third connecting rod, and first turntable and second turntable can be realized three-dimensional translating and the one dimension rotation of moving platform in the spatial movement space in the motion of separately space.
Said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair; The rotation of the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is parallel to each other; The rotation of the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair is parallel to each other; The distance of axis to the 12 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 13 revolute pairs; The distance of axis to the 13 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 12 revolute pairs; The distance of axis to the 15 revolute pair axis of 13 revolute pairs equates that with the distance of the axis of axis to the 17 revolute pairs of 16 revolute pairs the distance of axis to the 16 revolute pair axis of 13 revolute pairs equates with the distance of the axis of axis to the 17 revolute pairs of 15 revolute pairs.
Outstanding advantage of the present invention is:
1, drive motors is installed on the frame, and rod member can be made lighter bar, effectively reduces mechanism's weight, and mechanism's good rigidly, inertia are little, and dynamic performance is good;
2, the control of the closed loop subchain through two symmetrical structures moving platform motion output, kinematics of mechanism are just, inverse problem finds the solution easily, and control conveniently;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used on fields such as extracting, carrying, piling, assembling.
Description of drawings
Fig. 1 is a kind of first structural representation that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 2 is a kind of second structural representation that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 3 is a kind of first work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 4 is a kind of second work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 5 is a kind of the 3rd work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 6 is a kind of the 4th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 7 is a kind of the 5th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 8 is a kind of the 6th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
Fig. 9 is a kind of the 7th work sketch map that contains the three-dimensional translation and one-dimensional rotation parallel mechanism of 5R closed loop subchain according to the invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 1 and Fig. 2, a kind of three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
The said first five-rod closed loop subchain is formed by connecting first driving lever 7, second driving lever 2, first connecting rod 9, second connecting rod 4 and frame 1.First driving lever, 7 one ends are connected on the frame 1 through first revolute pair 6; First driving lever, 7 other ends are connected with first connecting rod 9 through second revolute pair 8; First connecting rod 9 other ends are connected with second connecting rod 4 through the 3rd revolute pair 33; Second connecting rod 4 other ends are connected with second driving lever 2 through the 4th revolute pair 3; Second driving lever, 2 other ends are connected with frame 1 through the 5th revolute pair 5, and first driving lever 7 and 2 motions of second driving lever drive first connecting rod 9 and second connecting rod 4 motions can be controlled the motion of first turntable 10 in plane, first five-rod closed loop subchain place.
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever 30, the 4th driving lever 26, third connecting rod 28, the 4th connecting rod 24 and frame 1.The 3rd driving lever 30 1 ends are connected on the frame 1 through the 6th revolute pair 31; The 3rd driving lever 30 other ends are connected with third connecting rod 28 through the 7th revolute pair 29; Third connecting rod 28 other ends are connected with the 4th connecting rod 24 through the 8th revolute pair 32; The 4th connecting rod 24 other ends are connected with the 4th driving lever 26 through the 9th revolute pair 25; The 4th driving lever 26 other ends are connected with frame 1 through the tenth revolute pair 27, and the 3rd driving lever 30 and 26 motions of the 4th driving lever drive third connecting rod 28 and 24 motions of the 4th connecting rod can be controlled the motion of second turntable 21 in plane, second five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 10, second turntable 21, the 5th connecting rod 19, the 6th connecting rod 20, seven-link assembly 14, the 8th connecting rod 13 and moving platform 17.First turntable 10 is connected with first connecting rod 9 through the 3rd revolute pair 33; First turntable 10 is connected with the 5th connecting rod 19 through the 11 revolute pair 23; First turntable 10 is connected with the 6th connecting rod 20 through the 12 revolute pair 22; The 5th connecting rod 19 other ends are connected with seven-link assembly 14 with moving platform 17 through the 13 revolute pair 15; The 6th connecting rod 20 other ends are connected with moving platform 17 through the 14 revolute pair 18; Moving platform 17 is connected with the 8th connecting rod 13 through the 15 revolute pair 16, and seven-link assembly 14 other ends are connected with second turntable 21 through the 16 revolute pair 12, and the 8th connecting rod 13 other ends are connected with second turntable 21 through the 17 revolute pair 11; Second turntable 21 is connected with third connecting rod 28 through the 8th revolute pair 32, and first turntable 10 and second turntable 21 can be realized three-dimensional translating and the one dimension rotation of moving platform 17 in the spatial movement space in the motion of separately space.
