CN103223666A - Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain - Google Patents
Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain Download PDFInfo
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- CN103223666A CN103223666A CN2012105783352A CN201210578335A CN103223666A CN 103223666 A CN103223666 A CN 103223666A CN 2012105783352 A CN2012105783352 A CN 2012105783352A CN 201210578335 A CN201210578335 A CN 201210578335A CN 103223666 A CN103223666 A CN 103223666A
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- connecting rod
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Abstract
A parallel mechanism containing a kinematic pair prr open-loop subchain and a kinematic pair rprpr closed-loop subchain comprises an open-loop subchain, a five-rod mechanism closed-loop subchain and an actuating mechanism subchain, wherein the open-loop subchain can control the motion of a first Hooke's joint; the five-rod mechanism closed-loop subchain can control the motion of a second Hooke's joint; and the motion of the first Hooke's joint and the second Hooke's joint can achieve the space motion of a mobile platform. According to the parallel mechanism, one open-loop subchain and one closed-loop subchain are used for controlling the motion of two Hooke's joints in space, so that the space motion of the mobile platform is achieved; and the parallel mechanism has the advantages of compact structure and simple control, the kinematic inertia of the mechanism is small, and the kinetic 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: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, the speed height, and dynamic response is good; Compact conformation, the rigidity height, bearing capacity is big.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be complicated more, so in general, parallel institution symmetry, that 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 remarkable more, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally have only a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, and the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The object of the present invention is to provide a kind of parallel institution that contains the closed loop subchain, solve the shortcoming of the parallel institution complex structure control difficulty of many side chains.
The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod, first slide block and first column, first column links to each other with frame by first revolute pair, first slide block is connected on first column by first moving sets, and first connecting rod one end is connected with first slide block by second revolute pair
Described five-rod closed loop subchain is by second connecting rod, the first craspedodrome bar, the second craspedodrome bar, the third connecting rod and second column are formed by connecting, second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on second column by the 4th revolute pair, the second connecting rod other end is connected with the first craspedodrome bar by second moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 5th revolute pair, the second craspedodrome bar other end is connected with third connecting rod by three moving sets, the third connecting rod other end is connected with second column by the 6th revolute pair
Described executing agency subchain by first Hooke's hinge, second Hooke's hinge, and moving platform be formed by connecting, first Hooke's hinge is connected with first connecting rod by the 7th revolute pair, first Hooke's hinge is connected with moving platform by the 8th revolute pair, second Hooke's hinge is connected with the first craspedodrome bar by the 5th revolute pair, second Hooke's hinge is connected with moving platform by the 9th revolute pair, and first Hooke's hinge, second Hooke's hinge can be realized the motion of moving platform in the space in the motion of separately space.
Outstanding advantage of the present invention is:
1, passes through the motion of closed loop subchain and open 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 extracting, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is first structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 2 is second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 3 is the 3rd structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 4 is the 4th structural representation that contains the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair 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, contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain.
Described open loop subchain is formed by connecting by first connecting rod 7, first slide block 5 and first column 3, first column 3 links to each other with frame 1 by first revolute pair 2, first slide block 5 is connected on first column 3 by first moving sets 4, and first connecting rod 7 one ends are connected with first slide block 5 by second revolute pair 6
Described five-rod closed loop subchain is by second connecting rod 14, the first craspedodrome bar 16, the second craspedodrome bar 18, the third connecting rod 20 and second column 12 are formed by connecting, second column 12 links to each other with frame 1 by the 3rd revolute pair 11, second connecting rod 14 1 ends are connected on second column 12 by the 4th revolute pair 13, second connecting rod 14 other ends are connected with the first craspedodrome bar 16 by second moving sets 15, the first craspedodrome bar, 16 other ends are connected with the second craspedodrome bar 18 by the 5th revolute pair 17, the second craspedodrome bar, 18 other ends are connected with third connecting rod 20 by three moving sets 19, third connecting rod 20 other ends are connected with second column 12 by the 6th revolute pair 21
Described executing agency subchain by first Hooke's hinge 9, second Hooke's hinge 22, and moving platform 24 be formed by connecting, first Hooke's hinge is connected with first connecting rod 7 by the 7th revolute pair 8, first Hooke's hinge 9 is connected with moving platform 24 by the 8th revolute pair 10, second Hooke's hinge 22 is connected with the first craspedodrome bar 18 by the 5th revolute pair 17, second Hooke's hinge 22 is connected with moving platform 24 by the 9th revolute pair 23, and first Hooke's hinge 9, second Hooke's hinge 22 can be realized the motion in the space of moving platform in the motion of separately space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, first Hooke's hinge 9, second Hooke's hinge 22 can realize the motion in the space of moving platform 24 in the motion of separately space.
Claims (1)
1. contain the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed loop subchain, comprise open loop subchain, five-rod closed loop subchain and executing agency's subchain, its structure and connected mode are:
Described open loop subchain is formed by connecting by first connecting rod, first slide block and first column, first column links to each other with frame by first revolute pair, first slide block is connected on first column by first moving sets, and first connecting rod one end is connected with first slide block by second revolute pair
Described five-rod closed loop subchain is by second connecting rod, the first craspedodrome bar, the second craspedodrome bar, the third connecting rod and second column are formed by connecting, second column links to each other with frame by the 3rd revolute pair, second connecting rod one end is connected on second column by the 4th revolute pair, the second connecting rod other end is connected with the first craspedodrome bar by second moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 5th revolute pair, the second craspedodrome bar other end is connected with third connecting rod by three moving sets, the third connecting rod other end is connected with second column by the 6th revolute pair
Described executing agency subchain by first Hooke's hinge, second Hooke's hinge, and moving platform be formed by connecting, first Hooke's hinge is connected with first connecting rod by the 7th revolute pair, first Hooke's hinge is connected with moving platform by the 8th revolute pair, second Hooke's hinge is connected with the first craspedodrome bar by the 5th revolute pair, and second Hooke's hinge is connected with moving platform by the 9th revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210578335.2A CN103223666B (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210578335.2A CN103223666B (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain |
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| Publication Number | Publication Date |
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| CN103223666A true CN103223666A (en) | 2013-07-31 |
| CN103223666B CN103223666B (en) | 2015-04-01 |
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| CN201210578335.2A Expired - Fee Related CN103223666B (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1381338A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
| CN101590650A (en) * | 2009-07-03 | 2009-12-02 | 东华大学 | The three-rotation freedom parallel mechanism of decoupling zero |
| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN203003876U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain |
-
2012
- 2012-12-27 CN CN201210578335.2A patent/CN103223666B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1381338A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| CN101590650A (en) * | 2009-07-03 | 2009-12-02 | 东华大学 | The three-rotation freedom parallel mechanism of decoupling zero |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN203003876U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain |
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| CN103223666B (en) | 2015-04-01 |
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