CN103056870B - Two-rotating one-moving three-freedom-degree parallel mechanism - Google Patents
Two-rotating one-moving three-freedom-degree parallel mechanism Download PDFInfo
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- CN103056870B CN103056870B CN201210573695.3A CN201210573695A CN103056870B CN 103056870 B CN103056870 B CN 103056870B CN 201210573695 A CN201210573695 A CN 201210573695A CN 103056870 B CN103056870 B CN 103056870B
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Abstract
A two-rotating one-moving three-freedom-degree parallel mechanism comprises a fixed platform, a movable platform and three moving branches connected with the two platforms, wherein a first moving branch and a second moving branch are completely identical in structure. Lower connecting rods in the first moving branch and the second moving branch are connected with the fixed platform through lower rotating shafts, upper connecting rods are connected with the movable platform through a spherical pair, and the upper connecting rods are connected with the lower rotating shafts through a middle rotating pair. A lower connecting rod in a third moving branch is connected with the fixed platform through a spherical pair, an upper connecting rod is connected with the movable platform through an upper rotating pair, and the upper connecting rod and the lower connecting rod are connected through a middle rotating pair. An upper rotating pair axis of the third moving branch and two spherical pair center connection lines in the first moving branch and the second moving branch are mutually parallel and are non-collinear. In the first moving branch and the second moving branch, a middle rotating pair axis is parallel to a lower rotating pair axis. In the third moving branch, a middle rotating pair axis is parallel to an upper rotating pair axis. The two-rotating one-moving three-freedom-degree parallel mechanism is simple in structure, reduces processing and assembling difficulty, and is simple to control.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Parallel institution is made up of some motion branches of fixed platform, moving platform and connection two platforms usually, have that good rigidity, load capacity are strong, high from anharmonic ratio, fine motion precision advantages of higher, with the complementation in serial mechanism forming property, be widely used in the research and development of motion simulator, multi-axis NC Machine Tools, parallel robot, stabilized platform, all have application in every field such as industry, medical treatment, services.Parallel institution, from the initial Stewart mechanism with six-freedom degree, develops that the free degree is different, frame for movement is simple, manufacture and control cost relatively low various minority carrier generation lifetime.The 3-freedom parallel mechanism with two rotations and a movement has a extensive future, and becomes the emphasis of research.
Current achievement in research can be divided into the parallel institution comprising bound branch and the parallel institution being branched off into triangular symmetry layout.Document " the design theory and method research of a class 2R1T 3-freedom parallel mechanism " (University Of Tianjin's thesis for the doctorate in 2007) described mechanism is the parallel institution typically comprising PS bound branch, its feature is that two axiss of rotation give bound branch universal coupling center, and the introducing of intermediate restraint branch will improve mechanism's processing and manufacturing cost; Document " owing the order parallel robot energy physical condition that continuous rotating shaft exists and Mathematical Criterion " (" robot " vol.21, No.5, Sept.1999) the 3-RPS mechanism that is arranged symmetrically with of described branch, its continuous rotating shaft out of plumb under free-position, input and output coupling is comparatively strong, and motion solves complexity; Domestic patent of invention ZL 200410069387.2 increases the parallel institution that redundant drive branch forms four branches on the basis of 3-RPS mechanism, and its pivot center also exists discontinuous problem.For the parallel institution that there is not bound branch, determine that the existence of its continuous motion rotating shaft will bring great difficulty to control, and usually need the axis of rotation of parallel institution mutually vertical and mobile decoupling.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, processing assembling easily, be easy to control two rotate one and move 3-freedom parallel mechanism.
Technical scheme of the present invention is as follows:
The present invention includes fixed platform, moving platform and connect three motion branches of these two platforms, wherein the first motion branch is identical with the second motion branched structure, lower link in them is connected with fixed platform by lower revolute pair, upper connecting rod is connected with moving platform by spherical pair, connected by middle revolute pair between upper and lower strut, two lower revolute pair axis are parallel to each other and perpendicular to two spherical pair lines of centres; Lower link in 3rd motion branch is connected with fixed platform by spherical pair, and upper connecting rod is connected with moving platform by upper revolute pair, is connected between upper and lower strut by middle revolute pair; The upper revolute pair axis and first of the 3rd motion branch branch and second two the spherical pair lines of centres that to move in branch that move are parallel to each other but not conllinear.In first and second motion branches, middle rotation secondary axis and lower turns auxiliary shaft line parallel; In 3rd motion branch, middle rotation secondary axis and upper turns auxiliary shaft line parallel.
Another kind of connected mode is all connected by moving sets between the upper and lower strut in above-mentioned three branches, this moving sets axis respectively perpendicular to the revolute pair axis of this branch, for regulating spherical pair center and turns auxiliary shaft wire spacing.
The present invention's each motion branch comprises connecting rod quantity, kinematic pair kind is all identical, the cloth being only different from kinematic pair is set up, moving platform two spherical pair lines and the bidimensional of crossing spherical pair center parallel and lower turns auxiliary shaft line parallel on fixed platform can rotate on moving platform, and along the one-dimensional movement in two gyroaxis common vertical line directions.
The present invention compared with prior art tool has the following advantages: structure is simple, reduces processing and assembling difficulty, controls relatively easy, in the disjoint field of needs axis of rotation, have good application prospect.
Accompanying drawing explanation
Fig. 1 is the structural upright simplified schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the structural upright simplified schematic diagram of the embodiment of the present invention 2.
