CN102658545A - Spatial parallel robot mechanism - Google Patents
Spatial parallel robot mechanism Download PDFInfo
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- CN102658545A CN102658545A CN2012101164508A CN201210116450A CN102658545A CN 102658545 A CN102658545 A CN 102658545A CN 2012101164508 A CN2012101164508 A CN 2012101164508A CN 201210116450 A CN201210116450 A CN 201210116450A CN 102658545 A CN102658545 A CN 102658545A
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Abstract
The invention relates to a spatial parallel robot mechanism which comprises a mobile platform, a stationary platform and driving branches, wherein, the mobile platform and the stationary platform are connected through the driving branches; the mobile platform is connected with the stationary platform through the four driving branches with the identical structures and another driving branch; in the four identical driving branches, the mobile platform is connected with a lower connecting rod through a spherical joint, the lower connecting rod is connected with an upper connecting rod through a sliding joint, and the upper connecting rod is connected with the stationary platform through a hooke hinge; and in the another driving branch, the mobile platform is connected with the lower connecting rod through the hooke hinge, the lower connecting rod is connected with the upper connecting rod through the sliding joint, and the upper connecting rod is connected with the stationary platform through a revolute joint. The spatial parallel robot mechanism has the characteristics of high rigidity, relatively simple mechanism, high precision, low cost and the like, and is easy to manufacture.
Description
Technical field
The present invention relates to robot and mechanical manufacturing field, particularly a kind of two dimension moves two dimension and rotates the four-degree-of-freedom spatial parallel robot mechanism.
Background technology
Spatial parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more; Compare with serial mechanism, spatial parallel robot mechanism has that stiffness/weight ratio is big, accumulated error is little, response speed is fast, precision is high, dynamic characteristic is good, compact conformation and be easy to realize characteristics such as high-speed motion.At present, spatial parallel robot mechanism is widely used in aspects such as parallel machine, fine motion operating desk, various motion simulator, space articulation device, sensor.
Spatial parallel robot mechanism present three, five, six degree of freedom is used comparatively extensive, and to rotate the four-degree-of-freedom spatial parallel robot mechanism less and the two dimension of tool application potential moves two dimension.
Summary of the invention
The object of the present invention is to provide a kind ofly to have that stiffness/weight ratio is big, mechanism is simple relatively, high accuracy, low-costly move and two dimension rotation four-degree-of-freedom spatial parallel robot mechanism with the two dimension that is prone to characteristics such as manufacturings.
Technical scheme of the present invention is: a kind of spatial parallel robot mechanism comprises moving platform, fixed platform and is connected moving platform and the driving branch of fixed platform composition that moving platform drives branches by four identical in structure and an other driving branch is connected with fixed platform; In four identical driving branches; Moving platform links to each other with lower link by ball is secondary, and lower link links to each other with last connecting rod by moving sets, and last connecting rod links to each other with fixed platform by Hooke's hinge; Drive in the branch at another; Moving platform links to each other with lower link by Hooke's hinge, and lower link links to each other with last connecting rod by moving sets, and last connecting rod links to each other with fixed platform by revolute pair.
Preferably, it is on the circle in the center of circle that four Hooke's hinges that fixed platform is connected with lower link are evenly arranged in the fixed platform center, and the interval angle of adjacent Hooke's hinge is 90 °; The revolute pair that fixed platform is connected with lower link is positioned on the angular bisector at adjacent two Hooke's hinges and fixed platform angle that the center is formed, and is respectively 45 ° with the interval angle of adjacent two Hooke's hinges.
Preferably, each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
Beneficial effect of the present invention is: two dimension of the present invention moves with two dimension and rotates the four-degree-of-freedom spatial parallel robot mechanism, has that rigidity height, mechanism are simple relatively, high accuracy, low-cost be prone to characteristics such as manufacturing.
Description of drawings
Fig. 1 is the structural representation of the specific embodiment of the invention;
Fig. 2 is the structural representation of the fixed platform of the specific embodiment of the invention.
