CN103231364A - Three-freedom-degree and four-freedom-degree parallel mechanism - Google Patents
Three-freedom-degree and four-freedom-degree parallel mechanism Download PDFInfo
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- CN103231364A CN103231364A CN2013101636787A CN201310163678A CN103231364A CN 103231364 A CN103231364 A CN 103231364A CN 2013101636787 A CN2013101636787 A CN 2013101636787A CN 201310163678 A CN201310163678 A CN 201310163678A CN 103231364 A CN103231364 A CN 103231364A
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- freedom
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Abstract
The invention discloses a three-freedom-degree and four-freedom-degree parallel mechanism. The three-freedom-degree parallel mechanism comprises a movable platform and three parallel supporting rods, wherein the three supporting rods are respectively distributed on three corners of an equilateral triangle, a lifting block is installed on each supporting rod, and each lifting block is connected with the movable platform through a group of parallelogram mechanism. The four-freedom-degree parallel mechanism is further provided with a rotating freedom degree on the basis of the three-freedom-degree parallel mechanism. The three-freedom-degree and four-freedom-degree parallel mechanism has the advantages of simplifying positive solution and inverse solution calculation formulas, enables calculation to be fast and easy to control during actual application, improves corresponding speed of a device, improves working efficiency of the device, simultaneously enlarges the working space of the device and is wide in application range.
Description
Technical field
The present invention relates to a kind of parallel institution, be specifically related to a kind of 3-freedom parallel mechanism and four-freedom parallel mechanism.
Background technology
Parallel robot has: 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; The parallel institution of symmetry has isotropism preferably fully; Characteristics such as working space is less need not obtain extensive use in the field of very big working space in the high rigidity of needs, high accuracy or big load, and it appears at a plurality of fields such as industry, medical science, military affairs.
Parallel institution is subjected to factor affecting such as constraint of kinematic pair, side chain interference, unusual position shape, pose coupling.The Delta parallel institution is the pure travel mechanisms of a kind of 3 dimensions, as a kind of typical 3-freedom parallel mechanism, has that working space is big, kinematics is contrary separates simple, accurate positioning degree advantages of higher, has critical role in application.In realizing process of the present invention, the inventor finds to exist at least in the prior art following technical problem:
1, existing three/four-freedom parallel mechanism constraint of kinematic pair is still more, and the control algolithm of parallel-connection structure is very complicated, causes the equipment corresponding speed slow, and the action deadline is longer.
2, existing three/four-freedom parallel mechanism complex structure, the equipment cost height, installation, the debugging work load of equipment are big.
3, the working space of existing three/four-freedom parallel mechanism is less.
4, the Delta parallel institution connects by motor that master arm, master arm connect slave arm, slave arm drives moving platform and realizes an action, and this structure needs motor to possess bigger power output.
Summary of the invention
Given this, the object of the invention is to provide a kind of simple in structure, operation control to be easy to 3-freedom parallel mechanism and four-freedom parallel mechanism.
For solving above technical problem, technical scheme provided by the invention is, on the one hand, a kind of 3-freedom parallel mechanism is provided, comprise a moving platform, also comprise three support bars that are parallel to each other, described three support bars are arranged on three angles of an equilateral triangle, one elevator is installed on the every support bar, and every elevator is connected by one group of parallel-crank mechanism with moving platform; The long limit of this parallel-crank mechanism is arm, and the minor face of parallel-crank mechanism is vertical with the length direction of support bar, and described long limit is connected by ball pivot or Hooke's hinge with minor face.
Further, one of them limit of the minor face of described parallel-crank mechanism is fixed on the elevator, and another limit is fixed on the moving platform.
Further, one of them limit of the minor face of described parallel-crank mechanism is a side of elevator, and another limit is a side of moving platform.
Further, described elevator and support bar are slidingly matched.
Preferably, described elevator is set on the support bar.
Preferably, described support bar is provided with chute, and described elevator is installed in the chute.
Preferably, described support bar is fixed on the silent flatform.
On the other hand, the present invention also provides a kind of four-freedom parallel mechanism that comprises above-mentioned 3-freedom parallel mechanism, and described transmission mechanism is installed on the bottom surface between silent flatform and the moving platform.
Described rotating mechanism is rotating shaft, and this rotating shaft is connected with silent flatform or moving platform by universal joint.
The rotating mechanism of installing on the described moving platform is motor, and this motor is connected with moving platform by bearing.
