CN102490187B - Parallel manipulator with five freedom degrees - Google Patents
Parallel manipulator with five freedom degrees Download PDFInfo
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- CN102490187B CN102490187B CN 201110415623 CN201110415623A CN102490187B CN 102490187 B CN102490187 B CN 102490187B CN 201110415623 CN201110415623 CN 201110415623 CN 201110415623 A CN201110415623 A CN 201110415623A CN 102490187 B CN102490187 B CN 102490187B
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Abstract
The invention discloses a novel parallel manipulator with five freedom degrees, comprising a fixed frame, a first main kinematic chain, a second main kinematic chain, a third main kinematic chain and a driven branch chain, wherein the first main kinematic chain comprises a first drive branch chain; the second main kinematic chain comprises a second drive branch chain and a third drive branch chain; the third main kinematic chain comprises a fourth drive branch chain and a fifth drive branch chain; the driven branch chain is located in a driven branch chain seat disposed in the central hole of the fixed frame; each drive branch chain seat is rotationally connected with the inner wall of the corresponding hole of the fixed frame via a first rotary shaft; each drive branch chain is rotationally connected with the correspondingly-disposed drive branch chain seat via a second rotary shaft; the second main kinematic chain conveys a motion to a first transmission system, and then the first transmission system conveys the motion to a location head; and the third main kinematic chain conveys a motion to a second transmission system, and then the second transmission system conveys the motion to a rotating shaft. In the structure, the double drive branch chains can increase rigidity/mass ratio, so that mechanism is good in dynamic performance, as well as high in positioning accuracy and repositioning accuracy.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel manipulator that realizes the five degree of freedom operation function.
Background technology
Known according to patent US4732525, ZL200510015095.5, the existing manipulator of the multi-coordinate with positioning head, its way of realization is generally the hybrid connected structure form that the lower-mobility parallel institution is aided with the A/C Double swing head.Wherein, the lower-mobility parallel institution is arranged on by adjusting the location, position that the servomotor on active branched chain is realized mechanism's moving platform, the servomotor that the A/C Double swing head is arranged on Double swing head by adjusting is realized the attitude location of end effector, thereby realizes the multi-axis machining ability of mechanism.
This type of manipulator, because servomotor and decelerator etc. is arranged in the A/C Double swing head, its deficiency is: the weight of end effector is excessive, affects fast forward capability and the dynamic property of mechanism; Because the bearing capacity of mechanism is born by the side chain of lower-mobility parallel institution fully, be unfavorable for pursuing the high rigidity/mass ratio of mechanism.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of and have that advantage direction of feed, dynamic property are good, rigidity/mass ratio large, positioning precision and the high Novel parallel manipulator with five freedom degrees of repetitive positioning accuracy.
Novel parallel manipulator with five freedom degrees of the present invention, it comprises fixed mount, the first main motion chain, the second main motion chain, the 3rd main motion chain and driven side chain, described the first main motion chain comprises the first active branched chain, described the second main motion chain comprises the second active branched chain and the 3rd active branched chain, described the 3rd main motion chain comprises the 4th active branched chain and the 5th active branched chain, described driven side chain is positioned at the driven side chain seat that is arranged on the fixed mount central openings, the first main motion chain, the second main motion chain and the 3rd main motion chain are 120 ° with respect to the symmetrical placement of driven side chain and phase place each other, the first active branched chain is positioned at the first active branched chain seat that is arranged on fixed mount the first perforate, the second active branched chain and the 3rd active branched chain lay respectively in the second active branched chain seat and the 3rd active branched chain seat be arranged in fixed mount the second perforate, the 4th active branched chain and the 5th active branched chain lay respectively in the 4th active branched chain seat and the 5th active branched chain seat be arranged in fixed mount the 3rd perforate, each described active branched