CN103056869A - S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism - Google Patents
S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism Download PDFInfo
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- CN103056869A CN103056869A CN2012105712910A CN201210571291A CN103056869A CN 103056869 A CN103056869 A CN 103056869A CN 2012105712910 A CN2012105712910 A CN 2012105712910A CN 201210571291 A CN201210571291 A CN 201210571291A CN 103056869 A CN103056869 A CN 103056869A
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Abstract
The invention discloses an S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism which mainly comprises a lower regular triangle platform, an upper regular triangle platform, three SPS branch supports and an intermediate branch support, structures of the three SPS branch supports are completely identical and are connected with the two platforms, the intermediate branch support is located at centers of the upper and lower platforms, one end of a connection rod in the intermediate branch support is fixedly connected with the upper platform, the other end of the connection rod in the intermediate branch support is connected with a ball pair, and the ball pair is connected with the lower platform; the three SPS branch supports are located at top ends of triangles of the upper and lower platforms, one end of each branch support is connected with the lower platform through a ball pair which is connected with a movable pair through a connection rod, the movable pair is connected with a ball pair, the other end of each branch pair is connected with the upper platform through a spherical hinge, and four ball pairs on the lower platform are located on the same plane; and drivers are installed on the movable pairs of the three SPS branch supports. The S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism is simple in structure, high in bearing capability and capable of achieving functions of gesture adjusting and position adjusting in a large range.
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 parallel institution of lower-mobility, comprise l-PS-3-SPS mechanism, namely add a branch 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 3-SPS/S mechanism, here medial fascicle is fixed with pedestal, is connected with upper mounting plate by S is secondary, this mechanism freedom is 3, 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 invention
The object of the present invention is to provide a kind of simple in structure, rigidity is large, bearing capacity is large, can realize the S/3-SPS posture adjustment positioning Three-axis drive parallel institution of posture adjustment on a large scale positioning.
The present invention comprises that mainly the lower platform of an equilateral triangle is that the upper mounting plate of pedestal, an equilateral triangle is moving platform and three structure identical SPS branches and medial fascicle that connects these two platforms, wherein, medial fascicle is positioned at the center of lower platform, one end and the upper mounting plate of the connecting rod of this medial fascicle are connected, its other end is connected with ball is secondary, and this ball is secondary to be connected with lower platform; Three SPS branches all are positioned at the triangle top of lower platform on the triangle, three SPS branches all form by 2 ball pairs, 1 moving sets with 2 connecting rods that they link together, one end of each branch is connected with lower platform by ball is secondary, this ball pair is connected with moving sets by connecting rod, this moving sets is connected by connecting rod and ball are secondary, the other end of each branch is connected with upper mounting plate by this ball is secondary, and 4 ball pairs on the lower platform are coplanar.
Driver is installed in respectively on the moving sets of three SPS branches, by three moving sets in the linear electric motor mechanism, can realize the Three dimensional rotation 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 3 frees degree, 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.
Description of drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
In S/3-SPS posture adjustment positioning Three-axis drive parallel institution schematic diagram shown in Figure 1, upper mounting plate 1 links to each other by 4 branches with lower platform 2.An end that connects three the identical SPS of structure branches on the upper and lower platform of triangle summit is connected with lower platform by ball secondary (S is secondary) 3, this ball is secondary to be connected with moving sets (P is secondary) 5 by connecting rod 4, this moving sets is connected with ball secondary 7 by connecting rod 6, and this ball is secondary to be connected with upper mounting plate.Medial fascicle is positioned at the center of upper mounting plate and lower platform, and an end and the upper mounting plate of connecting rod 8 are connected, and its other end is connected with ball secondary 9, and this ball is secondary to be connected with lower platform.4 ball pairs on the lower platform are coplanar.
Driver is installed in respectively on the moving sets of three SPS branches, by three moving sets in the linear electric motor mechanism, can realize the Three dimensional rotation of upper mounting plate.
Claims (2)
1. S/3-SPS posture adjustment positioning Three-axis drive parallel institution, three structure identical SPS branches and a medial fascicle that it comprises the upper mounting plate of the lower platform of an equilateral triangle, an equilateral triangle and connects these two platforms, it is characterized in that: branch is positioned at the center of lower platform in the middle of it, one end and the upper mounting plate of the connecting rod in this medial fascicle are connected, its other end is connected with ball is secondary, and this ball is secondary to be connected with lower platform; Three SPS branches all are positioned at the triangle top of lower platform on the triangle, one end of each branch is connected with lower platform by ball is secondary, this ball pair is connected with moving sets by connecting rod, this moving sets is connected by connecting rod and ball are secondary, the other end of each branch is connected with upper mounting plate by this ball is secondary, and 4 ball pairs on the lower platform are coplanar.
2. a kind of S/3-SPS posture adjustment positioning Three-axis drive parallel institution according to claim 1, it is characterized in that: driver is installed in respectively on the moving sets of above-mentioned three SPS branches.
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| CN2012105712910A CN103056869A (en) | 2012-12-26 | 2012-12-26 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
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| CN2012105712910A CN103056869A (en) | 2012-12-26 | 2012-12-26 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
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| CN103056869A true CN103056869A (en) | 2013-04-24 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN104227698A (en) * | 2013-06-19 | 2014-12-24 | 上海瀚创机器人技术有限公司 | Parallel displacement mechanism with two degrees of freedom |
| CN105305878A (en) * | 2015-12-01 | 2016-02-03 | 北京科技大学 | Memory alloy driven multi-shaft steering engine |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| 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 |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| 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 |
| 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 |
| CN110270982A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of parallel institution blender |
| 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 |
| CN110645456A (en) * | 2019-11-08 | 2020-01-03 | 中国科学院长春光学精密机械与物理研究所 | Large-angle and light servo structure of space remote sensing precision instrument |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227698A (en) * | 2013-06-19 | 2014-12-24 | 上海瀚创机器人技术有限公司 | Parallel displacement mechanism with two degrees of freedom |
| CN103816028B (en) * | 2014-01-28 | 2015-12-02 | 浙江大学 | A kind of ankle joint active-passive composite training rehabilitation system |
| CN103816028A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Active and passive ankle joint combination training rehabilitation system |
| CN105305878A (en) * | 2015-12-01 | 2016-02-03 | 北京科技大学 | Memory alloy driven multi-shaft steering engine |
| CN105459088A (en) * | 2015-12-29 | 2016-04-06 | 燕山大学 | One-rotating tri-skewing driving four-degree-of-freedom parallel robot |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN107283405B (en) * | 2017-08-24 | 2024-01-30 | 上海岭先机器人科技股份有限公司 | Mechanical arm |
| 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 |
| CN109533401B (en) * | 2018-12-07 | 2020-11-17 | 银河航天(北京)通信技术有限公司 | Ball hinge and spacecraft pointing mechanism |
| CN109533401A (en) * | 2018-12-07 | 2019-03-29 | 银河航天(北京)通信技术有限公司 | A kind of spherical hinge and spacecraft directing mechanism |
| 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 |
| 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 |
| CN110270981B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | RPR type parallel mechanism with spherical rotary kinematic pair |
| CN110270983B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | 2R1T type parallel mechanism with spherical rotary motion pair |
| 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 |
| CN110645456A (en) * | 2019-11-08 | 2020-01-03 | 中国科学院长春光学精密机械与物理研究所 | Large-angle and light servo structure of space remote sensing precision instrument |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN112693540B (en) * | 2020-12-29 | 2022-03-15 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
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Application publication date: 20130424 |