CN103042521A - 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning - Google Patents
3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning Download PDFInfo
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- CN103042521A CN103042521A CN2012105710722A CN201210571072A CN103042521A CN 103042521 A CN103042521 A CN 103042521A CN 2012105710722 A CN2012105710722 A CN 2012105710722A CN 201210571072 A CN201210571072 A CN 201210571072A CN 103042521 A CN103042521 A CN 103042521A
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Abstract
A 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with the function of wide-range posture adjustment and positioning mainly comprises a right-angular lower platform, a right-angular upper platform, three SPS branches identical in structure and an SPS middle pillar, wherein the two platforms are connected through the SPS branches and the SPS middle pillar. The SPS branches are all located at triangle apexes of the upper and lower triangular platforms. The SPS middle pillar is located at the center of both the upper and lower platforms. Each of the SPS branches and the SPS middle pillar is composed of two spherical pairs, a prismatic pair and two links, wherein the spherical pairs and the prismatic pair are connected through the links. Each branch and one end of the middle pillar are both connected with the lower platform through the spherical pairs which are connected with the prismatic pair through the links. The prismatic pair is connected with the spherical pairs through the links. Each branch and the other end of the middle pillar are both connected with the upper platform through the revolute pairs. The spherical pairs of the upper and lower platforms are coplanar respectively. The 3-SPS/SPS with the function of wide-range posture adjustment and positioning is simple in structure, high in bearing capacity and available in larger-range posture adjustment and positioning.
Description
Technical fieldThe invention belongs to the robot field, particularly a kind of parallel robot.
Background technologyParallel robot is owing to characteristics such as its rigidity are high, precision is high, bearing capacity is strong, dynamic property is good, both at home and abroad the multi-freedom parallel connection robot mechanism is learned research and used more 3 branch's parallel institutions and the 3DOF spherical mechanism that the Delta mechanism evolution is representative that be based on, experts and scholars are to its common concern.
On the basis of this 6DOF mechanism, some scholars have proposed the mechanism of some lower-mobilities, comprise l-PS-3-SPS mechanism, namely add a pillar that is comprised of moving sets P and secondary S of ball between the upper lower platform of 3-SPS mechanism, this mechanism freedom is 4; Also there are some scholars to propose mechanism of 3-SPS/S mechanism, here intermediate studdle is fixed with pedestal, is connected with upper mounting plate by S is secondary, this mechanism freedom is 3, and these two kinds of mechanisms have also been carried out more comprehensive theory analysis, a lot of actual application scheme have also been proposed simultaneously, comprise bionic function, engineering application and healing robot etc.But the lower-mobility mechanism based on 3-SPS mechanism that proposes at present exists working space less, the drawback that adjusting range is limited.
Summary of the inventionThe object of the present invention is to provide a kind of simple in structure, rigidity is large, bearing capacity is large, can realize that the 3-SPS/SPS three of posture adjustment on a large scale positioning drives six degree of freedom wide range posture adjustments positioning parallel institutions.
The present invention comprises that mainly the lower platform of an equilateral triangle is pedestal, the upper mounting plate of an equilateral triangle is identical three the SPS branches of moving platform and the structure that connects these two platforms and a SPS intermediate studdle, wherein, three SPS branches all are positioned at the triangle top of lower platform on the triangle, the SPS intermediate studdle is positioned at the center of lower platform, three SPS branches and SPS intermediate studdle all are by 2 ball pairs, 1 moving sets and 2 connecting rods compositions that they are linked together, each branch is connected an end and all is connected with lower platform by ball is secondary with intermediate studdle, this ball pair is connected with moving sets by connecting rod, this moving sets is connected by connecting rod and ball are secondary, each branch is connected the other end and all is connected with upper mounting plate by this ball is secondary with intermediate studdle, 4 balls pairs on upper mounting plate and the lower platform are distinguished coplanar.
Drive motors is installed in respectively on the moving sets of above-mentioned three SPS branches, and the secondary and moving sets of ball of SPS intermediate studdle can be adjusted and lock, and by the moving sets in three branches of linear electric motor, can realize the three-dimensional motion of upper mounting plate.
The present invention compared with prior art has following advantage:
1, simple in structure, rigidity is large, bearing capacity is large.
2, have 6DOF, larger configuration space is arranged when motion.
3, after ball pivot is optimized, upper mounting plate can be realized the function of posture adjustment positioning on a large scale.
4, when work, the secondary and moving sets of a ball of the pillar in the middle of adjusting according to target pins this position to the appropriate location, only need 3 drivings just can obtain wanting the position and the attitude that obtain.