chain seat is rotatedly connected by the first rotating shaft respectively with corresponding fixed mount perforate inwall, between the active branched chain seat of each described active branched chain and setting corresponding to it, by the second rotating shaft, be rotatedly connected respectively, described the first rotating shaft and the second rotating shaft be conllinear not each other, driven side chain is a tubular structure, described driven side chain seat comprises outer ring and inner ring, described outer ring is rotationally connected by outer ring rotating shaft and described fixed mount central openings inwall, described inner ring is connected with described outer ring by the inner ring rotating shaft, the outer wall of described driven side chain is connected by the first sliding block guide track structure with inner ring, described inner ring shaft axis and described outer ring shaft axis be conllinear not, be provided with a transmission system housing below described fixed mount, the lower end of described driven side chain and transmission system housing are fixedly linked, the lower end of the first active branched chain is connected with the first hinge seat by rotating shaft, the lower end of described the second active branched chain and the 3rd active branched chain is connected with a rotating shaft of the first cross-garnet butt, the rotating shaft in the lower end of described the 4th active branched chain and the 5th active branched chain and the second cross-garnet butt is connected, described the first cross-garnet butt is connected with the 3rd hinge seat with the second hinge seat by bearing respectively with the second cross-garnet butt, described the first hinge seat, the second hinge seat and the 3rd hinge seat bottom are fixedly connected with respectively the 3rd rotating shaft, the 4th rotating shaft and the 5th rotating shaft, described the 3rd rotating shaft, the 4th rotating shaft and the 5th rotating shaft and transmission system housing are rotatedly connected by bearing, bottom at described transmission system housing is rotatably connected to positioning head by bearing, another rotating shaft of each cross-garnet butt separately be arranged on the transmission system housing in a drive bevel gear be connected, each described drive bevel gear respectively be arranged on the transmission system housing in the cooperation that is meshed of a driven wheel of differential, the 5th rotating shaft that wherein connects the first driven wheel of differential rotates and coordinates with the 6th rotating shaft that is arranged on transmission system housing centre by the first synchronous belt wheel structure, be connected with the 3rd drive bevel gear in described the 6th rotating shaft, described the 3rd drive bevel gear be located at the cooperation that is meshed of the 3rd driven wheel of differential on the rotating shaft on positioning head by bearing bracket stand, in the 4th rotating shaft that connects the second driven wheel of differential, driving pulley is housed, be provided with the driven belt wheel shaft by bearing bracket stand on positioning head, described driving pulley is rotatedly connected by belt pulley with the driven pulley be arranged on the driven belt wheel shaft, connect described positioning head on described driven pulley, the gear shaft of described the first driven wheel of differential and the second driven wheel of differential and the 6th shaft axis are parallel to each other and are perpendicular to one another setting with described rotating shaft.
Novel parallel manipulator with five freedom degrees beneficial effect of the present invention is: the main motion chain adopts the form of two active branched chain, can realize the motion that a translation two is rotated by driving mechanism, can drive again it to realize the rotation around the A/C axle, effectively reduce the positioning head quality, realize Modular Structure Design, there is the advantage direction of feed.Two active branched chain can strengthen rigidity/mass ratio, make that dynamic properties of mechanism is good, positioning precision and repetitive positioning accuracy high.
The accompanying drawing explanation
Fig. 1 is the structural representation of Novel parallel manipulator with five freedom degrees of the present invention;
Fig. 2 is the top view of the manipulator shown in Fig. 1;
Fig. 3 is the structural representation of the first active branched chain of the manipulator shown in Fig. 1;
Fig. 4 be the manipulator shown in Fig. 1 second and third, the structural representation of four, five active branched chain;
Fig. 5 is the transmission system of the manipulator shown in Fig. 1 and the partial sectional view of positioning head;
Fig. 6 is the structural representation of the manipulator Application Example shown in Fig. 1.
