CN102599979A - Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally - Google Patents
Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally Download PDFInfo
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- CN102599979A CN102599979A CN2012100847593A CN201210084759A CN102599979A CN 102599979 A CN102599979 A CN 102599979A CN 2012100847593 A CN2012100847593 A CN 2012100847593A CN 201210084759 A CN201210084759 A CN 201210084759A CN 102599979 A CN102599979 A CN 102599979A
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- revolute pair
- connecting rod
- linear actuator
- turntable
- chain
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Abstract
The invention relates to a parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally, which comprises a first RRR closed-loop sub-chain, a second RRR closed-loop sub-chain and an actuating mechanism sub-chain. The first RRR closed-loop sub-chain and the second RRR closed-loop sub-chain are located in the same plane. The first RRR closed-loop sub-chain can control a first rotary table to move with two degrees of freedom in the plane, and the second RRR closed-loop sub-chain can control a second rotary table to move with two degrees of freedom in the plane. Due to movement of the first rotary table and movement of the second rotary table, a movable platform can move with four degrees of freedom in a space. The two closed-loop sub-chains are used for controlling movement of the two rotary tables in the plane, and accordingly the movable platform can spatially move with four degrees of freedom. The parallel surgical device has the advantages of compact structure and simplicity in control. All driving rods are connected onto a framework and can be light rods, motion inertia of the device is low, a dynamics performance is good, the closed-loop sub-chains are driven by linear drivers, and bearing capacity is large.
Description
Technical field
The present invention relates to the robot field, particularly a kind of parallelly connected operation device of realizing that three-dimensional translation and one-dimensional rotates.
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 degree of freedom 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.Operation is the very high high precisely instrument of requirement with robot, and traditional serial machine people is difficult to reach its instructions for use, adopts parallel institution can satisfy the requirement of operation with the accurate motion of robot.
Summary of the invention
The object of the present invention is to provide a kind of parallelly connected operation device of realizing that three-dimensional translation and one-dimensional rotates, solve problems such as traditional number of degrees of freedom, is big greater than parallelly connected operation device poor rigidity, the inertia of side chain number, joint error accumulation.
The present invention achieves the above object through following technical scheme: a kind of parallelly connected operation device of realizing that three-dimensional translation and one-dimensional rotates, comprise a RRR closed loop subchain, the 2nd RRR closed loop subchain and actuator subchain, and its mechanism and on-link mode (OLM) are:
A said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame; First linear actuator is connected on the frame through first revolute pair; First linear actuator is connected with second linear actuator through second revolute pair; The second linear actuator other end is connected on the frame through the 3rd revolute pair
Said the 2nd RRR closed loop subchain is formed by connecting the 3rd linear actuator, the 4th linear actuator and frame; The 3rd linear actuator is connected on the frame through the 4th revolute pair; The 3rd linear actuator is connected with the 4th linear actuator through the 5th revolute pair; The 4th linear actuator other end is connected on the frame through the 6th revolute pair
Said actuator subchain is formed by connecting first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first linear actuator through second revolute pair; First turntable is connected with first connecting rod through the 7th revolute pair; First turntable is connected with second connecting rod through the 8th revolute pair; The first connecting rod other end is connected with moving platform through the 9th revolute pair, and the second connecting rod other end is connected with moving platform through the tenth revolute pair, and second turntable is connected with the 3rd linear actuator through five revolute pairs; Second turntable is connected with third connecting rod through the 11 revolute pair; Second turntable is connected with the 4th connecting rod through the 12 revolute pair, and the third connecting rod other end is connected with first connecting rod with moving platform through the 9th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 13 revolute pair.First turntable and the motion planar of second turntable can realize that moving platform moves at spatial degree of freedom,
The rotation axis of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair is parallel to each other; The rotation axis of the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair is parallel to each other; First connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.
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 being installed, operation tools such as scalpel accomplish the surgical action task on moving platform.
Description of drawings
Fig. 1 is a kind of first structural representation of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 2 is a kind of second structural representation of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 3 is a kind of first work sketch map of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 4 is a kind of second work sketch map of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 5 is a kind of the 3rd work sketch map of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 6 is a kind of the 4th work sketch map of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates according to the invention.
Fig. 7 is a kind of the 5th work sketch map of realizing the parallelly connected operation device that three-dimensional translation and one-dimensional rotates 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 parallelly connected operation device of realizing that three-dimensional translation and one-dimensional rotates comprises a RRR closed loop subchain, the 2nd RRR closed loop subchain and actuator subchain.
A said RRR closed loop subchain is formed by connecting first linear actuator 3, second linear actuator 7 and frame 1; First linear actuator 3 is connected on the frame 1 through first revolute pair 2; First linear actuator 3 is connected with second linear actuator 7 through second revolute pair 24, and second linear actuator, 7 other ends are connected on the frame 1 through the 3rd revolute pair 8.
Said the 2nd RRR closed loop subchain is formed by connecting the 3rd linear actuator 18, the 4th linear actuator 22 and frame 1; The 3rd linear actuator 18 is connected on the frame 1 through the 4th revolute pair 17; The 3rd linear actuator 18 is connected with the 4th linear actuator 22 through the 5th revolute pair 25, and the 4th linear actuator 22 other ends are connected on the frame 1 through the 6th revolute pair 23.
