CN102990655A - Parallel mechanism containing prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain - Google Patents

Parallel mechanism containing prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain Download PDF

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Publication number
CN102990655A
CN102990655A CN2012105782896A CN201210578289A CN102990655A CN 102990655 A CN102990655 A CN 102990655A CN 2012105782896 A CN2012105782896 A CN 2012105782896A CN 201210578289 A CN201210578289 A CN 201210578289A CN 102990655 A CN102990655 A CN 102990655A
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CN
China
Prior art keywords
connecting rod
connected
revolute pair
end
loop subchain
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CN2012105782896A
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Chinese (zh)
Inventor
蔡敢为
胥刚
王小纯
潘宇晨
高德中
于腾
吕姗姗
丁侃
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广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN2012105782896A priority Critical patent/CN102990655A/en
Publication of CN102990655A publication Critical patent/CN102990655A/en

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Abstract

A parallel mechanism containing a prr kinematic pair open loop subchain and a pprrr kinematic pair closed loop subchain comprises an execution mechanism subchain and a five-rod mechanism closed loop subchain. The five-rod mechanism closed loop subchain can control a third connection rod to move in a plane of the five-rod mechanism closed loop subchain, and movement of a first connection rod and the third connection rod can achieve space movement of a movable platform. The parallel mechanism utilizes one closed loop subchain to control achievement of space movement of the closed loop subchain, the first connection rod and the third connection rod and achieve space movement of the movable platform accordingly. The parallel mechanism has the advantages of being compact in structure, simple to control, small in mechanism movement inertia and good in dynamic performance due to the fact that all the connection rods are connected onto a frame and can be made into light rods.

Description

The parallel institution that contains prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain

Technical field

The present invention relates to the robot field, particularly contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair 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, yet 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 the parallel institution that contains prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, solve a plurality of drivings of side chain of traditional parallel institution and can not be connected to simultaneously shortcoming on the frame.

The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:

Described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on the frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, the first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5

Described five-rod closed loop subchain is by third connecting rod 22, the 4th connecting rod 18, the 5th connecting rod 16, the 6th connecting rod 27, seven-link assembly 25, the second slide block 20, the first bearing 23, the second Hooke's hinge 28, moving platform 4 and frame 1 are formed by connecting, third connecting rod 22 1 ends are connected on the frame by the 5th revolute pair 3, third connecting rod 22 other ends are connected with the second slide block 20 by the second moving sets 21, the second slide block 20 other ends are connected with the 4th connecting rod 18 by the 6th revolute pair 19, the 4th connecting rod 18 other ends are connected with the 5th connecting rod 16 by three moving sets 17, the 5th connecting rod 16 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 6th connecting rod 27 1 ends, the upper topmast 29 of the second Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 6th connecting rod 27 other ends are connected with the 8th connecting rod 25 by the 9th revolute pair 26, the 8th connecting rod 25 other ends are connected with the first bearing 23 on being fixed on third connecting rod 22 by the tenth revolute pair 24

Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.

Outstanding advantages of the present invention is:

1, by the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of connecting rods to be connected on the frame;

2, all connecting rods 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, 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.

Description of drawings

Fig. 1 is the first structural representation that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 2 is the second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 3 is the bearing schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 4 is the moving platform schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 5 is the first Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 6 is the second Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr 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. 3, Fig. 4, Fig. 5 and Fig. 6, contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:

Described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on the frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, the first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5

Described five-rod closed loop subchain is by third connecting rod 22, the 4th connecting rod 18, the 5th connecting rod 16, the 6th connecting rod 27, seven-link assembly 25, the second slide block 20, the first bearing 23, the second Hooke's hinge 28, moving platform 4 and frame 1 are formed by connecting, third connecting rod 22 1 ends are connected on the frame by the 5th revolute pair 3, third connecting rod 22 other ends are connected with the second slide block 20 by the second moving sets 21, the second slide block 20 other ends are connected with the 4th connecting rod 18 by the 6th revolute pair 19, the 4th connecting rod 18 other ends are connected with the 5th connecting rod 16 by three moving sets 17, the 5th connecting rod 16 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 6th connecting rod 27 1 ends, the upper topmast 29 of the second Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 6th connecting rod 27 other ends are connected with the 8th connecting rod 25 by the 9th revolute pair 26, the 8th connecting rod 25 other ends are connected with the first bearing 23 on being fixed on third connecting rod 22 by the tenth revolute pair 24

Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.

Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the first driving lever motion planar can realize the spatial movement of moving platform 4.

Claims (1)

1. the parallel institution that contains prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain comprises executing agency's subchain and a five-rod closed loop subchain, and its structure and connected mode are:
Described executing agency subchain is by first connecting rod, second connecting rod, the first slide block, the first Hooke's hinge, moving platform and frame are formed by connecting, first connecting rod one end is connected on the frame by the first revolute pair, the first connecting rod other end is connected with the first slide block by the first moving sets, the first slide block other end is connected with second connecting rod one end by the second revolute pair, the second connecting rod other end is connected with the lower topmast of the first Hooke's hinge by the 3rd revolute pair, the upper topmast of the first Hooke's hinge is connected with moving platform one end by the 4th revolute pair
Described five-rod closed loop subchain is by third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the second slide block, the first bearing, the second Hooke's hinge, moving platform and frame are formed by connecting, third connecting rod one end is connected on the frame by the 5th revolute pair, the third connecting rod other end is connected with the second slide block by the second moving sets, the second slide block 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 three moving sets, the 5th connecting rod other end is connected with the lower topmast of the second Hooke's hinge by the 7th revolute pair with the 6th connecting rod one end, the upper topmast of the second Hooke's hinge is connected with the moving platform other end by the 8th revolute pair, the 6th connecting rod other end is connected with seven-link assembly by the 9th revolute pair, the seven-link assembly other end is connected with the first bearing on being fixed on third connecting rod by the tenth revolute pair
Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.
CN2012105782896A 2012-12-27 2012-12-27 Parallel mechanism containing prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain CN102990655A (en)

Priority Applications (1)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5673595A (en) * 1995-05-19 1997-10-07 Canadian Space Agency Four degree-of-freedom manipulator
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
US20080295637A1 (en) * 2007-06-01 2008-12-04 Lessard Simon Parallel manipulator
CN102085660A (en) * 2011-02-23 2011-06-08 常州大学 Three-degree-of-freedom decoupling hybrid robot
CN102350697A (en) * 2011-09-22 2012-02-15 广西大学 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism
CN102601789A (en) * 2012-03-28 2012-07-25 广西大学 Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain
CN203003883U (en) * 2012-12-27 2013-06-19 广西大学 Parallel mechanism provided with prr kinematic pair open-loop subchain and pprrr kinematic pair closed-loop subchain

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5673595A (en) * 1995-05-19 1997-10-07 Canadian Space Agency Four degree-of-freedom manipulator
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
US20080295637A1 (en) * 2007-06-01 2008-12-04 Lessard Simon Parallel manipulator
CN102085660A (en) * 2011-02-23 2011-06-08 常州大学 Three-degree-of-freedom decoupling hybrid robot
CN102350697A (en) * 2011-09-22 2012-02-15 广西大学 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism
CN102601789A (en) * 2012-03-28 2012-07-25 广西大学 Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain
CN203003883U (en) * 2012-12-27 2013-06-19 广西大学 Parallel mechanism provided with prr kinematic pair open-loop subchain and pprrr kinematic pair closed-loop subchain

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Application publication date: 20130327

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