The specific embodiment
Below in conjunction with specific embodiment, and, with reference to accompanying drawing, the present invention is described further:
Novel parallel manipulator with five freedom degrees of the present invention as shown in drawings, it comprises fixed mount 2, the first main motion chain, the second main motion chain, the 3rd main motion chain and driven side chain 8, described the first main motion chain comprises the first active branched chain 1, described the second main motion chain comprises the second active branched chain 3 and the 3rd active branched chain 4, described the 3rd main motion chain comprises the 4th active branched chain 9 and the 5th active branched chain 10, described driven side chain is positioned at the driven side chain seat that is arranged on the fixed mount central openings, the first main motion chain, the second main motion chain and the 3rd main motion chain are 120 ° with respect to the symmetrical placement of driven side chain and phase place each other, the first active branched chain 1 is positioned at the first active branched chain seat that is arranged on fixed mount the first perforate, the second active branched chain 3 and the 3rd active branched chain 4 lay respectively in the second active branched chain seat and the 3rd active branched chain seat be arranged in fixed mount the second perforate, the 4th active branched chain 9 and the 5th active branched chain 10 lay respectively in the 4th active branched chain seat and the 5th active branched chain seat be arranged in fixed mount the 3rd perforate, each described active branched chain seat is rotatedly connected by the first rotating shaft respectively with corresponding fixed mount perforate inwall, between the active branched chain seat of each described active branched chain and setting corresponding to it, by the second rotating shaft, be rotatedly connected respectively, described the first shaft axis and the second shaft axis be conllinear not.Driven side chain is a tubular structure, described driven side chain seat comprises outer ring and inner ring, described outer ring is rotationally connected by outer ring rotating shaft and described fixed mount central openings inwall, described inner ring is connected with described outer ring by the inner ring rotating shaft, the outer wall of described driven side chain is connected by the first sliding block guide track structure with inner ring, and described inner ring shaft axis and outer ring shaft axis be conllinear not.Be provided with a transmission system housing 5 below described fixed mount, the lower end of described driven side chain and transmission system housing are fixedly linked, the lower end of the first active branched chain 1 is connected with the first hinge seat by rotating shaft, the lower end of the second active branched chain 3 and the 3rd active branched chain is connected with a rotating shaft of the first cross-garnet butt, the lower end of described the 4th active branched chain and the 5th active branched chain is connected with a rotating shaft of the second cross-garnet butt, described the first cross-garnet butt 27 is connected with the 3rd hinge seat with the second hinge seat by bearing respectively with the second cross-garnet butt 45, described the first hinge seat, the second hinge seat is fixedly connected with respectively the 3rd rotating shaft with the 3rd hinge seat bottom, the 4th rotating shaft 31 and the 5th rotating shaft 41, described the 3rd rotating shaft, the 4th rotating shaft 31 and the 5th rotating shaft 41 are rotatedly connected by bearing respectively with transmission system housing 5.Bottom at described transmission system housing 5 is rotatably connected to positioning head 6 by bearing, another rotating shaft of described the first cross-garnet butt 27 and the second cross-garnet butt 45 separately be arranged on transmission system housing 5 in the first drive bevel gear 43 with the second drive bevel gear 29, be connected, described the first drive bevel gear 43 and the second drive bevel gear 29 respectively be arranged on the transmission system housing in the first driven wheel of differential 42 and the cooperation that is meshed of the second driven wheel of differential 30, the 5th rotating shaft 41 that wherein connects the first driven wheel of differential 42 rotates and coordinates with the 6th rotating shaft 38 that is arranged on transmission system housing centre by the first synchronous belt wheel structure, be connected with the 3rd drive bevel gear 37 in described the 6th rotating shaft 38, the cooperation that is meshed with the 3rd driven wheel of differential 36 on the rotating shaft 35 be located at by bearing bracket stand on positioning head of described the 3rd drive bevel gear 37, in the 4th rotating shaft 31 that connects the second driven wheel of differential 30, driving pulley 32 is housed, be provided with the driven belt wheel shaft by bearing bracket stand on positioning head 6, described driving pulley is rotatedly connected by belt pulley with the driven pulley 33 be arranged on the driven belt wheel shaft, connect described positioning head 6 on described driven pulley, the gear shaft of described the first driven wheel of differential, the gear shaft of the second driven wheel of differential and the 6th rotating shaft 38 axis are parallel to each other and are perpendicular to one another setting with described rotating shaft 35.
