CN102990648A - Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain - Google Patents
Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain Download PDFInfo
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- CN102990648A CN102990648A CN2012105767523A CN201210576752A CN102990648A CN 102990648 A CN102990648 A CN 102990648A CN 2012105767523 A CN2012105767523 A CN 2012105767523A CN 201210576752 A CN201210576752 A CN 201210576752A CN 102990648 A CN102990648 A CN 102990648A
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Abstract
A parallel mechanism comprising a prr open-loop sub-chain and an rrrrr kinematic pair closed-loop sub-chain comprises an open-loop sub-chain, a five-bar mechanism closed-loop sub-chain and an actuator sub-chain, wherein the open-loop sub-chain can control a first hooke hinge to move, the five-bar mechanism closed-loop sub-chain can control a second hooke hinge to move, and the first hooke hinge and the second hooke hinge can achieve spatial motion of a mobile platform. According to the parallel mechanism, the open-loop sub-chain and the closed-loop sub-chain control spatial motion of two hooke hinges to achieve spatial motion of the movable platform; and the parallel mechanism is compact in structure, simple in control, 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 the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, 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 more remarkable, such as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, and the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can affect 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 that contains the closed loop subchain, solve the shortcoming of the parallel institution complex structure control difficulty of many side chains.
The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and rrrrr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod, the first slide block and the first column, the first column links to each other with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, and first connecting rod one end is connected with the first slide block by the second revolute pair
Described five-rod closed loop subchain is by second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on the second column by the 4th revolute pair, the second connecting rod other end is connected with third connecting rod by the 5th revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 6th revolute pair, the 4th connecting rod other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with first connecting rod by the 9th revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is by the 6th revolute pair and the 4th downlink connection, the second Hooke's hinge is connected with moving platform by the 11 revolute pair, and the first Hooke's hinge, the second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.
Outstanding advantages of the present invention is:
1, passes through the motion of closed loop subchain and open loop subchain controlling organization;
2, syndeton is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by at moving platform the end effector of various different purposes being installed, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is a kind of the first structural representation that comprises the parallel institution of prr open loop subchain and rrrrr kinematic pair closed loop subchain of the present invention.
Fig. 2 is a kind of the first structural representation that comprises the parallel institution of prr open loop subchain and rrrrr kinematic pair closed loop subchain of the present invention.
Fig. 3 is a kind of the first structural representation that comprises the parallel institution of prr open loop subchain and rrrrr kinematic pair closed loop subchain of the present invention.
Fig. 4 is a kind of the first structural representation that comprises the parallel institution of prr open loop subchain and rrrrr kinematic pair closed loop subchain of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of parallel institution that comprises prr open loop subchain and rrrrr kinematic pair closed loop subchain comprises open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod 7, the first slide block 5 and the first column 3, the first column 3 links to each other with frame 1 by the first revolute pair 2, the first slide block 5 is connected on the first column 3 by the first moving sets 4, and first connecting rod 7 one ends are connected with the first slide block 5 by the second revolute pair 6
Described five-rod closed loop subchain is by second connecting rod 14, third connecting rod 16, the 4th connecting rod 18, the 5th connecting rod 20 and the second column 12 are formed by connecting, the second column 12 links to each other with frame 1 by the 3rd revolute pair 11, second connecting rod 14 1 ends are connected on the second column 12 by the 4th revolute pair 13, second connecting rod 14 other ends are connected with third connecting rod 16 by the 5th revolute pair 15, third connecting rod 16 other ends are connected with the 4th connecting rod 18 by the 6th revolute pair 17, the 4th connecting rod 18 other ends are connected with the 5th connecting rod 20 by the 7th revolute pair 19, the 5th connecting rod 20 other ends are connected with the second column 12 by the 8th revolute pair 21
Described executing agency subchain by the first Hooke's hinge 9, the second Hooke's hinge 22, and moving platform 24 be formed by connecting, the first Hooke's hinge is connected with first connecting rod 7 by the 9th revolute pair 8, the first Hooke's hinge 9 is connected with moving platform 24 by the tenth revolute pair 10, the second Hooke's hinge 22 is connected with the 4th connecting rod 18 by the 6th revolute pair 17, the second Hooke's hinge 22 is connected with moving platform 24 by the 11 revolute pair 23, and the first Hooke's hinge 9, the second Hooke's hinge 22 can be realized the motion in the space of moving platform in the motion of separately space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 9, the second Hooke's hinge 22 can realize the motion in the space of moving platform 24 in the motion of separately space.
Claims (1)
1. a parallel institution that comprises prr open loop subchain and rrrrr kinematic pair closed loop subchain comprises open loop subchain, five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
Described open loop subchain is formed by connecting by first connecting rod, the first slide block and the first column, the first column links to each other with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, and first connecting rod one end is connected with the first slide block by the second revolute pair
Described five-rod closed loop subchain is by second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on the second column by the 4th revolute pair, the second connecting rod other end is connected with third connecting rod by the 5th revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 6th revolute pair, the 4th connecting rod other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with first connecting rod by the 9th revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the 4th connecting rod by the 6th revolute pair, and the second Hooke's hinge is connected with moving platform by the 11 revolute pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105767523A CN102990648A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain |
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| CN2012105767523A CN102990648A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain |
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| CN102990648A true CN102990648A (en) | 2013-03-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
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| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101025247A (en) * | 2007-01-26 | 2007-08-29 | 清华大学 | Moving-decoupling space three-freedom connection-in-parallel mechanism |
| CN101704242A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN101704244A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN203003874U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism comprising prr open-loop subchain and rrrrr kinematic pair closed-loop subchain |
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2012
- 2012-12-27 CN CN2012105767523A patent/CN102990648A/en active Pending
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| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN101025247A (en) * | 2007-01-26 | 2007-08-29 | 清华大学 | Moving-decoupling space three-freedom connection-in-parallel mechanism |
| CN101704242A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076601A1 (en) * | 2016-10-25 | 2018-05-03 | 浙江理工大学 | Large-rotation angle two-rotational, one-translational parallel mechanism |
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| CN106743713B (en) * | 2016-12-27 | 2019-05-14 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
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Application publication date: 20130327 |