CN102922515A - Two-rotation one-movement parallel mechanism capable of realizing motion decoupling - Google Patents
Two-rotation one-movement parallel mechanism capable of realizing motion decoupling Download PDFInfo
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- CN102922515A CN102922515A CN2012104544142A CN201210454414A CN102922515A CN 102922515 A CN102922515 A CN 102922515A CN 2012104544142 A CN2012104544142 A CN 2012104544142A CN 201210454414 A CN201210454414 A CN 201210454414A CN 102922515 A CN102922515 A CN 102922515A
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Abstract
The invention discloses a two-rotation one-movement parallel mechanism capable of realizing motion decoupling, and relates to the technical field of robots and spatial mechanisms. The parallel mechanism comprises a fixed platform, a movable platform and three branch chains for connecting the two platforms, wherein the two branch chains are respectively formed from the fixed platform to the movable platform through a rotating pair R, a moving pair P, a hooke joint T and a connecting rod therein; and the other one branch chain is formed from the fixed platform to the movable platform through a spherical pair S, a moving pair P, a rotating pair R and a connecting rod therein. According to the invention, the two-dimensional rotation and the one-dimensional movement are realized by the working platforms, and the output of a decoupling motion is realized by the three motion freedoms. In addition, the position and the posture of the movable platform can be adjusted by controlling the displacement of the moving pair P in each chain. The parallel mechanism provided by the invention has advantages of simple and novel structure, simplicity in forward/inverse motion, large working space and convenience in controlling method. Therefore, the parallel mechanism has a wide application foreground in various fields such as robot technology, machining, positioning devices and sensors.
Description
Technical field
The invention belongs to robot and space mechanism's technical field, particularly a kind of two of mobile decoupling of realizing rotates a mobile parallel connection mechanism.
Background technology
The Stewart platform that nineteen sixty-five Stewart proposes is comprised of upper lower platform and 6 drive rods, and drive rod can stretch independently, and respectively by being connected with upper lower platform by spherical hinge, like this, upper mounting plate has 6 frees degree.Along with to the deepening continuously of various parallel institutions research, people are connected upper lower platform every by two or more side chains, and mechanism has two or more frees degree, and type of drive is that the mechanism of parallel drive is referred to as parallel institution.For traditional tandem mechanism, parallel institution has the advantages such as bearing capacity is large, rigidity is high, movement velocity is fast, precision is high, dynamic performance is good, can be applicable to the fields such as machining center, mechanism for sorting, medical auxiliary apparatus.
Because the restriction of structure, 6DOF parallel institution have the fine solution of failing of many technical problems, strong such as sports coupling, forward kinematics solution is complicated, working space is little, drive characteristic is poor etc.Lower-mobility Parallel Manipulators has broad application prospects in industrial production, many scholar's research the mechanism of multiple the type, especially 3-freedom parallel mechanism, such as Delta mechanism, Star Like mechanism etc.The Chinese scholar is also obtaining a large amount of achievements in research (such as number of patent application: 01108297.6 aspect the research of Lower-mobility Parallel Manipulators; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7 etc.).
At present the parallel institution Configuration Design of Three Degree Of Freedom has attracted numerous researchers' interest, and the 3-freedom parallel mechanism that wherein has two rotations and an one-movement-freedom-degree form becomes the study hotspot in this field because of its wide application potential.The parallel institution of the type has huge using value and commercial value in fields such as high-speed picking-up, machining, space orientation, medicine equipment, micromanipulator, power sensor, rehabilitation nursing instruments, and at present the various countries scholar is launching keen competition in the hope of proposing this type parallel institution with independent intellectual property right, function admirable aspect the 3-freedom parallel mechanism Configuration Design with two rotations and an one-movement-freedom-degree form.But existing such mechanism as: 3-RPS parallel institution, 3-PRS parallel institution etc. exist straight chain kinematic pair number more, to the links such as the processing of parts, assembling have relatively high expectations, the rotation of mechanism and translational motion exist coupling to make the very shortcoming such as very complicated of its kinematics solution, limited to a certain extent the practical ranges of such mechanism.How to design and satisfy functional requirement, and kinematics control novel 3-freedom parallel mechanism simple, cheap for manufacturing cost is the researcher of mechanism urgent problem.