Below in conjunction with each width figure, the present invention is further described again:
As illustrated in fig. 1 and 2, described the first active branched chain 1 is the first main motion chain, and the second active branched chain 3 and the 3rd active branched chain 4 are combined into the second main motion chain, and the 4th active branched chain 9 and the 5th active branched chain 10 are combined into the 3rd main motion chain.Driven side chain 8 is positioned at fixed mount central authorities, and the first main motion chain, the second main motion chain and the 3rd main motion chain are about symmetrical placement of driven side chain 8 circumference, and phase angle is 120 ° each other.Described fixed mount 2 is connected with the 5th hinge 15 by the first hinge 11, the second hinge 12, the 3rd hinge 13, the 4th hinge 14 respectively with the first active branched chain 1, the second active branched chain 3, the 3rd active branched chain 4, the 4th active branched chain 9 and the 5th active branched chain 10; Described the first hinge 11, the second hinge 12, the 3rd hinge 13, the 4th hinge 14 and the 5th hinge 15 are respectively the active branched chain seat be rotatedly connected by the first rotating shaft and fixed mount perforate.Driven side chain 8 is a tubular structure, by the 6th hinge 16, with described fixed mount 2, be connected, described the 6th hinge 16 is a driven side chain seat, this driven side chain seat comprises outer ring and inner ring structure, described outer ring is rotationally connected by outer ring rotating shaft and described fixed mount, described inner ring is connected with described outer ring by the inner ring rotating shaft, and the outer wall of driven side chain 8 is connected by the first sliding block guide track structure 17 with the inner ring of the 6th hinge 16.Inner ring shaft axis described herein and outer ring shaft axis be conllinear not, and the lower end of driven side chain 8 is fixedly connected with transmission system housing 5.
As shown in Figures 3 and 4, the first active branched chain 1 comprises the first outer tube 23-1 be rotatedly connected by rotating shaft 21-1 and corresponding active branched chain seat, at the top of described the first outer tube 23-1, servomotor 18-1 is housed, the output shaft of described servomotor 18-1 is fixedly linked by the end of decelerator 19-1 and the first leading screw 20-1, nut with its threaded engagement is housed on described the first leading screw 20-1, described nut and first an inner tube 22-1 who is inserted in the first outer tube are fixedly linked, between described the first outer tube 23-1 and the first inner tube 22-1, by the second guide rail slide block structure, be connected, the second active branched chain 3, the 3rd active branched chain 4, the 4th active branched chain 9 and the 5th active branched chain 10 include the second outer tube 23-2 be rotatedly connected by rotating shaft 21-2 and corresponding active branched chain seat, at the top of described the second outer tube 23-2, servomotor 18-2 is housed, the output shaft of described servomotor 18-2 is fixedly linked by the end of the second decelerator 19-2 and the second leading screw 20-2, nut with its threaded engagement is housed on described the second leading screw 20-2, described nut and second an inner tube 22-2 who is inserted in the second outer tube are fixedly linked, described first active branched chain the first inner tube 22-1 lower end is connected with the first hinge seat 24 by rotating shaft, the first hinge seat 24 bottoms are fixedly connected with the 3rd rotating shaft, described the 3rd rotating shaft and transmission system housing are rotatedly connected by bearing, the second inner tube 22-2 lower end of described the second active branched chain 3 and the 3rd active branched chain 4 is connected with a rotating shaft of the first cross-garnet butt 27, 45 1 rotating shafts in the second inner tube 22-2 lower end and the second cross-garnet butt of described the 4th active branched chain 9 and the 5th active branched chain 10 are connected.In the present embodiment, inner tube all adopts the type of drive of servomotor-decelerator-ball-screw, but also can adopt hydraulic pressure, the structure such as pneumatic is as type of drive.
Described the second main motion chain is connected with the first transmission system, the inner tube 22-2 lower end of the second active branched chain 3 and the 3rd active branched chain 4 is connected with 27 1 rotating shafts of the first cross-garnet butt, another rotating shaft of the first cross-garnet butt 27 and the second hinge seat 28 and the second drive bevel gear 29 be arranged in the transmission system housing are connected, described the second hinge seat 28 bottoms are fixedly connected with the 4th rotating shaft 31, the 4th rotating shaft 31 is rotatedly connected by bearing with transmission system housing 5, and described the 4th rotating shaft 31 connects the second driven wheel of differential 30 and driving pulley 32 by key.
