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

Abstract

A 3-SPS/SPS three-drive six-degree-of-freedom large-range attitude and position adjustment parallel mechanism, which mainly includes an equilateral triangle lower platform, an equilateral triangle upper platform and three identical structures connecting the two platforms. SPS branches and one SPS middle pillar, among them, the three SPS branches are located at the top of the triangle upper and lower platforms, the SPS middle pillar is located at the center of the upper and lower platforms, the three SPS branches and the SPS middle pillar are all composed of 2 ball pairs, 1 Each branch and one end of the middle pillar are connected to the lower platform through a ball pair, the ball pair is connected to the moving pair through a connecting rod, and the moving pair is connected through a connecting rod. It is connected with the ball pair, and the other end of each branch and the middle pillar is connected with the upper platform through the ball pair, and the four ball pairs on the upper platform and the lower platform are respectively coplanar. The invention has the advantages of simple structure, large bearing capacity, and can realize the function of attitude adjustment and position adjustment in a wider range.

Description

3-SPS/SPS three-drive six-degree-of-freedom large-range attitude and position adjustment parallel mechanism

Technical Field The present invention belongs to the field of robots, in particular to a parallel robot.

Background Art Due to the characteristics of high rigidity, high precision, strong bearing capacity, and good dynamic performance of parallel robots, the research and application of multi-degree-of-freedom parallel robot mechanisms at home and abroad are more based on the 3-branch parallel mechanism represented by the evolution of the Delta mechanism. And 3-DOF spherical mechanism, experts and scholars generally pay attention to it.

On the basis of this 6-DOF mechanism, some scholars have proposed some mechanisms with less degrees of freedom, including the l-PS-3-SPS mechanism, that is, adding a moving pair P and a ball between the upper and lower platforms of the 3-SPS mechanism. The degree of freedom of this mechanism is 4 for the pillar composed of sub-S; some scholars have also proposed a 3-SPS/S mechanism, where the middle pillar is fixed to the base and connected to the upper platform through the S pair. It is 3, and a relatively comprehensive theoretical analysis of these two mechanisms has also been carried out, and many practical application schemes have also been proposed, including bionic functions, engineering applications, and rehabilitation robots. However, the less-DOF mechanism based on the 3-SPS mechanism currently proposed has the disadvantages of small working space and limited adjustment range.

SUMMARY OF THE INVENTION The object of the present invention is to provide a 3-SPS/SPS three-drive six-degree-of-freedom large-range attitude-adjustment parallel mechanism with simple structure, high rigidity, large load-carrying capacity, and a wide range of attitude adjustment.

The present invention mainly comprises a lower platform of an equilateral triangle, that is, a base, an upper platform of an equilateral triangle, that is, a moving platform, and three SPS branches and an SPS middle pillar that are identical in structure connecting the two platforms, wherein the three SPS branches They are all located at the triangular top of the triangular upper and lower platforms, and the SPS middle pillar is located at the center of the upper and lower platforms. The three SPS branches and the SPS middle pillar are composed of 2 ball pairs, 1 moving pair and 2 connecting rods connecting them together. Composition, one end of each branch and the middle pillar is connected with the lower platform through the ball pair, the ball pair is connected with the moving pair through the connecting rod, the moving pair is connected with the ball pair through the connecting rod, the other end of each branch and the middle pillar They are all connected to the upper platform through the ball pair, and the four ball pairs on the upper platform and the lower platform are respectively in the same plane.

The driving motors are respectively installed on the moving pair of the above three SPS branches, a ball pair and the moving pair of the SPS middle pillar can be adjusted and locked, and the moving pair in the three branches is driven by a linear motor to realize the three-dimensional movement of the upper platform. sports.

Compared with the prior art, the present invention has the following advantages:

1. Simple structure, high rigidity and large bearing capacity.

2. With 6 degrees of freedom, there is a large posture space during movement.

3. After optimizing the ball joint, the upper platform can realize the function of adjusting attitude and position in a large range.

4. When working, adjust a ball pair and a moving pair of the middle pillar to an appropriate position according to the work target, lock this position, and only need 3 drives to get the desired position and posture.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the present invention.

Detailed ways

In the schematic diagram of the 3-SPS/SPS three-drive six-degree-of-freedom large-range attitude and position adjustment parallel mechanism shown in Figure 1, the lower platform 1 and the upper platform 7 are connected by four branches, of which three peripheral SPS branches and one SPS The structure of the middle pillar is exactly the same, the three SPS branches are all located at the vertices of the triangular upper and lower platforms, the SPS middle pillar is located at the center of the upper and lower platforms, and one end of each branch and the middle pillar is connected with the lower platform through the ball pair 2, The ball pair is connected with the moving pair 4 through the connecting rod 3, the moving pair is connected with the ball pair 6 through the connecting rod 5, each branch and the middle pillar are connected with the upper platform through the ball pair, the 4 on the upper platform and the lower platform The ball pairs are respectively coplanar.

The driving motors are respectively installed on the moving pair of the above three SPS branches. A ball pair and the moving pair of the SPS middle pillar can be adjusted and locked. The moving pair in the three SPS branches is driven by a linear motor to realize the upper platform. three-dimensional movement.

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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