CN103121213A - Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain - Google Patents
Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain Download PDFInfo
- Publication number
- CN103121213A CN103121213A CN2012105767237A CN201210576723A CN103121213A CN 103121213 A CN103121213 A CN 103121213A CN 2012105767237 A CN2012105767237 A CN 2012105767237A CN 201210576723 A CN201210576723 A CN 201210576723A CN 103121213 A CN103121213 A CN 103121213A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- loop subchain
- closed
- subchain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
A parallel mechanism comprising an r r r r r closed-loop subchain and a p p r p r closed-loop subchain comprises a first five-bar mechanism closed-loop subchain, a second five-bar mechanism closed-loop subchain and an executing mechanism subchain. The first five-bar mechanism closed-loop subchain is capable of controlling the movement of a first Hooke joint, the second five-bar mechanism closed-loop subchain is capable of controlling the movement of a second Hooke joint, and the space motion of a dynamic platform is achieved by the movement of the first Hooke joint and the second Hooke joint. By means of the parallel mechanism comprising the r r r r r closed-loop subchain and the p p r p r closed-loop subchain, the two five-bar mechanism closed-loop subchains control the movement of the two Hooke joints in space, and therefore the space motion of the dynamic platform is achieved. The parallel mechanism comprising the r r r r r closed-loop subchain and the p p r p r closed-loop subchain has the advantages of being compact in structure and easy to control. The inertia of the mechanism motion is small, and the dynamics performance is good.
Description
Technical field
The present invention relates to the robot field, particularly a kind of parallel institution that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can be placed on fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Due to parallel institution itself with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on frame, like this multiple freedom parallel mechanism is to realize that its motion just needs many side chains or the mode of a plurality of driving levers of taking to connect on side chain, and the parallel institution complex structure of many side chains is controlled difficulty, and on side chain, a plurality of driving levers of series connection can affect the exercise performance of parallel institution.
Summary of the invention
The object of the present invention is to provide a kind of parallel institution that contains the closed loop subchain, the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The present invention achieves the above object by the following technical programs: contain the parallel institution of rrrrr kinematic pair closed loop subchain and pprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with third connecting rod by the 4th revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 5th revolute pair, the 4th connecting rod is connected on the first column by the 6th revolute pair
described five-rod closed loop subchain is by the first sliding bar, the first craspedodrome bar, the second craspedodrome bar, the 5th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 7th revolute pair, the first sliding bar bar is connected on the second column by the first moving sets, the first sliding bar other end is connected with the first craspedodrome bar by the second moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 8th revolute pair, the second craspedodrome bar other end is connected with the 5th connecting rod by three moving sets, the 5th connecting rod other end is connected with the second column by the 9th revolute pair,
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 4th revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the first craspedodrome bar by the 8th revolute pair, the second Hooke's hinge is connected with moving platform by the 11 revolute pair, and the first Hooke's hinge, the second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.
Outstanding advantages of the present invention is:
1, pass through the motion of closed loop subchain controlling organization;
2, syndeton is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is a kind of the first structural representation that contains the parallel institution of rrrrr closed loop subchain and pprpr closed loop subchain of the present invention.
Fig. 2 is a kind of the second structural representation that contains the parallel institution of rrrrr closed loop subchain and pprpr closed loop subchain of the present invention.
Fig. 3 is a kind of the 3rd structural representation that contains the parallel institution of rrrrr closed loop subchain and pprpr closed loop subchain of the present invention.