Described the 3rd main motion chain is connected with the second transmission system, the inner tube 22-2 lower end of the 4th active branched chain 9 and the 5th active branched chain 10 is connected with 45 1 rotating shafts of the second cross-garnet butt, another rotating shaft of the second cross-garnet butt 45 and the 3rd hinge seat 44 and the first drive bevel gear 43 be arranged in the transmission system housing are connected, described the 3rd hinge seat 44 bottoms are fixedly connected with the 5th rotating shaft 41, the 5th rotating shaft 41 is rotatedly connected by bearing with transmission system housing 5, in described the 5th rotating shaft 41, by key, is connected with the first driven wheel of differential 42 and driving pulley 40.
The second main motion chain reaches the first transmission system by motion, then reaches positioning head 6 by the first transmission system.The 3rd main motion chain reaches the second transmission system by motion, then reaches rotating shaft 35 by the second transmission system.
Described the first transmission system is by Bevel Gear Transmission, and toothed belt transmission is realized.The second active branched chain 3 causes that from the different input values of the 4th active branched chain 4 servomotors the first cross-garnet butt 27 rotates, and drives the second drive bevel gear 29 and rotates; The second drive bevel gear 29 and the second driven wheel of differential 30 engagements, make rotation reach the 4th rotating shaft 31; The 4th rotating shaft 31 drives driving pulley 32 and rotates, and by Timing Belt, motion is reached to driven pulley 33; Driven pulley 33 is connected by key with positioning head 6, and driven pulley 33 rotates the rotation that is positioning head 6.
Described the second transmission system realizes by Bevel Gear Transmission, toothed belt transmission and Bevel Gear Transmission.The 4th active branched chain 9 causes that from the different input values of the 5th active branched chain 10 servomotors the second cross-garnet butt 45 rotates, and drives the first drive bevel gear 43 and rotates; The first drive bevel gear 43 and the first driven wheel of differential 42 engagements, make rotation reach the 5th rotating shaft 41; The 5th rotating shaft 41 drives driving pulley 40 and rotates, and by Timing Belt, motion is reached to driven pulley 39; Driven pulley 39 connects with the 6th rotating shaft 38 and is connected by key, and the rotation of belt wheel can reach the 6th rotating shaft 38; The 6th rotating shaft 38 is connected with the 3rd drive bevel gear 37 by key, and the rotation of the 6th rotating shaft 38 reaches the 3rd drive bevel gear 37; The 3rd drive bevel gear 37 and the 3rd driven wheel of differential 36 engagements, and the 3rd driven wheel of differential 36 is connected with rotating shaft 35 keys, the rotation of bevel gear 37 finally reaches rotating shaft 35.
Novel parallel manipulator with five freedom degrees of the present invention can be realized the motion of five degree of freedom.In the second main motion chain, the second active branched chain 3 has identical input value with the servomotor of the 3rd active branched chain 4, and when in the 3rd main motion chain, the 4th active branched chain 9 has identical input value with the servomotor of the 5th active branched chain 10, due to the first hinge, the second hinge, the 3rd hinge, the 4th hinge and the 5th hinge have double rotation freedom degrees, described each active branched chain is under driven by servomotor, can drive the end moving platform and realize double rotation freedom degrees, described active branched chain inner tube is connected by feed screw nut and the first guide rail slide block mechanism with outer tube, described inner tube can realize moving axially with respect to outer tube, therefore moving platform can be realized the motion that a translation two is rotated, be that mechanism can arrive the arbitrary position in given working space, realize positioning function.When in the second main motion chain, the second active branched chain 3 has different input value from the servomotor of the 3rd active branched chain 4, the rotation that two chain ends can be produced reaches positioning head 6 by the first transmission system, realizes the rotation of positioning head 6 around the C axle.When in the 3rd main motion chain, the 4th active branched chain 9 has different input value from the servomotor of the 5th active branched chain 10, the rotation that two chain ends can be produced reaches rotating shaft 35 by the second transmission system, mechanism realizes the rotation of rotating shaft 35 around the A axle, therefore can realize the five degree of freedom motion.