Compared with prior art, a technical scheme in the technical scheme of the present invention possesses following advantages:
1,3-freedom parallel mechanism of the present invention has adopted 3 support bars, 3 elevators, and 3 parallel-crank mechanisms, 1 moving platform, simple in structure.Elevator drives the parallel-crank mechanism swing, and moving platform is mobile under the effect of 3 parallel-crank mechanisms, is that parallel institution control algolithm of the present invention is simpler, and the equipment control accuracy is higher.From kinematics just, contrary solution aspect, compare with traditional Delta parallel institution, the present invention has reduced its complexity, original angle calculation has been become the calculating of displacement, simplified the just contrary computing formula of separating, made that calculating is faster in actual applications, control is more prone to, the corresponding speed that improved equipment has improved the operating efficiency of equipment.
2,3-freedom parallel mechanism of the present invention has reduced the complexity of parallel institution, has reduced the parallel institution constraint of kinematic pair, installs, debugging is simple.
3,3-freedom parallel mechanism of the present invention, elevator moves around at support bar, makes working space of the present invention bigger.
4,3-freedom parallel mechanism of the present invention, input power is littler, has reduced power consumption, has saved job costs.
5, four-freedom parallel mechanism of the present invention possesses all advantages of the above-mentioned 3-freedom parallel mechanism of the present invention, simultaneously, has also possessed a rotary freedom.
Compare with traditional Delta parallel institution, the present invention has reduced the complexity of mechanism, original angle calculation has been become the calculating of displacement.
A) Delta parallel institution
If the silent flatform radius is 360mm, the moving platform radius is 35mm, and Delta type parallel institution is brachium 200mm initiatively, and driven brachium is 1085mm.
When finding the solution wherein one jiao of J1 with the contrary solution in space, the computing formula of Delta type is:
Fn=2819400000*x-5063400000*y+156000000*x-90067000*y+1463600*x*y+25350000000-2600*x*y
2+4503.3*x
2*y-2600*x*z
2+4503.3*y*z
2+8252500*x
2-2600*x
3-4*x
4+7727500*y
2+4503.3*y
3-4*y
4+9155000*z
2-4*z
4-8*x
2*y
2-8*x
2*z
2-8*y
2*z
2-320000*
*x*y–4489300000000；
X wherein, y, z are end effector space absolute coordinate.
B) 3-freedom parallel mechanism of the present invention
If the silent flatform radius is 360mm, the moving platform radius is 35mm, and the long limit of parallel-crank mechanism is 1085mm.
When finding the solution wherein a slide block displacement D1 with the contrary solution in space, computing formula is:
X wherein, y, z are end effector space absolute coordinate.
The computing formula of Delta type is more complicated when with positive solution formula, can see that 3-freedom parallel mechanism formula of the present invention is simple, lacked computing cycle greatly, therefore when needs are walked the complex space curve, can carry out more intensive interpolation arithmetic, made curve more level and smooth.
Description of drawings
Fig. 1 is the stereogram of 3-freedom parallel mechanism one preferred embodiment of the present invention.
Fig. 2 is the front view of 3-freedom parallel mechanism one preferred embodiment of the present invention.
Fig. 3 is the vertical view of 3-freedom parallel mechanism one preferred embodiment of the present invention.
Fig. 4 is the front view of four-freedom parallel mechanism one preferred embodiment of the present invention.
The specific embodiment
Describe below in conjunction with accompanying drawing and specific embodiment.
Embodiment 1
The described 3-freedom parallel mechanism of one embodiment of the present of invention is referring to Fig. 1 to Fig. 3.A kind of 3-freedom parallel mechanism comprises three support bars 10, three elevators 11, three groups of parallel-crank mechanisms, a moving platform 30, can also select to use or obsolete silent flatform 12 according to installation environment.
Three support bars 10 are parallel to each other, and are arranged on three angles of same equilateral triangle, and three support bars 10 are enclosed an equilateral triangle cylinder space.The situation that has been to use silent flatform 12 shown in the accompanying drawing, this silent flatform 12 is equilateral triangle, and each angle is provided with a support bar 10, and support bar 10 is perpendicular to silent flatform 12.
One elevator 11 is installed on the every support bar 10, and every elevator 11 is connected by one group of parallel-crank mechanism with moving platform 30.When three elevators 11 be positioned at same perpendicular to the face of support bar 10 on the time, elevator 11 is positioned on the axial line of above-mentioned equilateral triangle main body.
Three groups of parallel-crank mechanisms are identical parallel-crank mechanisms, and the long limit of parallel-crank mechanism is arm 20, and the minor face of parallel-crank mechanism is vertical with the length direction of support bar 10, and described long limit is connected by ball pivot 21 or Hooke's hinge with minor face.One of them minor face of this parallel-crank mechanism is fixed on the elevator 11, and another minor face is fixed on the moving platform 30.Perhaps as shown in drawings, one of them minor face is a side of elevator 11, and another minor face is a side of moving platform 30.