The specific embodiment
Like Fig. 1 and specific embodiment of the present invention shown in Figure 2; A kind of spatial parallel robot mechanism comprises moving platform 6, fixed platform 2 and is connected moving platform 6 and the compositions such as driving branch of fixed platform 2, and moving platform 6 drives branch through four identical in structure and an other driving branch is connected with fixed platform 2; In four identical driving branches; Moving platform 6 links to each other with lower link 4 through ball secondary 5, and lower link 4 passes through moving sets and links to each other with last connecting rod 3, and last connecting rod 3 passes through Hooke's hinge 1 and links to each other with fixed platform 2; Drive in the branch at another; Moving platform 6 links to each other with lower link 8 through Hooke's hinge 7, and lower link 8 links to each other with last connecting rod 9 through moving sets, and last connecting rod 9 links to each other with fixed platform 2 through revolute pair 10.
Each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
Claims (3)
1. spatial parallel robot mechanism; Comprise moving platform (6), fixed platform (2) and be connected moving platform (6) and the compositions such as branch of fixed platform (2); It is characterized in that: moving platform (6) is connected with fixed platform (2) through four identical in structure branches and an other driving branch, and in four identical driving branches, moving platform (6) links to each other with lower link (4) through ball secondary (5); Lower link (4) links to each other with last connecting rod (3) through moving sets; Last connecting rod (3) links to each other with fixed platform (2) through Hooke's hinge (1), drives in the branch at another, and moving platform (6) links to each other with lower link (8) through Hooke's hinge (7); Lower link (8) links to each other with last connecting rod (9) through moving sets, and last connecting rod (9) links to each other with fixed platform (2) through revolute pair (10).
2. spatial parallel robot mechanism according to claim 1 is characterized in that: it is on the circle in the center of circle that four Hooke's hinges that fixed platform is connected with lower link are evenly arranged in the fixed platform center, and the interval angle of adjacent Hooke's hinge is 90 °; The revolute pair that fixed platform is connected with lower link is positioned on the angular bisector at adjacent two Hooke's hinges and fixed platform angle that the center is formed, and is respectively 45 ° with the interval angle of adjacent two Hooke's hinges.
3. spatial parallel robot mechanism according to claim 1 is characterized in that: each driving moving sets that drives branch is made up of the straight line mobile drive deivce that hydraulic linear mobile drive deivce or motor and screw pair constitute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101164508A CN102658545A (en) | 2012-04-12 | 2012-04-12 | Spatial parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101164508A CN102658545A (en) | 2012-04-12 | 2012-04-12 | Spatial parallel robot mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN102658545A true CN102658545A (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012101164508A Pending CN102658545A (en) | 2012-04-12 | 2012-04-12 | Spatial parallel robot mechanism |
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| CN (1) | CN102658545A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105834620A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Intelligent welding robot based on series-parallel structure |
| CN105834621A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on symmetric redundant parallel mechanism |
| CN113457077A (en) * | 2021-08-03 | 2021-10-01 | 太原理工大学 | Four-degree-of-freedom series-parallel riding motion simulation platform |
-
2012
- 2012-04-12 CN CN2012101164508A patent/CN102658545A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105834620A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Intelligent welding robot based on series-parallel structure |
| CN105834621A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on symmetric redundant parallel mechanism |
| CN105834621B (en) * | 2016-05-23 | 2017-11-24 | 嵊州北航投星空众创科技有限公司 | A kind of welding robot welding manipulator based on symmetrical redundancy parallel mechanism |
| CN113457077A (en) * | 2021-08-03 | 2021-10-01 | 太原理工大学 | Four-degree-of-freedom series-parallel riding motion simulation platform |
| CN113457077B (en) * | 2021-08-03 | 2022-04-26 | 太原理工大学 | Four-degree-of-freedom series-parallel riding motion simulation platform |
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Application publication date: 20120912 |