Novel parallel manipulator with five freedom degrees of the present invention, the second main motion chain and the 3rd main motion chain adopt the version of two active branched chain.Two active branched chain have identical input, can realize the motion that a translation two is rotated by driving mechanism; Two active branched chain have different inputs, can realize the rotation around the A/C axle by driving mechanism, thereby effectively alleviate the positioning head quality, and the enlarging mechanism integral rigidity, improve positioning head positioning precision and repetitive positioning accuracy, realize that mechanism's fast forward capability and dynamic property promote.
Novel parallel manipulator with five freedom degrees service condition general introduction of the present invention: as shown in Fig. 6 embodiment 1, using parallel manipulator with five freedom degrees of the present invention as a module, integrated with the long stroke guide rail unit of three directions, realize the working ability in larger working space.
The above description of this invention is only schematically, rather than restrictive, so embodiments of the present invention are not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, in the situation that do not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (2)
1. Novel parallel manipulator with five freedom degrees, it is characterized in that: it comprises fixed mount, the first main motion chain, the second main motion chain, the 3rd main motion chain and driven side chain, described the first main motion chain comprises the first active branched chain, described the second main motion chain comprises the second active branched chain and the 3rd active branched chain, described the 3rd main motion chain comprises the 4th active branched chain and the 5th active branched chain, described driven side chain is positioned at the driven side chain seat that is arranged on the fixed mount central openings, the first main motion chain, the second main motion chain and the 3rd main motion chain are 120 ° with respect to the symmetrical placement of driven side chain and phase place each other, the first active branched chain is positioned at the first active branched chain seat that is arranged on fixed mount the first perforate, the second active branched chain and the 3rd active branched chain lay respectively in the second active branched chain seat and the 3rd active branched chain seat be arranged in fixed mount the second perforate, the 4th active branched chain and the 5th active branched chain lay respectively in the 4th active branched chain seat and the 5th active branched chain seat be arranged in fixed mount the 3rd perforate, each described active branched chain seat is rotatedly connected by the first rotating shaft respectively with corresponding fixed mount perforate inwall, between the active branched chain seat of each described active branched chain and setting corresponding to it, by the second rotating shaft, be rotatedly connected respectively, described the first rotating shaft and the second rotating shaft be conllinear not each other, driven side chain is a tubular structure, described driven side chain seat comprises outer ring and inner ring, described outer ring is rotationally connected by outer ring rotating shaft and described fixed mount central openings inwall, described inner ring is connected with described outer ring by the inner ring rotating shaft, the outer wall of described driven side chain is connected by the first sliding block guide track structure with inner ring, described inner ring shaft axis and described outer ring shaft axis be conllinear not, be provided with a transmission system housing below described fixed mount, the lower end of described driven side chain and transmission system housing are fixedly linked, the lower end of the first active branched chain is connected with the first hinge seat by rotating shaft, the lower end of described the second active branched chain and the 3rd active branched chain is connected with a rotating shaft of the first cross-garnet butt, the rotating shaft in the lower end of described the 4th active branched chain and the 5th active branched chain and the second cross-garnet butt is connected, described the first cross-garnet butt is connected with the 3rd hinge seat with the second hinge seat by bearing respectively with the second cross-garnet butt, described the first hinge seat, the second hinge seat and the 3rd hinge seat bottom are fixedly connected with respectively the 3rd rotating shaft, the 4th rotating shaft and the 5th rotating shaft, described the 3rd rotating shaft, the 4th rotating shaft and the 5th rotating shaft and transmission system housing are rotatedly connected by bearing, bottom at described transmission system housing is rotatably connected to positioning head by bearing, another rotating shaft of each cross-garnet butt separately be arranged on the transmission system housing in a drive bevel gear be connected, each described drive bevel gear respectively be arranged on the transmission system housing in the cooperation that is meshed of a driven wheel of differential, the 5th rotating shaft that wherein connects the first driven wheel of differential rotates and coordinates with the 6th rotating shaft that is arranged on transmission system housing centre by the first synchronous belt wheel structure, be connected with the 3rd drive bevel gear in described the 6th rotating shaft, described the 3rd drive bevel gear be located at the cooperation that is meshed of the 3rd driven wheel of differential on the rotating shaft on positioning head by bearing bracket stand, in the 4th rotating shaft that connects the second driven wheel of differential, driving pulley is housed, be provided with the driven belt wheel shaft by bearing bracket stand on positioning head, described driving pulley is rotatedly connected by belt pulley with the driven pulley be arranged on the driven belt wheel shaft, connect described positioning head on described driven pulley, the gear shaft of described the first driven wheel of differential and the second driven wheel of differential and the 6th shaft axis are parallel to each other and are perpendicular to one another setting with described rotating shaft.