Description of drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
Drive in the schematic diagram of six degree of freedom wide range posture adjustment positioning parallel institution at 3-SPS/SPS shown in Figure 1 three, lower platform 1 links to each other by 4 branches with upper mounting plate 7, wherein three peripheral SPS branches and a SPS middle pillar structure are identical, three SPS branches all are positioned on the triangle, the summit of lower platform, the SPS intermediate studdle is positioned at, the center of lower platform, each branch is connected an end and all is connected with lower platform by ball secondary 2 with intermediate studdle, this ball is secondary to be connected with moving sets 4 by connecting rod 3, this moving sets is connected with ball secondary 6 by connecting rod 5, each branch and intermediate studdle all are connected with upper mounting plate by this ball is secondary, and 4 balls pairs on upper mounting plate and the lower platform are distinguished coplanar.
Drive motors is installed in respectively on the moving sets of above-mentioned three SPS branches, and the secondary and moving sets of ball of SPS intermediate studdle can be adjusted and lock, and by the moving sets in three SPS branches of linear electric motor, can realize the three-dimensional motion of upper mounting plate.
Claims (2)
1. a 3-SPS/SPS three drives six degree of freedom wide range posture adjustment positioning parallel institution, it mainly comprises the lower platform of an equilateral triangle, the upper mounting plate of an equilateral triangle and identical 3 the SPS branches of structure and a SPS intermediate studdle of connecting these two platforms, it is characterized in that: its 3 SPS branches all are positioned at the triangle top of lower platform on the triangle, the SPS intermediate studdle is positioned at the center of lower platform, 3 SPS branches and SPS intermediate studdle all are by 2 ball pairs, 1 moving sets and 2 connecting rods compositions that they are linked together, each branch is connected an end and all is connected with lower platform by ball is secondary with intermediate studdle, this ball pair is connected with moving sets by connecting rod, this moving sets is connected by connecting rod and ball are secondary, each branch is connected the other end and all is connected with upper mounting plate by this ball is secondary with intermediate studdle, 4 balls pairs on upper mounting plate and the lower platform are distinguished coplanar.
2. a kind of 3-SPS/SPS three according to claim 1 drives six degree of freedom wide range posture adjustment positioning parallel institution, and it is characterized in that: drive motors is installed in respectively on the moving sets of above-mentioned 3 SPS branches.
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| CN2012105710722A CN103042521A (en) | 2012-12-26 | 2012-12-26 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
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| CN2012105710722A CN103042521A (en) | 2012-12-26 | 2012-12-26 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
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| CN103042521A true CN103042521A (en) | 2013-04-17 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN105538300A (en) * | 2015-11-05 | 2016-05-04 | 广东工业大学 | Full-automatic plate installation manipulator device |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
| CN110000756A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | With three mobile and a two mobile screw modes parallel institutions |
| CN110270982A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of parallel institution blender |
| CN110270981A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of RPR type parallel institution with spherical rotation kinematic pair |
| CN110270983A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of 2R1T type parallel institution with spherical rotation kinematic pair |
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| CN203460178U (en) * | 2013-08-20 | 2014-03-05 | 山东大学 | Four-DOF (degree of freedom) spatial parallel mechanism with position-variable rotating shaft |
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| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN101224584A (en) * | 2007-11-22 | 2008-07-23 | 山东理工大学 | Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation |
| CN101628417A (en) * | 2009-08-06 | 2010-01-20 | 汕头大学 | Three-rotational DOF parallel robot with active telescopic pole |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN105538300A (en) * | 2015-11-05 | 2016-05-04 | 广东工业大学 | Full-automatic plate installation manipulator device |
| CN105538300B (en) * | 2015-11-05 | 2017-07-07 | 广东工业大学 | A kind of fully-automatic plate installation manipulator device |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
| CN110000756A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | With three mobile and a two mobile screw modes parallel institutions |
| CN110000756B (en) * | 2019-04-01 | 2021-02-12 | 西安工程大学 | Parallel mechanism with three-movement and two-movement one-spiral movement modes |
| CN110270982A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of parallel institution blender |
| CN110270981A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of RPR type parallel institution with spherical rotation kinematic pair |
| CN110270983A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of 2R1T type parallel institution with spherical rotation kinematic pair |
| CN110270982B (en) * | 2019-05-06 | 2021-05-28 | 西安工程大学 | Parallel mechanism mixer |
| CN110270983B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | 2R1T type parallel mechanism with spherical rotary motion pair |
| CN110270981B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | RPR type parallel mechanism with spherical rotary kinematic pair |
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Application publication date: 20130417 |