CN103072134A - Two-degree-of-freedom decoupling parallel mechanism with mixed movement - Google Patents

Two-degree-of-freedom decoupling parallel mechanism with mixed movement Download PDF

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Publication number
CN103072134A
CN103072134A CN201310012425XA CN201310012425A CN103072134A CN 103072134 A CN103072134 A CN 103072134A CN 201310012425X A CN201310012425X A CN 201310012425XA CN 201310012425 A CN201310012425 A CN 201310012425A CN 103072134 A CN103072134 A CN 103072134A
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Prior art keywords
branch
revolute pair
platform
moving
pair
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CN201310012425XA
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CN103072134B (en
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张立杰
卢文娟
张一同
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Yanshan University
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Yanshan University
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Abstract

The invention discloses a two-degree-of-freedom decoupling parallel mechanism with mixed movement. The two-degree-of-freedom decoupling parallel mechanism mainly comprises a movable platform, a fixed platform and two branches, wherein the branches connect the platforms in such a manner that one end of a first branch is connected with the fixed platform through a movable pair; the movable pair is connected with a rotating pair through a connecting rod; the rotating pair is connected with another rotating pair through a connecting rod; the rotating pair is connected with the movable platform; one end of a second branch is connected with the fixed platform through the movable pair, and the other end of the second branch is connected with the movable platform through the rotating pair; the movable pair is connected with the rotating pair through a connecting rod; and the other end of the branch is connected with the movable platform through the rotating pair. The two-degree-of-freedom decoupling parallel mechanism has the advantages of large working space, simple structure, low cost, easiness in controlling, and the like.

Description

Two freedom decoupling parallel institution with hybrid motion
Technical field
The invention belongs to the robot field, particularly a kind of parallel institution.
Background technology
With respect to serial mechanism, parallel institution is because having high intensity, large bearing capacity, little accumulated error, the advantage such as compact structure and be widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, motion simulator, fine motion operating desk.Lower-mobility mechanism compares with traditional six-degree-of-freedom parallel connection mechanism, have simple in structure, design, make, the characteristics such as assembling and control is all relative simple, and cost is low.And in many instances, such as the end effector of automatic production line, platform location etc., only need two or three degree of freedom just can satisfy condition, adopt again multiple-degree-of-freedom mechanism then to seem at this moment and very need not.Therefore lower-mobility mechanism becomes the object that industrial quarters is paid close attention to and favored.
With respect to serial mechanism, the parallel institution working space is little, there is strong coupling between the motion, be that the parallel institution output stage all is that moving of all driver elements is synthetic along moving of any direction, and be non-linear relation between the input and output, therefore cause mechanism controls complicated, demarcate difficulty, restricted the raising of precision.And if mechanism kinematic can be realized decoupling zero, then its working space will enlarge, and reduce the control difficulty, reach higher kinematic accuracy, to the trajectory planning of mechanism and demarcate significant.
Existing two-degree-of-freedom parallel mechanism research mainly concentrates on for the two-freedom mobile parallel connection mechanism of plane positioning and is used for directed two freedom rotary parallel mechanism, at present to two-freedom hybrid motion parallel institution, especially to the research of decoupling zero two-freedom hybrid motion parallel institution seldom.And in some occasions, need winding machine to move and rotate two kinds of motions, at this moment just need to realize with the mechanism with hybrid motion.
Summary of the invention
The object of the present invention is to provide a kind of two-freedom movement decoupling parallel mechanism with hybrid motion.The present invention comprises that mainly moving platform, fixed platform and connection be connected two branches of two platforms.This mechanism be asymmetric mechanism, wherein an end of the first branch is connected with fixed platform by moving sets, this moving sets is connected with revolute pair by connecting rod, revolute pair is connected with another revolute pair by connecting rod, this revolute pair is connected with moving platform; One end of second branch is connected with fixed platform by moving sets, and its other end is connected with moving platform by revolute pair, and this moving sets is connected with revolute pair by connecting rod, and the other end of this branch is connected with moving platform by above-mentioned revolute pair.Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and vertical with the moving sets axis; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and with this branch in the moving sets axis vertical equally.The moving platform of this mechanism can realize around the rotation of branch's revolute pair axis direction with along the movement of moving sets axis direction, and pivot center direction and mobile axis direction are perpendicular, and two motions are full decoupled.
The present invention compared with prior art has following advantage:
1, can realize that one is rotated and a moving movement, pivot center direction and mobile axis direction are perpendicular, and two motions are full decoupled.
2, the positive and negative solution of its kinematics is very simple, makes its control very easy, and has good kinematics performance, larger working space.
3, only have two branches to consist of in the mechanism, simple in structure, processing, assembling are easily.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the invention 1.
The specific embodiment
Embodiment 1
In the two freedom decoupling parallel institution schematic diagram with hybrid motion shown in Figure 1, one end of the first branch is connected with fixed platform 1 by moving sets 10, this moving sets is connected with revolute pair 8 by connecting rod 9, this revolute pair is connected with another revolute pair 6 by connecting rod 7, and this revolute pair is connected with moving platform 5; One end of second branch is connected with fixed platform by moving sets 2, and this moving sets is connected with revolute pair 4 by connecting rod 3, and the other end of this branch is connected with moving platform by revolute pair 4.
Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and vertical with the moving sets axis; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and with this branch in the moving sets axis vertical equally.The moving platform of this mechanism can realize around the rotation of branch's revolute pair axis direction with along the movement of moving sets axis direction, and pivot center direction and mobile axis direction are perpendicular, and two motions are full decoupled.

