CN103029119B - Three-RDOF (rotational degree of freedom) parallel mechanism - Google Patents
Three-RDOF (rotational degree of freedom) parallel mechanism Download PDFInfo
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- CN103029119B CN103029119B CN201210513677.6A CN201210513677A CN103029119B CN 103029119 B CN103029119 B CN 103029119B CN 201210513677 A CN201210513677 A CN 201210513677A CN 103029119 B CN103029119 B CN 103029119B
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Abstract
The invention discloses a three-RDOF (rotational degree of freedom) parallel mechanism, which comprises a fixed platform, a movable platform, and a first branch, a second branch and a third branch which are connected between the fixed platform and the movable platform, wherein the movable platform comprises an upper platform, a middle platform and a lower platform; a group of planar parallelogram structures is respectively arranged in the first and second branches; the plane where the planar parallelogram structure in the first branch is located intersects with the plane where the planar parallelogram structure in the second branch is located; centers of four hinges on the middle platform and the lower platform are coplanar; an intersection point of a connection line of centers of two hinges on the lower platform and a connection line of centers of two hinges on the middle platform pass through a revolution axis of a rotation pair between the middle platform and the lower platform; and through the rotation of master arms in the three branches, the rotation of the upper platform, the middle platform and the lower platform can be realized, and then three-dimensional rotation of the movable platform is realized. The three-RDOF parallel mechanism has the advantages of simplicity in construction, compactness in structure, small movement mass, convenience in assembly and easiness in control, and can be used on robot joints or machine tool accessories.
Description
Technical field
The invention belongs to mechanical field, particularly a kind of three-rotation freedom parallel mechanism without associated movement that can be applicable to joint of robot or machine tool accessories.
Background technology
At present, joint of robot many employings gear drive, series-mode frame realize, its complex structure, be difficult to install, manufacturing cost is high.Three Degree Of Freedom rotary head as machine tool accessories mostly also is cascade, and its moving-mass is large, and rigidity is poor.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of simple structure, compact conformation, parallel institution without the three-rotational-freedom of associated movement.
In order to solve the problems of the technologies described above, the technical scheme that a kind of three-rotation freedom parallel mechanism of the present invention is achieved is: comprise fixed platform, moving platform and connect the first branch between described fixed platform and moving platform, the second branch and the 3rd branch; Described moving platform comprises upper mounting plate, middle platform and lower platform, be connected by revolute pair between described upper mounting plate with described middle platform, be connected by revolute pair between described upper mounting plate with described lower platform, the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate, middle platform and lower platform place; Described first branch comprises first master arm and two isometric the first slave arms, and described first master arm is connected by revolute pair with described fixed platform, and as driving pair for mechanism provides power; One end of two the first slave arms is connected by revolute pair with described first master arm respectively, and between two the first slave arms and the first master arm, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm and fixed platform; The other end of two the first slave arms is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform; In first branch, described first master arm, two the first slave arms and lower platform form one group of planar parallelogram structure, thus restriction lower platform is along the revolute pair axis direction translational on described first master arm; Described second branch comprises second master arm and two isometric the second slave arms, and described second master arm is connected by revolute pair with described fixed platform, and as driving pair for mechanism provides power; One end of two the second slave arms is connected by revolute pair with described second master arm, and between two the second slave arms and the second master arm, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm and fixed platform; The other end of described second slave arm is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform; In second branch, described second master arm, two the second slave arms and middle platform form one group of planar parallelogram structure, thus restriction in platform along the revolute pair axis direction translational on described second master arm; Described 3rd branch comprises the 3rd master arm, and one end of described 3rd master arm is connected by revolute pair with described fixed platform, and as driving pair for mechanism provides power; The other end of described 3rd master arm is connected by two degrees of freedom hook hinge with described upper mounting plate; Described first branch's inner plane parallelogram sturcutre place plane and described second branch's inner plane parallelogram sturcutre place Plane intersects, four hinge centres on described middle platform, lower platform are coplanar, and on described lower platform on two hinge centres lines and described middle platform the intersection point of two hinge centres lines by the axis of rotation of the revolute pair between described middle platform and lower platform; Be subject to the restriction of the planar parallelogram structure in the first branch and the second branch, on described lower platform, on two hinge centres lines and middle platform, the position of intersecting point of two hinge centres lines is fixing; Two degrees of freedom hook hinge center in described 3rd branch overlaps with the intersection point of two hinge centres lines on described middle platform with two hinge centres lines on described lower platform; By the rotation of the 3rd master arm in the second master arm in the first master arm, the second branch in the first branch and the 3rd branch, the rotation of upper mounting plate, middle platform and lower platform can be realized, and then realize the Three dimensional rotation of moving platform.