Fig. 4 is a kind of the 4th structural representation that contains the parallel institution of rrrrr closed loop subchain and pprpr closed loop subchain of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a kind of parallel institution that contains rrrrr closed loop subchain and pprpr closed loop subchain comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod 5, second connecting rod 7, third connecting rod 9, the 4th connecting rod 11 and the first column 3 are formed by connecting, the first column 3 is connected with frame 1 by the first revolute pair 2, first connecting rod 5 is connected on the first column 3 by the second revolute pair 4, first connecting rod 5 other ends are connected with second connecting rod 7 by the 3rd revolute pair 6, second connecting rod 7 other ends are connected with third connecting rod 9 by the 4th revolute pair 8, third connecting rod 9 other ends are connected with the 4th connecting rod 11 by the 5th revolute pair 10, the 4th connecting rod 11 is connected on the first column 3 by the 6th moving sets 12,
described five-rod closed loop subchain is by the first sliding bar 16, the first craspedodrome bar 18, the second craspedodrome bar 20, the 5th connecting rod 22 and the second column 14 are formed by connecting, the second column 14 is connected with frame 1 by the 7th revolute pair 13, the first sliding bar 16 is connected on the second column 14 by the first moving sets 15, first sliding bar 16 other ends are connected with the first craspedodrome bar 18 by the second moving sets 17, first craspedodrome bar 18 other ends are connected with the second craspedodrome bar 20 by the 8th revolute pair 19, second craspedodrome bar 20 other ends are connected with the 5th connecting rod 22 by three moving sets 21, the 5th connecting rod 22 other ends are connected with the second column 14 by the 9th revolute pair 23,
Described executing agency subchain by the first Hooke's hinge 24, the second Hooke's hinge 26, and moving platform 28 be formed by connecting, the first Hooke's hinge 24 is connected with second connecting rod 7 by the 4th revolute pair 8, the first Hooke's hinge 24 is connected with moving platform 28 by the tenth revolute pair 25, the second Hooke's hinge 26 is connected with the first craspedodrome bar 18 by the 8th revolute pair 19, the second Hooke's hinge 26 is connected with moving platform 28 by the 11 revolute pair 27, and the first Hooke's hinge 24, the second Hooke's hinge 26 can realize that in the motion of separately space moving platform 28 is in the motion in space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 24, the second Hooke's hinge 26 can be realized the motion in the space of moving platform 28 in the motion of separately space.
Claims (1)
1. a parallel institution that contains rrrrr closed loop subchain and pprpr closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with third connecting rod by the 4th revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 5th revolute pair, the 4th connecting rod is connected on the first column by the 6th revolute pair
described five-rod closed loop subchain is by the first sliding bar, the first craspedodrome bar, the second craspedodrome bar, the 5th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 7th revolute pair, the first sliding bar bar is connected on the second column by the first moving sets, the first sliding bar other end is connected with the first craspedodrome bar by the second moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 8th revolute pair, the second craspedodrome bar other end is connected with the 5th connecting rod by three moving sets, the 5th connecting rod other end is connected with the second column by the 9th revolute pair,
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 4th revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the first craspedodrome bar by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 11 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105767237A CN103121213A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012105767237A CN103121213A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103121213A true CN103121213A (en) | 2013-05-29 |
Family
ID=48452453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012105767237A Pending CN103121213A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103121213A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
-
2012
- 2012-12-27 CN CN2012105767237A patent/CN103121213A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 史巧硕: "并联机器人机构构型方法研究", 《中国博士学位论文全文数据库信息科技辑》, no. 11, 30 November 2009 (2009-11-30) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106743713A (en) * | 2016-12-27 | 2017-05-31 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
| CN106743713B (en) * | 2016-12-27 | 2019-05-14 | 南宁学院 | A kind of six degree of freedom stacking machine containing closed-loop subchain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102601789A (en) | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain | |
| CN203003875U (en) | Parallel mechanism with prr open loop sub-chain and prrrp closed loop sub-chain | |
| CN203003873U (en) | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN203003880U (en) | Parallel mechanism comprising two symmetrical closed-loop subchains | |
| CN203109938U (en) | Parallel mechanism containing six revolute pairs and two sliding pairs | |
| CN203003886U (en) | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain | |
| CN103223667B (en) | Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain | |
| CN203003876U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN203003878U (en) | Parallel mechanism with two identical closed loop sub-chains | |
| CN203003882U (en) | Parallel mechanism with two pprrr closed loop sub-chains | |
| CN203003881U (en) | Parallel mechanism with two unsymmetrical closed loop sub-chains | |
| CN203003874U (en) | Parallel mechanism comprising prr open-loop subchain and rrrrr kinematic pair closed-loop subchain | |
| CN203003879U (en) | Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism | |
| CN103121213A (en) | Parallel mechanism comprising r r r r r closed-loop subchain and p p r p r closed-loop subchain | |
| CN203003877U (en) | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism | |
| CN102990651B (en) | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection | |
| CN102990648A (en) | Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain | |
| CN203003872U (en) | Parallel mechanism provided with prrrrr kinematic pair closed-loop subchain and prrpr kinematic pair closed-loop subchain | |
| CN102990654B (en) | A kind of parallel institution containing two pprrr closed-loop subchain | |
| CN102990660A (en) | Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain | |
| CN202556405U (en) | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain | |
| CN203003883U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and pprrr kinematic pair closed-loop subchain | |
| CN203003885U (en) | Parallel mechanism with prr open loop sub-chain and pprpr closed loop sub-chain | |
| CN102990647A (en) | Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain | |
| CN103056871A (en) | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130529 |