Claims (1)

1. two freedom decoupling parallel institution with hybrid motion, it comprises that mainly moving platform, fixed platform and connection be connected two branches of two platforms, it is characterized in that: an end of its first branch is connected with fixed platform by moving sets, this moving sets is connected with revolute pair by connecting rod, this revolute pair is connected with another revolute pair by connecting rod, and this revolute pair is connected with moving platform; One end of second branch is connected with fixed platform by moving sets, and its other end is connected with moving platform by revolute pair, and this moving sets is connected with revolute pair by connecting rod, and the other end of this branch is connected with moving platform by above-mentioned revolute pair; Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and vertical with the moving sets axis; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and with this branch in the moving sets axis vertical equally.
CN201310012425.XA 2013-01-14 2013-01-14 There is the two freedom decoupling parallel institution of hybrid motion Expired - Fee Related CN103072134B (en)

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CN103072134B CN103072134B (en) 2015-11-18

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103307418A (en) * 2013-05-21 2013-09-18 华南理工大学 Two-degree-of-freedom tandem scanning platform
CN103358303A (en) * 2013-06-25 2013-10-23 燕山大学 Two-rotation one-movement complete decoupling parallel mechanism
CN104626126A (en) * 2015-01-21 2015-05-20 江南大学 (1T1R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism
CN105598948A (en) * 2016-01-26 2016-05-25 江南大学 2R1T modularized hybrid robot mechanism
CN108161901A (en) * 2017-12-27 2018-06-15 中国地质大学(武汉) A kind of two turns of parallel institutions with high deflection capacity

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4585388A (en) * 1984-05-08 1986-04-29 Spar Aerospace Limited Self-relocating manipulator
CN2675355Y (en) * 2003-12-16 2005-02-02 广东工业大学 Double degree of freedom moveable parallel robot mechanism
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
TW201127576A (en) * 2010-02-09 2011-08-16 Hon Hai Prec Ind Co Ltd Parallel robot
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN102699907A (en) * 2012-03-19 2012-10-03 燕山大学 Three-degree-of-freedom mobile decoupling parallel robot mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4585388A (en) * 1984-05-08 1986-04-29 Spar Aerospace Limited Self-relocating manipulator
CN2675355Y (en) * 2003-12-16 2005-02-02 广东工业大学 Double degree of freedom moveable parallel robot mechanism
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
TW201127576A (en) * 2010-02-09 2011-08-16 Hon Hai Prec Ind Co Ltd Parallel robot
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN102699907A (en) * 2012-03-19 2012-10-03 燕山大学 Three-degree-of-freedom mobile decoupling parallel robot mechanism

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103307418A (en) * 2013-05-21 2013-09-18 华南理工大学 Two-degree-of-freedom tandem scanning platform
CN103358303A (en) * 2013-06-25 2013-10-23 燕山大学 Two-rotation one-movement complete decoupling parallel mechanism
CN104626126A (en) * 2015-01-21 2015-05-20 江南大学 (1T1R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism
CN105598948A (en) * 2016-01-26 2016-05-25 江南大学 2R1T modularized hybrid robot mechanism
CN108161901A (en) * 2017-12-27 2018-06-15 中国地质大学(武汉) A kind of two turns of parallel institutions with high deflection capacity

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