Compared with prior art, the invention has the beneficial effects as follows:
The advantage that the present invention has and good effect are: moving platform adopts three platform structures, are got up by the planar parallelogram anatomical connectivity in two branches, limit the translational degree of freedom of moving platform, and the centering that can realize moving platform is rotated.Simple structure of the present invention, compact conformation, moving-mass is little, is convenient to assembling, is easy to control, can be used for joint of robot or machine tool accessories.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of three-rotation freedom parallel mechanism of the present invention;
Fig. 2 is moving platform mechanism schematic diagram in the present invention;
Fig. 3 is the first branched structure schematic diagram in the present invention;
Fig. 4 is the second branched structure schematic diagram in the present invention;
Fig. 5 is the 3rd branch's schematic diagram in the present invention.
In figure: 1-fixed platform, 2-moving platform, 2a-upper mounting plate, platform in 2b-, 2c-lower platform, 3 first branches, 3a-first master arm, 3b, 3c-first slave arm, 4-second branch, 4a-second master arm, 4b, 4c-second slave arm, 5-the 3rd branch, 5a-the 3rd master arm.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is described in further detail.
As shown in Figure 1, a kind of three-rotation freedom parallel mechanism of the present invention, comprises fixed platform 1, moving platform 2 and the first branch 4 of branch 3, second of connecting between described fixed platform 1 and moving platform 2 and the 3rd branch 5.
As shown in Figure 2, described moving platform 2 comprises upper mounting plate 2a, middle platform 2b and lower platform 2c, be connected by revolute pair between described upper mounting plate 2a with described middle platform 2b, be connected by revolute pair between described upper mounting plate 2a with described lower platform 2c, the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate 2a, middle platform 2b and lower platform 2c place, described upper mounting plate 2a is provided with radial many T-slot in center above.
As shown in Figure 3, described first branch 3 comprises a first master arm 3a and two first isometric slave arm 3b, 3c, and described first master arm 3a is connected by revolute pair with described fixed platform 1, and as driving pair for mechanism provides power, one end of two first slave arms 3b, 3c is connected by revolute pair with described first master arm 3a respectively, and between two first slave arms 3b, 3c and the first master arm 3a, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm 3a and fixed platform 1, two the first slave arm 3b, the other end of 3c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform 2c, if two the first slave arm 3b, two degrees of freedom hook hinge is adopted to be connected between 3c with described lower platform 2c, the axis that one of them two degrees of freedom hook hinge is connected with lower platform 2c (namely, the nearly frame axis of this two degrees of freedom hook hinge) by the center of another two degrees of freedom hook hinge on described lower platform 2c, simultaneously, each two degrees of freedom hook hinge and be attached thereto the connection axis of the first slave arm connect (namely, the frame axis far away of this two degrees of freedom hook hinge) be parallel to the revolute pair axis of this first slave arm one end.In first branch 3, described first master arm 3a, two first slave arm 3b, 3c and lower platform 2c form one group of planar parallelogram structure, thus restriction lower platform 2c is along the revolute pair axis direction translational on described first master arm 3a.
As shown in Figure 4, described second branch 4 comprises a second master arm 4a and two second isometric slave arm 4b, 4c, and described second master arm 4a is connected by revolute pair with described fixed platform 1, and as driving pair for mechanism provides power, one end of two second slave arms 4b, 4c is connected by revolute pair with described second master arm 4a, and between two second slave arms 4b, 4c and the second master arm 4a, the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm 4a and fixed platform 1, described second slave arm 4b, the other end of 4c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform 2b, if two the second slave arm 4b, two degrees of freedom hook hinge is adopted to be connected between 4c with described middle platform 2b, the axis that one of them two degrees of freedom hook hinge is connected with middle platform 2b (namely, the nearly frame axis of this two degrees of freedom hook hinge) by the center of another two degrees of freedom hook hinge on described middle platform 2b, simultaneously, each two degrees of freedom hook hinge be attached thereto axis that the second slave arm of connecing is connected (namely, the frame axis far away of this two degrees of freedom hook hinge) be parallel to the revolute pair axis of this second slave arm one end.In second branch 4, described second master arm 4a, two second slave arm 4b, 4c and middle platform 2b form one group of planar parallelogram structure, thus restriction in platform 2b along the revolute pair axis direction translational on described second master arm 4a.
