CN103223666B - 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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- CN103223666B CN103223666B CN201210578335.2A CN201210578335A CN103223666B CN 103223666 B CN103223666 B CN 103223666B CN 201210578335 A CN201210578335 A CN 201210578335A CN 103223666 B CN103223666 B CN 103223666B
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- loop subchain
- subchain
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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 robot field, particularly a kind of parallel institution containing closed-loop subchain.
Background technology
Parallel institution is compared with traditional serial mechanism, has following characteristics: without accumulated error, and precision is higher; Drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Due to parallel institution inherently more complicated, if branch is again containing closed loop, its mechanism will be more complicated, so in general, symmetrical, branch just can not have most typical character containing the parallel institution of closed loop, if but closed loop application is appropriate, the performance of parallel institution will be more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is by the restriction of connected mode, in the driving generally only having a driving lever to be connected to be cemented in frame, like this multiple freedom parallel mechanism is realize its motion just to need many side chains or the mode of multiple driving lever of taking side chain is connected, and the parallel institution complex structure of many side chains controls difficulty, multiple driving lever that side chain is connected 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 containing closed-loop subchain, the parallel institution complex structure solving many side chains controls the shortcoming of difficulty.
The present invention achieves the above object by the following technical programs: containing 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, the first slide block and the first column, first column is connected with frame by the first revolute pair, first slide block is connected on the first column by the first moving sets, and first connecting rod one end is connected with the first slide block by the second revolute pair
Described five-rod closed-loop subchain is formed by connecting by second connecting rod, the first craspedodrome bar, the second craspedodrome bar, third connecting rod and the second column, second column is connected with frame by the 3rd revolute pair, second connecting rod one end is connected on the second column by the 4th revolute pair, the second connecting rod 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 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 the second column by the 6th revolute pair
Described executing agency subchain is formed by connecting by the first Hooke's hinge, the second Hooke's hinge and moving platform, 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 the first Hooke's hinge, the second Hooke's hinge can realize the motion of moving platform in space in the motion of respective space.
Outstanding advantages of the present invention is:
1, by the motion of closed-loop subchain and open loop subchain controlling organization;
2, syndeton is simple, and lighter bar made by rod member, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by installing the end effector of various different purposes on moving platform, mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Accompanying drawing explanation
Fig. 1 is the first structural representation containing the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed-loop subchain of the present invention.
Fig. 2 is the second structural representation containing 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 containing 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 containing the parallel institution of prr kinematic pair open loop subchain and rprpr kinematic pair closed-loop subchain of the present invention.
Detailed description of the invention
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, containing 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 the first column 3, first column 3 is connected with frame 1 by the first revolute pair 2, first slide block 5 is connected on the first column 3 by the first moving sets 4, and first connecting rod 7 one end is connected with the first slide block 5 by the second revolute pair 6
Described five-rod closed-loop subchain is by second connecting rod 14, first craspedodrome bar 16, second craspedodrome bar 18, third connecting rod 20 and the second column 12 are formed by connecting, second column 12 is connected with frame 1 by the 3rd revolute pair 11, second connecting rod 14 one end is connected on the second column 12 by the 4th revolute pair 13, second connecting rod 14 other end is connected with the first craspedodrome bar 16 by the second moving sets 15, first craspedodrome bar 16 other end is connected with the second craspedodrome bar 18 by the 5th revolute pair 17, second craspedodrome bar 18 other end is connected with third connecting rod 20 by three moving sets 19, third connecting rod 20 other end is connected with the second column 12 by the 6th revolute pair 21,
Described executing agency subchain is formed by connecting by the first Hooke's hinge 9, second Hooke's hinge 22 and moving platform 24, 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 the first Hooke's hinge 9, second Hooke's hinge 22 can realize the motion in space of moving platform in the motion of respective space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 9, second Hooke's hinge 22 can realize the motion in space of moving platform 24 in the motion of respective 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, the first slide block and the first column, first column is connected with frame by the first revolute pair, first slide block is connected on the first column by the first moving sets, and first connecting rod one end is connected with the first slide block by the second revolute pair
Described five-rod closed-loop subchain is formed by connecting by second connecting rod, the first craspedodrome bar, the second craspedodrome bar, third connecting rod and the second column, second column is connected with frame by the 3rd revolute pair, second connecting rod one end is connected on the second column by the 4th revolute pair, the second connecting rod 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 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 the second column by the 6th revolute pair
Described executing agency subchain is formed by connecting by the first Hooke's hinge, the second Hooke's hinge and moving platform, 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 the 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103223666A CN103223666A (en) | 2013-07-31 |
| CN103223666B true 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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| CN103223666A (en) | 2013-07-31 |
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