Summary of the invention
The objective of the invention is to solve existing two and rotate a travel mechanism and have the kinematics coupled problem, provide a kind of simple in structure, motion just/contrary separate succinct, working space is large, easy two of the mobile decoupling of realizing of control method rotates a mobile parallel connection mechanism.
Two of the mobile decoupling of realizing provided by the invention rotates a mobile parallel connection mechanism, is comprised of three side chains of motion platform (1), fixed platform (2) and above-mentioned two platforms of connection; First connecting rod (L11) in the first side chain (C1) is connected with fixed platform by the first spherical pair (S1), second connecting rod (L12) is connected with motion platform by the first revolute pair (R1), and first connecting rod (L11) interconnects by the first moving sets (P1) with second connecting rod (L12); Third connecting rod (L21) in the second side chain (C2) is connected with fixed platform by the second revolute pair (R2), the 4th connecting rod (L22) is connected with motion platform by the first Hooke's hinge (T1), and third connecting rod (L21) interconnects by the second moving sets (P2) with the 4th connecting rod (L22); The 5th connecting rod (L31) in the 3rd side chain (C3) is connected with fixed platform by the 3rd revolute pair (R3), the 6th connecting rod (L32) is connected with motion platform by the first Hooke's hinge (T1) simultaneously, and the 5th connecting rod (L31) interconnects by three moving sets (P3) with the 6th connecting rod (L32); Wherein:
Described the second revolute pair (R2) is parallel to each other with the pivot center of the 3rd revolute pair (R3), and the second side chain (C2) is coplanar with the 3rd side chain (C3);
Described the first Hooke's hinge (T1) is that the second side chain (C2) shares with the 3rd side chain (C3), and a rotor shaft direction of the first Hooke's hinge (T1) is parallel with the pivot center of the second revolute pair (R2).
Described the first moving sets (P1), the second moving sets (P2) are the driving pair of mechanism with three moving sets (P3).
The invention has the beneficial effects as follows:
1, the mechanism kinematic platform can realize that two rotate a moved decoupling movement output.
2, mechanism is simple, the mechanism joint is few, and the degree of freedom of kinematic pair sum only has 11.
3, mechanism, motion just/contrary separate succinct, working space is large, control method is easy.
Description of drawings
Fig. 1 is that two of the mobile decoupling of realizing of the present invention rotates a mobile parallel connection mechanism schematic diagram.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
The specific embodiment
Embodiment 1
As shown in Figure 1, can realize that two of mobile decoupling rotate a mobile parallel connection mechanism, this mechanism is comprised of three side chains of motion platform (1), fixed platform (2) and above-mentioned two platforms of connection; First connecting rod (L11) in the first side chain (C1) is connected with fixed platform by the first spherical pair (S1), second connecting rod (L12) is connected with motion platform by the first revolute pair (R1), and first connecting rod (L11) interconnects by the first moving sets (P1) with second connecting rod (L12); Third connecting rod (L21) in the second side chain (C2) is connected with fixed platform by the second revolute pair (R2), the 4th connecting rod (L22) is connected with motion platform by the first Hooke's hinge (T1), and third connecting rod (L21) interconnects by the second moving sets (P2) with the 4th connecting rod (L22); The 5th connecting rod (L31) in the 3rd side chain (C3) is connected with fixed platform by the 3rd revolute pair (R3), the 6th connecting rod (L32) is connected with motion platform by the first Hooke's hinge (T1) simultaneously, and the 5th connecting rod (L31) interconnects by three moving sets (P3) with the 6th connecting rod (L32); Wherein:
Described the second revolute pair (R2) is parallel to each other with the pivot center of the 3rd revolute pair (R3), and the second side chain (C2) is coplanar with the 3rd side chain (C3);
Described the first Hooke's hinge (T1) is that the second side chain (C2) shares with the 3rd side chain (C3), and a rotor shaft direction of the first Hooke's hinge (T1) is parallel with the pivot center of the second revolute pair (R2).