As shown in Figure 5, described 3rd branch 5 comprises a 3rd master arm 5a, and one end of described 3rd master arm 5a is connected by revolute pair with described fixed platform 1, and as driving pair for mechanism provides power; The other end of described 3rd master arm 5a is connected by two degrees of freedom hook hinge with described upper mounting plate 2a;
Described first branch 3 inner plane parallelogram sturcutre place plane and described second branch 4 inner plane parallelogram sturcutre place Plane intersects, four hinges (Three Degree Of Freedom or two degrees of freedom hinge) center co-planar on described middle platform 2b, lower platform 2c, and the intersection point of the upper two hinge centres lines of described lower platform 2c and the upper two hinge centres lines of described middle platform 2b is by the axis of rotation of the revolute pair between described middle platform 2b and lower platform 2c; Be subject to the restriction of the planar parallelogram structure in the first branch 3 and the second branch 4, the position of intersecting point of the upper two hinge centres lines of described lower platform 2c and the upper two hinge centres lines of middle platform 2b is fixing; Two degrees of freedom hook hinge center in described 3rd branch 5 overlaps with the intersection point of the upper two hinge centres lines of described lower platform 2c with the upper two hinge centres lines of described middle platform 2b; By the rotation of the 3rd master arm 5a in the second master arm 4a in the first master arm 3a, the second branch 4 in the first branch 3 and the 3rd branch 5, the rotation of upper mounting plate 2a, middle platform 2b and lower platform 2c can be realized, and then realize the Three dimensional rotation of moving platform 2.
Compared with prior art, its difference is in the present invention:
Moving platform in the present invention adopts three platform structures, is got up by the planar parallelogram anatomical connectivity in two branches, limits the translational degree of freedom of moving platform.By two groups of parallelogram sturcutre transmissions, the centering realizing moving platform is rotated.The present invention can be arranged symmetrically with branch's side chain, simple structure, compact conformation, and moving-mass is little, is convenient to assembling, is easy to control.
Although invention has been described for composition graphs above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.
Claims (2)
1. a three-rotation freedom parallel mechanism, comprises fixed platform (1), moving platform (2) and connects the first branch (3) between described fixed platform (1) and moving platform (2), the second branch (4) and the 3rd branch (5); It is characterized in that:
Described moving platform (2) comprises upper mounting plate (2a), middle platform (2b) and lower platform (2c), be connected by revolute pair between described upper mounting plate (2a) with described middle platform (2b), be connected by revolute pair between described upper mounting plate (2a) with described lower platform (2c), the axis of rotation of two revolute pairs overlaps and perpendicular to the plane at described upper mounting plate (2a), middle platform (2b) and lower platform (2c) place;
Described first branch (3) comprises first master arm (3a) and two isometric the first slave arms (3b, 3c), described first master arm (3a) is connected by revolute pair with described fixed platform (1), and as driving pair for mechanism provides power; One end of two the first slave arms (3b, 3c) is connected by revolute pair with described first master arm (3a) respectively, and between two the first slave arms (3b, 3c) and the first master arm (3a), the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described first master arm (3a) and fixed platform (1); The other end of two the first slave arms (3b, 3c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described lower platform (2c); In first branch (3), described first master arm (3a), two the first slave arms (3b, 3c) and lower platform (2c) form one group of planar parallelogram structure, thus restriction lower platform (2c) is along the revolute pair axis direction translational on described first master arm (3a);