2. Novel parallel manipulator with five freedom degrees according to claim 1, it is characterized in that: the first active branched chain comprises the first outer tube be rotatedly connected by rotating shaft and the first active branched chain seat, servomotor is equipped with at top at described the first outer tube, the output shaft of described servomotor is fixedly linked by an end of decelerator and the first leading screw, nut with its threaded engagement is housed on described the first leading screw, described nut and first inner tube be inserted in the first outer tube are fixedly linked, between described the first outer tube and the first inner tube, by the second guide rail slide block structure, be connected, the second active branched chain, the 3rd active branched chain, the 4th active branched chain and the 5th active branched chain include the second outer tube be rotatedly connected by rotating shaft and corresponding active branched chain seat, servomotor is equipped with at top at described the second outer tube, the output shaft of described servomotor is fixedly linked by an end of decelerator and the second leading screw, nut with its threaded engagement is housed on described the second leading screw, described nut and second inner tube be inserted in the second outer tube are fixedly linked, described the first inner tube lower end is connected with a hinge seat by rotating shaft, the second inner tube lower end of the second active branched chain and the 3rd active branched chain is connected with a rotating shaft of the first cross-garnet butt, described the 4th active branched chain is connected with the 5th rotating shaft in active branched chain the second inner tube lower end and the second cross-garnet butt.
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| CN105798635B (en) * | 2016-05-18 | 2017-11-10 | 哈尔滨工业大学 | Few application point five-freedom parallel structure containing the compound universal joint of independent dual output |
| CN107009350B (en) * | 2017-04-28 | 2020-01-17 | 河南理工大学 | Method for determining equivalent mass of 3-PRS series-parallel mechanism |
| WO2019090474A1 (en) * | 2017-11-07 | 2019-05-16 | 大连理工大学 | Scara high-speed parallel manipulator having partially decoupled kinematics |
| CN108284435B (en) * | 2018-03-07 | 2024-02-06 | 燕山大学 | Large-rotation plane three-degree-of-freedom parallel platform |
| CN111267070B (en) * | 2020-01-02 | 2022-04-19 | 南京理工大学 | Six-freedom-degree parallel robot mechanism |
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| EP1084802B1 (en) * | 1999-09-17 | 2005-06-01 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
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| CN102229141A (en) * | 2011-04-27 | 2011-11-02 | 天津大学 | Parallel mechanism capable of realizing four-degree-of-freedom movement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| JP4850863B2 (en) * | 2008-04-10 | 2012-01-11 | 村田機械株式会社 | Parallel mechanism |
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| EP1084802B1 (en) * | 1999-09-17 | 2005-06-01 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102069497A (en) * | 2010-12-29 | 2011-05-25 | 天津大学 | Parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN102161200A (en) * | 2011-04-27 | 2011-08-24 | 天津大学 | Parallel dislocation type parallel mechanism capable of three-dimensional translational motion and one-dimensional rotation |
| CN102229141A (en) * | 2011-04-27 | 2011-11-02 | 天津大学 | Parallel mechanism capable of realizing four-degree-of-freedom movement |
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