CN102825600A - Parallel mechanism containing RRRR closed-loop subchain - Google Patents
Parallel mechanism containing RRRR closed-loop subchain Download PDFInfo
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- CN102825600A CN102825600A CN2012100847926A CN201210084792A CN102825600A CN 102825600 A CN102825600 A CN 102825600A CN 2012100847926 A CN2012100847926 A CN 2012100847926A CN 201210084792 A CN201210084792 A CN 201210084792A CN 102825600 A CN102825600 A CN 102825600A
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- connecting rod
- revolute pair
- turntable
- rrrr
- subchain
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Abstract
The invention discloses a parallel mechanism containing an RRRR closed-loop subchain. The parallel mechanism comprises the RRRR closed-loop subchain and an executing mechanism subchain. The RRRR closed-loop subchain can be used for controlling a first turntable to move in a plane where the RRRR closed-loop subchain is arranged, and two-degree-of-freedom motion of the space of a moving platform can be realized through the motion of the first turntable. According to the invention, the motion of one turntable on the plane is controlled through the closed-loop subchain so that the two-degree-of-freedom motion of the space of the moving platform is realized; the parallel mechanism has the advantages of compact structure and simplicity in control; and all active bars are connected to a rack and can be made into light bars, and therefore, the mechanism is small in motion inertia and good in dynamics performance.
Description
Technical field
The present invention relates to the robot field, particularly a kind of parallel institution that contains RRRR closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully.Because parallel institution itself is with regard to more complicated; If closed loop is contained again in branch, its mechanism will be complicated more, so in general; Parallel institution symmetry, that branch does not contain closed loop just can have most typical character; Appropriate but if closed loop is used, the performance of parallel institution will be remarkable more, like famous delta mechanism.In addition; Existing parallel institution; Its side chain receives the restriction of connected mode, generally has only a driving lever to be connected in the driving that is cemented on the frame, like this mode of multiple freedom parallel mechanism for realizing that it moves and just needs many side chains or take a plurality of driving levers of series connection on the side chain; Yet the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The object of the present invention is to provide a kind of parallel institution of the RRRR of containing closed loop subchain, solve a plurality of drivings of side chain of traditional parallel institution and can not be connected the shortcoming on the frame simultaneously.
The present invention achieves the above object through following technical scheme: a kind of parallel institution of the RRRR of containing closed loop subchain comprises RRRR closed loop subchain and executing agency's subchain.
Said RRRR 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, and the second driving lever other end is connected with frame through first 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, RRRR closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with third connecting rod through the 5th revolute pair; First turntable is connected with the 4th connecting rod through the 6th revolute pair, and the third connecting rod other end is connected with the 5th connecting rod with moving platform through the 7th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 8th revolute pair; Moving platform is connected with the 6th connecting rod through the 9th revolute pair; The 5th connecting rod other end is connected with second turntable through the tenth revolute pair, and the 6th connecting rod other end is connected with second turntable through the 11 revolute pair, and second turntable is connected with frame through first revolute pair; The motion of first turntable in the plane, place can realize that the space two-freedom of moving platform moves, and particularly RRRR closed loop subchain and executing agency's subchain can be done the complete cycle rotation around first revolute pair.
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th connecting rod.
Outstanding advantage of the present invention is:
1, through the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of driving levers to be connected on the frame;
2, all driving levers all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as extracting, carrying, piling.
Description of drawings
Fig. 1 is a kind of first structural representation that contains the parallel institution of RRRR closed loop subchain according to the invention.
Fig. 2 is a kind of second structural representation that contains the parallel institution of RRRR closed loop subchain according to the invention.
Fig. 3 is a kind of first work sketch map that contains the parallel institution of RRRR closed loop subchain according to the invention.
Fig. 4 is a kind of second work sketch map that contains the parallel institution of RRRR 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 parallel institution that contains RRRR closed loop subchain comprises RRRR closed loop subchain and executing agency's subchain.