Described second branch (4) comprises second master arm (4a) and two isometric the second slave arms (4b, 4c), described second master arm (4a) is connected by revolute pair with described fixed platform (1), and as driving pair for mechanism provides power; One end of two the second slave arms (4b, 4c) is connected by revolute pair with described second master arm (4a), and between two the second slave arms (4b, 4c) and the second master arm (4a), the axis of rotation of revolute pair is coplanar with the axis of rotation of revolute pair between described second master arm (4a) and fixed platform (1); The other end of two the second slave arms (4b, 4c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described middle platform (2b); In second branch (4), described second master arm (4a), two the second slave arms (4b, 4c) and middle platform (2b) form one group of planar parallelogram structure, thus restriction in platform (2b) along the revolute pair axis direction translational on described second master arm (4a);
Described 3rd branch (5) comprises the 3rd master arm (5a), and one end of described 3rd master arm (5a) is connected by revolute pair with described fixed platform (1), and as driving pair for mechanism provides power; The other end of described 3rd master arm (5a) is connected by two degrees of freedom hook hinge with described upper mounting plate (2a);
Described first branch (3) inner plane parallelogram sturcutre place plane and described second branch (4) inner plane parallelogram sturcutre place Plane intersects, four hinge centres on described middle platform (2b), lower platform (2c) are coplanar, and the intersection point of the upper two hinge centres lines of described lower platform (2c) and the upper two hinge centres lines of described middle platform (2b) is by the axis of rotation of the revolute pair between described middle platform (2b) and lower platform (2c); Be subject to the restriction of the planar parallelogram structure in the first branch (3) and the second branch (4), the position of intersecting point of the upper two hinge centres lines of described lower platform (2c) and the upper two hinge centres lines of middle platform (2b) is fixing; Two degrees of freedom hook hinge center in described 3rd branch (5) overlaps with the intersection point of the upper two hinge centres lines of described lower platform (2c) with the upper two hinge centres lines of described middle platform (2b); By the rotation of the 3rd master arm (5a) in the second master arm (4a) in the first master arm (3a), the second branch (4) in the first branch (3) and the 3rd branch (5), the rotation of upper mounting plate (2a), middle platform (2b) and lower platform (2c) can be realized, and then realize the Three dimensional rotation of moving platform (2).
2. three-rotation freedom parallel mechanism according to claim 1, it is characterized in that: two the first slave arms (3b, 3c) adopt two degrees of freedom hook hinge to be connected with between described lower platform (2c), the axis that one of them two degrees of freedom hook hinge is connected with lower platform (2c) is by the center of described lower platform (2c) another two degrees of freedom hook hinge upper, meanwhile, each two degrees of freedom hook hinge and be attached thereto the connecting axle line parallel of the first slave arm connect in the revolute pair axis of this first slave arm one end;
Two the second slave arms (4b, 4c) adopt two degrees of freedom hook hinge to be connected with between described middle platform (2b), the axis that one of them two degrees of freedom hook hinge is connected with middle platform (2b) is by the center of described middle platform (2b) another two degrees of freedom hook hinge upper, meanwhile, each two degrees of freedom hook hinge be attached thereto axis being parallel that the second slave arm of connecing is connected in the revolute pair axis of this second slave arm one end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210513677.6A CN103029119B (en) | 2012-12-04 | 2012-12-04 | Three-RDOF (rotational degree of freedom) parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210513677.6A CN103029119B (en) | 2012-12-04 | 2012-12-04 | Three-RDOF (rotational degree of freedom) parallel mechanism |
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| CN103029119A CN103029119A (en) | 2013-04-10 |
| CN103029119B true CN103029119B (en) | 2015-04-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103816029B (en) * | 2014-03-08 | 2016-01-27 | 河北联合大学 | Six degree of freedom leg recovery exercising robot |
| GB2531994B (en) * | 2014-10-15 | 2020-06-24 | Cmr Surgical Ltd | Surgical articulation |
| CN106392677B (en) * | 2016-10-07 | 2018-05-29 | 江苏乔扬数控设备股份有限公司 | A kind of three-dimension process method for gantry Machining Center machine |
| CN112349191B (en) * | 2020-10-14 | 2022-09-06 | 北京众绘虚拟现实技术研究院有限公司 | Parallel force feedback mechanism for laparoscopic surgery simulation |
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| JP2008264881A (en) * | 2007-04-16 | 2008-11-06 | Fanuc Ltd | Working device |
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