Described the first moving sets (P1), the second moving sets (P2) are the driving secondary (as shown in Figure 1) of mechanism with three moving sets (P3), realize sliding motion by motor and ball screw.When each drives secondary displacement of moving different under control, all the other each revolute pairs, spherical pair and Hooke's hinge are then under the pulling of connecting rod and motion platform, do corresponding motion, thereby the realization motion platform is realized the decoupling motion output of two rotation-translation in working space.
Claims (1)
1. can realize that two of mobile decoupling rotates a mobile parallel connection mechanism for one kind, it is characterized in that this mechanism is comprised of three side chains of motion platform (1), fixed platform (2) and above-mentioned two platforms of connection; First connecting rod (L11) in the first side chain (C1) is connected with fixed platform by the first spherical pair (S1), second connecting rod (L12) is connected with motion platform by the first revolute pair (R1), and first connecting rod (L11) interconnects by the first moving sets (P1) with second connecting rod (L12); Third connecting rod (L21) in the second side chain (C2) is connected with fixed platform by the second revolute pair (R2), the 4th connecting rod (L22) is connected with motion platform by the first Hooke's hinge (T1), and third connecting rod (L21) interconnects by the second moving sets (P2) with the 4th connecting rod (L22); The 5th connecting rod (L31) in the 3rd side chain (C3) is connected with fixed platform by the 3rd revolute pair (R3), the 6th connecting rod (L32) is connected with motion platform by the first Hooke's hinge (T1) simultaneously, and the 5th connecting rod (L31) interconnects by three moving sets (P3) with the 6th connecting rod (L32); Wherein:
Described the second revolute pair (R2) is parallel to each other with the pivot center of the 3rd revolute pair (R3), and the second side chain (C2) is coplanar with the 3rd side chain (C3);
Described the first Hooke's hinge (T1) is that the second side chain (C2) shares with the 3rd side chain (C3), and a rotor shaft direction of the first Hooke's hinge (T1) is parallel with the pivot center of the second revolute pair (R2).
2. two of the mobile decoupling of realizing according to claim 1 rotates a mobile parallel connection mechanism, it is characterized in that described the first moving sets (P1), the second moving sets (P2) and the driving pair of three moving sets (P3) for mechanism.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029195A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Double-rotating and one movement overconstrained parallel mechanism |
| CN105058371A (en) * | 2015-09-07 | 2015-11-18 | 郑州大学 | Five-axis parallel robot with quadrangular mechanism |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN107551435A (en) * | 2017-09-08 | 2018-01-09 | 北京交通大学 | A kind of parallel fire monitor |
| CN107932482A (en) * | 2017-12-14 | 2018-04-20 | 天津理工大学 | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement |
| CN108748166A (en) * | 2018-09-03 | 2018-11-06 | 柳州铁道职业技术学院 | A kind of restructural parallel connection platform of few branch |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
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| CN1526514A (en) * | 2003-09-24 | 2004-09-08 | 杨廷力 | Parallel mechanisms for imaginary axis machine tool, measurer, etc. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029195A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Double-rotating and one movement overconstrained parallel mechanism |
| CN105058371A (en) * | 2015-09-07 | 2015-11-18 | 郑州大学 | Five-axis parallel robot with quadrangular mechanism |
| CN105058371B (en) * | 2015-09-07 | 2017-04-12 | 郑州大学 | Five-axis parallel robot with quadrangular mechanism |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN105855921B (en) * | 2016-06-12 | 2019-01-04 | 清华大学 | Parallel institution with space three-freedom |
| CN107551435A (en) * | 2017-09-08 | 2018-01-09 | 北京交通大学 | A kind of parallel fire monitor |
| CN107932482A (en) * | 2017-12-14 | 2018-04-20 | 天津理工大学 | A kind of five-freedom parallel structure of achievable Three dimensional rotation and bidimensional moving movement |
| CN108748166A (en) * | 2018-09-03 | 2018-11-06 | 柳州铁道职业技术学院 | A kind of restructural parallel connection platform of few branch |
| CN108748166B (en) * | 2018-09-03 | 2023-05-23 | 柳州铁道职业技术学院 | Few-branched-chain reconfigurable parallel platform |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
| CN114888777B (en) * | 2022-04-25 | 2023-11-21 | 浙江理工大学 | Motion redundancy two-to-one shift parallel mechanism with symmetrical structure |
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Application publication date: 20130213 |