Said RRRR closed loop subchain is formed by connecting first driving lever 2, second driving lever 5, first connecting rod 4, second connecting rod 7 and frame 1; First driving lever, 2 one ends are connected on the frame 1 through first revolute pair 22; First driving lever, 2 other ends are connected with first connecting rod 4 through second revolute pair 3; First connecting rod 4 other ends are connected with second connecting rod 7 through the 3rd revolute pair 23; Second connecting rod 7 other ends are connected with second driving lever 5 through the 4th revolute pair 6; Second driving lever, 5 other ends are connected with frame 1 through first revolute pair 22, and first driving lever 2 and 5 motions of second driving lever drive first connecting rod 4 and second connecting rod 7 motions can be controlled the motion of first turntable 8 in plane, five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 8, second turntable 21, third connecting rod 12, the 4th connecting rod 11, the 5th connecting rod 17, the 6th connecting rod 18 and moving platform 15; First turntable 8 is connected with first connecting rod 4 through the 3rd revolute pair 23; First turntable 8 is connected with third connecting rod 12 through the 5th revolute pair 10; First turntable 8 is connected with the 4th connecting rod 11 through the 6th revolute pair 9; Third connecting rod 12 other ends are connected with the 5th connecting rod 17 with moving platform 15 through the 7th revolute pair 14; The 4th connecting rod 11 other ends are connected with moving platform 15 through the 8th revolute pair 13, and moving platform 15 is connected with the 6th connecting rod 18 through the 9th revolute pair 16, and the 5th connecting rod 17 other ends are connected with second turntable 21 through the tenth revolute pair 19; The 6th connecting rod 18 other ends are connected with second turntable 21 through the 11 revolute pair 20; Second turntable 21 is connected with frame 1 through first revolute pair 22, and the motion of first turntable 8 in the plane, place can realize that the space two-freedom of moving platform moves, and particularly RRRR closed loop subchain and executing agency's subchain can be done the complete cycle rotation around first revolute pair.
The rotation of said first revolute pair 22, second revolute pair 3, the 3rd revolute pair 23, the 4th revolute pair 6 is parallel to each other, and third connecting rod 12 is isometric parallel with the 4th connecting rod 11, and the 5th connecting rod 15 is isometric parallel with the 6th connecting rod 18.
Claims (1)
1. a parallel institution that contains RRRR closed loop subchain comprises RRRR closed loop subchain and executing agency's subchain, it is characterized in that its structure and connected mode are:
Said RRRR 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 first revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with third connecting rod through the 5th revolute pair, and first turntable is connected with the 4th connecting rod through the 6th revolute pair, and the third connecting rod other end is connected with the 5th connecting rod with moving platform through the 7th revolute pair; The 4th connecting rod other end is connected with moving platform through the 8th revolute pair; Moving platform is connected with the 6th connecting rod through the 9th revolute pair, and the 5th connecting rod other end is connected with second turntable through the tenth revolute pair, and the 6th connecting rod other end is connected with second turntable through the 11 revolute pair; Second turntable is connected with frame through first revolute pair
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100847926A CN102825600A (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRRR closed-loop subchain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012100847926A CN102825600A (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRRR closed-loop subchain |
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| CN102825600A true CN102825600A (en) | 2012-12-19 |
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| CN2012100847926A Pending CN102825600A (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRRR closed-loop subchain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607917A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
| CN106607895A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation |
Citations (6)
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| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| JP2005158826A (en) * | 2003-11-20 | 2005-06-16 | Anelva Corp | Multi-arm type substrate transporting robot and method of transporting substrate |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN201275760Y (en) * | 2008-10-30 | 2009-07-22 | 杜宏图 | Plane parallel robot mechanism with two freedom degrees |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
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2012
- 2012-03-28 CN CN2012100847926A patent/CN102825600A/en active Pending
Patent Citations (6)
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| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| JP2005158826A (en) * | 2003-11-20 | 2005-06-16 | Anelva Corp | Multi-arm type substrate transporting robot and method of transporting substrate |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN201275760Y (en) * | 2008-10-30 | 2009-07-22 | 杜宏图 | Plane parallel robot mechanism with two freedom degrees |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
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| 刘长增等: "并联机构闭环四杆结构研究", 《机械设计与制造工程》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607895A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation |
| CN106607917A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for spraying operation |
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Application publication date: 20121219 |