CN102990653A - Parallel mechanism containing two asymmetric closed-loop sub-chains - Google Patents
Parallel mechanism containing two asymmetric closed-loop sub-chains Download PDFInfo
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- CN102990653A CN102990653A CN2012105770333A CN201210577033A CN102990653A CN 102990653 A CN102990653 A CN 102990653A CN 2012105770333 A CN2012105770333 A CN 2012105770333A CN 201210577033 A CN201210577033 A CN 201210577033A CN 102990653 A CN102990653 A CN 102990653A
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- connecting rod
- revolute pair
- hooke
- closed loop
- hinge
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Abstract
The invention relates to a parallel mechanism containing two asymmetric closed-loop sub-chains. The parallel mechanism comprises a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain. The first five-bar mechanism closed-loop sub-chain can control a first hooke joint to move, the second five-bar mechanism closed-loop sub-chain can control a second hooke joint to move, and the motion of the first hooke joint and the second hooke joint can achieve space motion of a movable platform. According to the parallel mechanism, the motion of the two hooke joints in space is controlled by two closed-loop sub-chains, and accordingly, multi-freedom-degree motion of the movable platform is achieved. The parallel mechanism has the advantages of being compact in structure and simple to control, the mechanism moving inertia is small, and the dynamic performance is good.
Description
Technical field
The present invention relates to the robot field, particularly a kind of space multiple freedom parallel mechanism 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; Asymmetric parallel institution has relatively simple single handling.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 two asymmetric closed loop subchains, 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: a kind of parallel institution that contains two asymmetric closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair, and the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
Described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the 5th connecting rod one end is connected on the second column by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the second moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 8th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by three moving sets, the 8th connecting rod other end is connected with the second column by the 9th moving pair, and the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
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 second connecting rod by the 3rd 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 6th connecting rod by the 8th revolute pair, 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 be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present invention is:
1, by the motion of closed loop subchain controlling organization, can realize the multifreedom motion of moving platform in the space;
2, rod connection structure 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 contains the parallel institution of two asymmetric closed loop subchains of the present invention.
Fig. 2 is a kind of the second structural representation that contains the parallel institution of two asymmetric closed loop subchains of the present invention.
Fig. 3 is a kind of the 3rd structural representation that contains the parallel institution of two asymmetric closed loop subchains of the present invention.
Fig. 4 is a kind of the first work schematic diagram that contains the parallel institution of two asymmetric closed loop subchains of the present invention.
Fig. 5 is a kind of the second work schematic diagram that contains the parallel institution of two asymmetric closed loop subchains 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, Fig. 4 and Fig. 5, a kind of parallel institution that contains two asymmetric closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) and the first column (3) are formed by connecting, the first column (3) links to each other with frame (1) by the first revolute pair (2), first connecting rod (4) one ends are connected on the first column (3) by the second revolute pair (5), first connecting rod (4) other end is connected with second connecting rod (7) by the first moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the 3rd revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the 4th revolute pair (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 5th revolute pair (11), and the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge (24) in spatial movement.
Described the second five-rod closed loop subchain is by the 5th connecting rod (15), the 6th connecting rod (13), seven-link assembly (22), the 8th connecting rod (18) and the second column (19) are formed by connecting, the second column (19) links to each other with frame (1) by the 6th revolute pair (20), the 5th connecting rod (15) one ends are connected on the second column (19) by the 7th revolute pair (16), the 5th connecting rod (15) other end is connected with the 6th connecting rod (13) by the second moving sets (14), the 6th connecting rod (13) other end is connected with seven-link assembly (22) by the 8th revolute pair (26), seven-link assembly (22) other end is connected with the 8th connecting rod (18) by three moving sets (21), the 8th connecting rod (18) other end is connected with the second column (19) by the 9th moving secondary (17), and the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge (23) in spatial movement.
Described executing agency subchain is by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) is formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the 3rd revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the tenth revolute pair (28), the second Hooke's hinge (23) is connected with the 6th connecting rod (13) by the 8th revolute pair (26), and the second Hooke's hinge (23) is connected with moving platform (12) by the 11 revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. a parallel institution that contains two asymmetric closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
Described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair
Described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the 5th connecting rod one end is connected on the second column by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the second moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 8th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by three moving sets, the 8th connecting rod other end is connected with the second column by the 9th moving 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 second connecting rod by the 3rd 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 6th connecting rod by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 11 revolute pair.
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| CN2012105770333A CN102990653A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
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| CN2012105770333A CN102990653A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
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Citations (6)
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|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN201009243Y (en) * | 2007-02-14 | 2008-01-23 | 西安建筑科技大学 | Mixed drive 6-freedom parallel mechanism containing plane 5-level closed chain |
| CN101138826A (en) * | 2006-09-08 | 2008-03-12 | 关胜驹 | Five-freedom five-shaft parallel virtual-shaft machine tool |
| CN201073733Y (en) * | 2007-09-26 | 2008-06-18 | 江苏工业学院 | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool |
| CN201625979U (en) * | 2010-02-26 | 2010-11-10 | 深圳先进技术研究院 | Parallel robot with four degrees of freedom |
| CN203003881U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism with two unsymmetrical closed loop sub-chains |
-
2012
- 2012-12-27 CN CN2012105770333A patent/CN102990653A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN101138826A (en) * | 2006-09-08 | 2008-03-12 | 关胜驹 | Five-freedom five-shaft parallel virtual-shaft machine tool |
| CN201009243Y (en) * | 2007-02-14 | 2008-01-23 | 西安建筑科技大学 | Mixed drive 6-freedom parallel mechanism containing plane 5-level closed chain |
| CN201073733Y (en) * | 2007-09-26 | 2008-06-18 | 江苏工业学院 | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool |
| CN201625979U (en) * | 2010-02-26 | 2010-11-10 | 深圳先进技术研究院 | Parallel robot with four degrees of freedom |
| CN203003881U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism with two unsymmetrical closed loop sub-chains |
Non-Patent Citations (2)
| Title |
|---|
| 温兆麟: "并联机构应用的领域及其构型研究", 《机床与液压》, 30 May 2005 (2005-05-30), pages 6 - 9 * |
| 贺利乐: "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》, vol. 23, no. 10, 30 October 2004 (2004-10-30), pages 1201 - 1204 * |
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Application publication date: 20130327 |