Detailed description of the invention
Embodiment 1
Rotating one at two shown in Fig. 1 moves in 3-freedom parallel mechanism schematic diagram, first motion branch is identical with the second motion branched structure, lower link 2 in them is connected with fixed platform 1 by lower revolute pair R1, upper connecting rod 3 is connected with moving platform 4 by spherical pair S, connected by middle revolute pair R2 between upper and lower strut, two lower revolute pair axis are parallel to each other and perpendicular to two spherical pair lines of centres; Lower link in 3rd motion branch is connected with fixed platform by spherical pair S, and upper connecting rod is connected with moving platform by upper revolute pair R3, is connected between upper and lower strut by middle revolute pair R2; The upper revolute pair axis and first of the 3rd motion branch branch and second two the spherical pair lines of centres that to move in branch that move are parallel to each other but not conllinear.
In first and second motion branches, middle revolute pair R2 axis and lower revolute pair R1 axis being parallel; In 3rd motion branch, middle revolute pair R2 axis and upper revolute pair R3 axis being parallel.
Embodiment 2
Rotating one at two shown in Fig. 2 moves in 3-freedom parallel mechanism schematic diagram, upper connecting rod 3 in three motion branches is all be connected by moving sets P with lower link 2, this moving sets axis is respectively perpendicular to revolute pair R1 and R3 axis, and other parts and connected mode are identical with implementing 1.
Claims (2)
1. 3-freedom parallel mechanism is moved in a rotation one, they three motion branches comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: its first motion branch is identical with the second motion branched structure, lower link in them is connected with fixed platform by lower revolute pair, upper connecting rod is connected with moving platform by spherical pair, connected by middle revolute pair between upper and lower strut, two lower revolute pair axis are parallel to each other and perpendicular to two spherical pair lines of centres; Lower link in 3rd motion branch is connected with fixed platform by spherical pair, and upper connecting rod is connected with moving platform by upper revolute pair, is connected between upper and lower strut by middle revolute pair; The upper revolute pair axis and first of the 3rd motion branch branch and second two the spherical pair lines of centres that to move in branch that move are parallel to each other but not conllinear; In first and second motion branches, middle rotation secondary axis and lower turns auxiliary shaft line parallel; In 3rd motion branch, middle rotation secondary axis and upper turns auxiliary shaft line parallel.
2. 3-freedom parallel mechanism is moved in a rotation one, it comprises fixed platform, moving platform and connect three of these two platforms motion branches, first motion branch is identical with the second motion branched structure, lower link in them is connected with fixed platform by lower revolute pair, upper connecting rod is connected with moving platform by spherical pair, connected by moving sets between upper and lower strut, lower link in 3rd motion branch is connected with fixed platform by spherical pair, upper connecting rod is connected with moving platform by upper revolute pair, connected by moving sets between upper and lower strut, the revolute pair axis and first of the 3rd motion branch branch and second two the spherical pair lines of centres that to move in branch that move are parallel to each other but not conllinear, moving sets axis in each branch is respectively perpendicular to the revolute pair axis in this branch, it is characterized in that: two lower revolute pair axis in the first motion branch and the second motion branch are parallel to each other and perpendicular to two spherical pair lines of centres.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210573695.3A CN103056870B (en) | 2012-12-26 | 2012-12-26 | Two-rotating one-moving three-freedom-degree parallel mechanism |
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| CN201210573695.3A CN103056870B (en) | 2012-12-26 | 2012-12-26 | Two-rotating one-moving three-freedom-degree parallel mechanism |
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| CN103056870A CN103056870A (en) | 2013-04-24 |
| CN103056870B true CN103056870B (en) | 2014-12-24 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103341855A (en) * | 2013-06-05 | 2013-10-09 | 燕山大学 | Stretchy snake-shaped robot |
| CN103522281A (en) * | 2013-10-12 | 2014-01-22 | 浙江理工大学 | Space-symmetrical three-freedom-degree parallel mechanism |
| CN104999458A (en) * | 2015-06-29 | 2015-10-28 | 张荣华 | Robot |
| CN112693540B (en) * | 2020-12-29 | 2022-03-15 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
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| CN1267587A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial three-freedom parallel robot mechanism |
| CN2407899Y (en) * | 2000-03-03 | 2000-11-29 | 中国科学院沈阳自动化研究所 | High speed three freedom paralleled robot arm |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three freedom parallel robot mechanism with different structure drive branches |
| CN101791804A (en) * | 2010-01-26 | 2010-08-04 | 燕山大学 | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism |
| KR20110061026A (en) * | 2009-12-01 | 2011-06-09 | 포테닛 주식회사 | 3 degrees of freedom parallel link platform to be able to change singularity |
| CN102179807A (en) * | 2011-03-08 | 2011-09-14 | 天津大学 | Parallel mechanism with changeable freedom degree |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3691240B2 (en) * | 1998-03-12 | 2005-09-07 | 三菱電機株式会社 | Parallel robot |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2407899Y (en) * | 2000-03-03 | 2000-11-29 | 中国科学院沈阳自动化研究所 | High speed three freedom paralleled robot arm |
| CN1267587A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial three-freedom parallel robot mechanism |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three freedom parallel robot mechanism with different structure drive branches |
| KR20110061026A (en) * | 2009-12-01 | 2011-06-09 | 포테닛 주식회사 | 3 degrees of freedom parallel link platform to be able to change singularity |
| CN101791804A (en) * | 2010-01-26 | 2010-08-04 | 燕山大学 | Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism |
| CN102179807A (en) * | 2011-03-08 | 2011-09-14 | 天津大学 | Parallel mechanism with changeable freedom degree |
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| JP特开平11-254375A 1999.09.21 * |
| 刘广超.几种含SPR和RPS分支三自由度并联机构性质的研究.《中国优秀硕士学位论文全文数据库(电子期刊)信息科技辑》.2009,(第4期),正文第22-25页. * |
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