Said actuator subchain is formed by connecting first turntable 4, second turntable 21, first connecting rod 10, second connecting rod 9, third connecting rod 16, the 4th connecting rod 15 and moving platform 13; First turntable 4 is connected with first linear actuator 3 through second revolute pair 24; First turntable 4 is connected with first connecting rod 10 through the 7th revolute pair 6; First turntable 4 is connected with second connecting rod 9 through the 8th revolute pair 5; First connecting rod 10 other ends are connected with moving platform 13 through the 9th revolute pair 12, and second connecting rod 9 other ends are connected with moving platform 15 through the tenth revolute pair 11, and second turntable 21 is connected with the 3rd linear actuator 18 through five revolute pairs 25; Second turntable 21 is connected with third connecting rod 16 through the 11 revolute pair 19; Second turntable 21 is connected with the 4th connecting rod 15 through the 12 revolute pair 20, and third connecting rod 16 other ends are connected with first connecting rod 10 with moving platform 13 through the 9th revolute pair 12, and the 4th connecting rod 15 other ends are connected with moving platform 13 through the 13 revolute pair 14.First turntable 4 and second turntable 21 motion planar can realize that moving platform 13 moves at spatial 4DOF.
The rotation axis of said first revolute pair 2, second revolute pair 24, the 3rd revolute pair 8, the 4th revolute pair 17, the 5th revolute pair 25, the 6th revolute pair 23 is parallel to each other; The rotation axis of the 7th revolute pair 6, the 8th revolute pair 5, the 9th revolute pair 12, the tenth revolute pair the 11, the 11 revolute pair the 19, the 12 revolute pair 20, the 13 revolute pair 14 is parallel to each other; First connecting rod 10 is isometric parallel with second connecting rod 9, and third connecting rod 16 is isometric parallel with the 4th connecting rod 15.
Map 6, the first turntables 4 and second turntable 21 move in space can realize the front and back translation of moving platform 13.
Map 7, the first turntables 4 and second turntable 21 move in space can realize the left and right sides translation of moving platform 13.
Claims (1)
1. the parallelly connected operation device that can realize that three-dimensional translation and one-dimensional rotates comprises a RRR closed loop subchain, the 2nd RRR closed loop subchain and actuator subchain, it is characterized in that its mechanism and on-link mode (OLM) are:
A said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame; First linear actuator is connected on the frame through first revolute pair; First linear actuator is connected with second linear actuator through second revolute pair; The second linear actuator other end is connected on the frame through the 3rd revolute pair
Said the 2nd RRR closed loop subchain is formed by connecting the 3rd linear actuator, the 4th linear actuator and frame; The 3rd linear actuator is connected on the frame through the 4th revolute pair; The 3rd linear actuator is connected with the 4th linear actuator through the 5th revolute pair; The 4th linear actuator other end is connected on the frame through the 6th revolute pair
Said actuator subchain is formed by connecting first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first linear actuator through second revolute pair; First turntable is connected with first connecting rod through the 7th revolute pair; First turntable is connected with second connecting rod through the 8th revolute pair; The first connecting rod other end is connected with moving platform through the 9th revolute pair, and the second connecting rod other end is connected with moving platform through the tenth revolute pair, and second turntable is connected with the 3rd linear actuator through five revolute pairs; Second turntable is connected with third connecting rod through the 11 revolute pair; Second turntable is connected with the 4th connecting rod through the 12 revolute pair, and the third connecting rod other end is connected with first connecting rod with moving platform through the 9th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 13 revolute pair.First turntable and the motion planar of second turntable can realize that moving platform moves at spatial degree of freedom,
The rotation axis of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair is parallel to each other; The rotation axis of the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair is parallel to each other; First connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100847593A CN102599979A (en) | 2012-03-28 | 2012-03-28 | Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100847593A CN102599979A (en) | 2012-03-28 | 2012-03-28 | Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally |
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| CN102599979A true CN102599979A (en) | 2012-07-25 |
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| CN2012100847593A Pending CN102599979A (en) | 2012-03-28 | 2012-03-28 | Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1350941A (en) * | 1971-07-16 | 1974-04-24 | Redifon Ltd | Ground-based flight simulators |
| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| CN102357881A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN202554113U (en) * | 2012-03-28 | 2012-11-28 | 广西大学 | Parallel operation device capable of achieving three-dimensional translation and one-dimensional rotation |
-
2012
- 2012-03-28 CN CN2012100847593A patent/CN102599979A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1350941A (en) * | 1971-07-16 | 1974-04-24 | Redifon Ltd | Ground-based flight simulators |
| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| CN102357881A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN202554113U (en) * | 2012-03-28 | 2012-11-28 | 广西大学 | Parallel operation device capable of achieving three-dimensional translation and one-dimensional rotation |
Non-Patent Citations (1)
| Title |
|---|
| 贺利乐，刘宏昭，褚金奎: "基于平面五杆闭环结构的空间并联机构类型综合与拓扑分析", 《机械科学与技术》 * |
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Application publication date: 20120725 |