Said first revolute pair 6, second revolute pair 8, the 3rd revolute pair 33, the 4th revolute pair 3, the 5th revolute pair 5; The rotation of the 6th revolute pair 31, the 7th revolute pair 29, the 8th revolute pair 32, the 9th revolute pair 25 and the tenth revolute pair 27 is parallel to each other; The rotation of the 11 revolute pair the 23, the 12 revolute pair the 22, the 13 revolute pair the 15, the 14 revolute pair the 18, the 15 revolute pair the 16, the 16 revolute pair 12 and the 17 revolute pair 11 is parallel to each other; The distance of axis to the 12 revolute pairs 22 axis of the 11 revolute pair 23 equates with the distance of the axis of axis to the 14 revolute pairs 18 of the 13 revolute pair 15; The distance of axis to the 13 revolute pairs 15 axis of the 11 revolute pair 23 equates with the distance of the axis of axis to the 14 revolute pairs 18 of the 12 revolute pair 22; The distance of axis to the 15 revolute pairs 16 axis of the 13 revolute pair 15 equates that with the distance of the axis of axis to the 17 revolute pairs 11 of the 16 revolute pair 12 distance of axis to the 16 revolute pairs 12 axis of the 13 revolute pair 15 equates with the distance of the axis of axis to the 17 revolute pairs 11 of the 15 revolute pair 16.
Map 3 and Fig. 4, first turntable 10 and second turntable 21 move in space and can realize the translation of moving platform 17 on the 13 revolute pair 15 axis directions.
Map 5, the first turntables 10 and second turntable 21 move in space and can realize that the one dimension that moving platform 17 winds the axis of plane that the axis perpendicular to the axis of the 13 revolute pair 15 and the 15 revolute pair 16 constitutes and the axis that intersects at the 13 revolute pair 15 rotates.
Map 6 and Fig. 7, first turntable 10 and second turntable 21 move in space and can realize moving platform 17 translation perpendicular to the axis direction of the 13 revolute pair 15 in upper edge, plane that the axis of the axis of the 13 revolute pair 15 and the 15 revolute pair 16 constitutes.
Map 3 and Fig. 4, first turntable 10 and second turntable 21 move in space and can realize the translation of moving platform 17 on first revolute pair, 15 axis directions.
Claims (1)
1. a three-dimensional translation and one-dimensional rotation parallel mechanism that contains 5R closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
The said first five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair, and the first connecting rod other end is connected with second connecting rod through the 3rd revolute pair, and the second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair
The said second five-rod closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame; The 3rd driving lever one end is connected on the frame through the 6th revolute pair; The 3rd driving lever other end is connected with third connecting rod through the 7th revolute pair, and the third connecting rod other end is connected with the 4th connecting rod through the 8th revolute pair, and the 4th connecting rod other end is connected with the 4th driving lever through the 9th revolute pair; The 4th driving lever other end is connected with frame through the tenth revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and moving platform; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with the 5th connecting rod through the 11 revolute pair, and first turntable is connected with the 6th connecting rod through the 12 revolute pair, and the 5th connecting rod other end is connected with seven-link assembly with moving platform through the 13 revolute pair; The 6th connecting rod other end is connected with moving platform through the 14 revolute pair; Moving platform is connected with the 8th connecting rod through the 15 revolute pair, and the seven-link assembly other end is connected with second turntable through the 16 revolute pair, and the 8th connecting rod other end is connected with second turntable through the 17 revolute pair; Second turntable is connected with third connecting rod through the 8th revolute pair
Said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair; The rotation of the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is parallel to each other; The rotation of the 11 revolute pair, the 12 revolute pair, the 13 revolute pair, the 14 revolute pair, the 15 revolute pair, the 16 revolute pair and the 17 revolute pair is parallel to each other; The distance of axis to the 12 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 13 revolute pairs; The distance of axis to the 13 revolute pair axis of 11 revolute pairs equates with the distance of the axis of axis to the 14 revolute pairs of 12 revolute pairs; The distance of axis to the 15 revolute pair axis of 13 revolute pairs equates that with the distance of the axis of axis to the 17 revolute pairs of 16 revolute pairs the distance of axis to the 16 revolute pair axis of 13 revolute pairs equates with the distance of the axis of axis to the 17 revolute pairs of 15 revolute pairs.
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Cited By (6)
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| CN102601787A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating |
| CN102601785A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains |
| CN102599979A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally |
| CN102601791A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot |
| CN102601788A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel welding robot with four degrees of freedom and capable of three-dimensionally traversing and one-dimensionally rotating |
| CN102990658A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102990658A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
| CN102990658B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing prr kinematic pair open loop subchain and prrrr kinematic pair closed loop subchain |
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Application publication date: 20120222 |