CN103072134B - There is the two freedom decoupling parallel institution of hybrid motion - Google Patents
There is the two freedom decoupling parallel institution of hybrid motion Download PDFInfo
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- CN103072134B CN103072134B CN201310012425.XA CN201310012425A CN103072134B CN 103072134 B CN103072134 B CN 103072134B CN 201310012425 A CN201310012425 A CN 201310012425A CN 103072134 B CN103072134 B CN 103072134B
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Abstract
A kind of two freedom decoupling parallel institution with hybrid motion, it mainly comprises the Liang Ge branch of these two platforms of moving platform, fixed platform and connection, its connected mode is that one end of the first branch is connected with fixed platform by moving sets one, this moving sets one is connected with revolute pair one by connecting rod one, this revolute pair one is connected with another revolute pair two by connecting rod two, and this revolute pair two is connected with moving platform; One end of second branch is connected with fixed platform by moving sets two, and this moving sets two is connected with revolute pair three by connecting rod three, and the other end of this branch is connected with moving platform by above-mentioned revolute pair three.The present invention has that working space is large, structure is simple, cost is low, be easy to the advantages such as control.
Description
Technical field the invention belongs to robot field, particularly a kind of parallel institution.
Background technology is relative to serial mechanism, parallel institution is because having high intensity, large bearing capacity, little accumulated error, advantages such as compact structure and be widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, motion simulator, inching operation platform.Lower-mobility mechanism compares with traditional six-degree-of-freedom parallel connection mechanism, has structure simple, designs, manufactures, assembles and control all relative simple, the features such as cost is low.And in many instances, as the end effector, platform location etc. of automatic production line, only needs two or three degree of freedom just can satisfy condition, and now adopt multiple-degree-of-freedom mechanism then to seem again and very need not.Therefore lower-mobility mechanism becomes the object that industrial quarters is paid close attention to and favored.
Relative to serial mechanism, parallel institution working space is little, strong coupling is there is between motion, namely parallel institution output stage is all the synthesis of moving of all driver elements along moving of any direction, and be non-linear relation between input and output, therefore cause mechanism controls complicated, demarcate difficulty, constrain the raising of precision.And if mechanism kinematic can realize decoupling zero, then its working space will expand, and reduce and 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 the two freedom rotary parallel mechanism for orientation, at present to two-freedom hybrid motion parallel institution, especially little to the research of decoupling zero two-freedom hybrid motion parallel institution.And in some occasions, need mechanism realize mobile and rotate two kinds of motions, at this moment just need the mechanism with having hybrid motion to realize.
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 mainly comprises the Liang Ge branch of these two platforms of moving platform, fixed platform and connection.This mechanism be asymmetric mechanism, wherein one end of the first branch is connected with fixed platform by moving sets one, this moving sets one is connected with revolute pair one by connecting rod one, and revolute pair one is connected with another revolute pair two by connecting rod two, and this revolute pair two is connected with moving platform; One end of second branch is connected with fixed platform by moving sets two, and its other end is connected with moving platform by revolute pair, and this moving sets two is connected with revolute pair three by connecting rod three, and the other end of this branch is connected with moving platform by above-mentioned revolute pair three.Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and with moving sets axes normal; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and same vertical with moving sets axis in second branch.The moving platform of this mechanism can realize around the rotation of branch's revolute pair axis direction and the movement along moving sets axis direction, and pivot center direction and mobile axis direction perpendicular, two motions are full decoupled.
The present invention compared with prior art tool has the following advantages:
1, can realize one rotate and a moving movement, pivot center direction and mobile axis direction perpendicular, and two motion full decoupled.
2, the positive and negative solution of its kinematics is very simple, makes it control very easy, and has good kinematics performance, larger working space.
3, in mechanism, Jin Youliangge branch is formed, and structure is simple, and processing, assembling are easily.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1.
Detailed description of the invention
Embodiment 1
Have in the two freedom decoupling parallel institution schematic diagram of hybrid motion shown in Fig. 1, one end of first branch is connected with fixed platform 1 by moving sets 1, this moving sets one is connected with revolute pair 1 by connecting rod 1, this revolute pair one is connected with another revolute pair 26 by connecting rod 27, and this revolute pair two is connected with moving platform 5; One end of second branch is connected with fixed platform by moving sets 22, and this moving sets two is connected with revolute pair 34 by connecting rod 33, and the other end of this branch is connected with moving platform by revolute pair 34.
Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and with moving sets axes normal; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and same vertical with moving sets axis in second branch.The moving platform of this mechanism can realize around the rotation of branch's revolute pair axis direction and the movement along moving sets axis direction, and pivot center direction and mobile axis direction perpendicular, two motions are full decoupled.
Claims (1)
1. one kind has the two freedom decoupling parallel institution of hybrid motion, it mainly comprises the Liang Ge branch of these two platforms of moving platform, fixed platform and connection, it is characterized in that: one end of its first branch is connected with fixed platform by moving sets one, this moving sets one is connected with revolute pair one by connecting rod one, this revolute pair one is connected with revolute pair two by connecting rod two, and this revolute pair two is connected with moving platform; One end of second branch is connected with fixed platform by moving sets two, and this moving sets two is connected with revolute pair three by connecting rod three, and the other end of second branch is connected with moving platform by above-mentioned revolute pair three; Two revolute pair axis in above-mentioned first branch keep being parallel to each other, and with moving sets axes normal; Revolute pair axis in second branch and the turns auxiliary shaft line parallel of first branch, and same vertical with moving sets axis in second branch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310012425.XA CN103072134B (en) | 2013-01-14 | 2013-01-14 | There is the two freedom decoupling parallel institution of hybrid motion |
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| CN201310012425.XA CN103072134B (en) | 2013-01-14 | 2013-01-14 | There is the two freedom decoupling parallel institution of hybrid motion |
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| CN103072134A CN103072134A (en) | 2013-05-01 |
| CN103072134B true CN103072134B (en) | 2015-11-18 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103307418B (en) * | 2013-05-21 | 2015-04-22 | 华南理工大学 | Two-degree-of-freedom tandem scanning platform |
| CN103358303B (en) * | 2013-06-25 | 2015-06-10 | 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 |
| CN108161901B (en) * | 2017-12-27 | 2020-02-14 | 中国地质大学（武汉） | Two-rotation parallel mechanism with high deflection capability |
| CN113211418B (en) * | 2021-06-07 | 2022-05-17 | 中国科学院宁波材料技术与工程研究所 | Two-rotation one-movement parallel mechanism and mechanical equipment |
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| 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 |
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2013
- 2013-01-14 CN CN201310012425.XA patent/CN103072134B/en not_active Expired - Fee Related
Patent Citations (6)
| 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 |
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