Elevator 11 is slidingly matched with support bar 10, and elevator 11 can be installed servomotor thereon according to producing needs, perhaps at an end of support bar 10 drive motors is installed, and is connecting elevator 11 and drive motors by pull bar.Elevator 11 is various with the mode that support bar 10 is slidingly matched, and for example, elevator 11 is set on the support bar 10; Perhaps support bar 10 is provided with chute, and elevator 11 is installed in the chute.
Embodiment 2
Referring to Fig. 4, four-freedom parallel mechanism in the another embodiment of the present invention comprises embodiment 1 described 3-freedom parallel mechanism, and difference is, at silent flatform 12 rotating mechanism is installed, and this rotating mechanism is used for rotating workpiece to be machined." on silent flatform 12 " refers to annexation, is not to be the position relation, and this rotating mechanism can be positioned at the top of silent flatform 12, also can be positioned at the below of silent flatform 12.When silent flatform 12 was arranged on the lower end of support bar 10, rotating mechanism was installed in the top of silent flatform 12; When silent flatform 12 was arranged on the upper end of support bar 10, rotating mechanism was installed in the below of silent flatform 12.The described rotating mechanism of present embodiment is turning cylinder 40, and this turning cylinder is connected with silent flatform by universal joint.
Embodiment 3
Four-freedom parallel mechanism in the another embodiment of the present invention comprises embodiment 1 described 3-freedom parallel mechanism, and difference is at moving platform 30 rotating mechanism to be installed." on moving platform 30 " refers to annexation, is not to be the position relation, and this rotating mechanism can be positioned at the top of moving platform 30, also can be positioned at the below of moving platform 30.When silent flatform 12 was arranged on the lower end of support bar 10, rotating mechanism was installed in the below of moving platform 30; When silent flatform 12 was arranged on the upper end of support bar 10, rotating mechanism was installed in the top of moving platform 30.The described rotating mechanism of present embodiment is turning cylinder, and this turning cylinder is connected with moving platform by universal joint.Perhaps, described rotating mechanism is motor, and this motor is connected with moving platform by bearing.
Only be preferred embodiment of the present invention below, should be pointed out that above-mentioned preferred embodiment should not be considered as limitation of the present invention, protection scope of the present invention should be as the criterion with claim institute restricted portion.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. 3-freedom parallel mechanism, comprise a moving platform (30), it is characterized in that, also comprise three support bars that are parallel to each other (10), described three support bars are arranged on three angles of an equilateral triangle, one elevator (11) is installed on the every support bar (10), and every elevator (11) is connected by one group of parallel-crank mechanism with moving platform (30); The long limit of this parallel-crank mechanism is arm (20), and the minor face of parallel-crank mechanism is vertical with the length direction of support bar (10), and described long limit is connected by ball pivot (21) or Hooke's hinge with minor face.
2. 3-freedom parallel mechanism according to claim 1 is characterized in that, one of them limit of the minor face of described parallel-crank mechanism is fixed on the elevator (11), and another limit is fixed on the moving platform (30).
3. 3-freedom parallel mechanism according to claim 1 is characterized in that, one of them limit of the minor face of described parallel-crank mechanism is a side of elevator (11), and another limit is a side of moving platform (30).
4. according to claim 2 or 3 described 3-freedom parallel mechanisms, it is characterized in that described elevator (11) is slidingly matched with support bar (10).
5. 3-freedom parallel mechanism according to claim 4 is characterized in that, described elevator (11) is set on the support bar (10).
6. 3-freedom parallel mechanism according to claim 4 is characterized in that, described support bar (10) is provided with chute, and described elevator (11) is installed in the chute.
7. according to claim 2 or 3 described 3-freedom parallel mechanisms, it is characterized in that described support bar (10) is fixed on the silent flatform (12).
8. four-freedom parallel mechanism that comprises the described 3-freedom parallel mechanism of claim 7, it is characterized in that, on described silent flatform (12) or the moving platform (30) rotating mechanism is installed, described transmission mechanism is installed on the bottom surface between silent flatform (12) and the moving platform (30).
9. four-freedom parallel mechanism according to Claim 8 is characterized in that described rotating mechanism is rotating shaft, and this rotating shaft is connected with silent flatform (12) or moving platform (30) by universal joint.
10. four-freedom parallel mechanism according to Claim 8 is characterized in that, it is motor that described moving platform (30) is gone up the rotating mechanism of installing, and this motor is connected with moving platform (30) by bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101636787A CN103231364A (en) | 2013-05-07 | 2013-05-07 | Three-freedom-degree and four-freedom-degree parallel mechanism |
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|---|---|---|---|
| CN2013101636787A CN103231364A (en) | 2013-05-07 | 2013-05-07 | Three-freedom-degree and four-freedom-degree parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN107791224A (en) * | 2017-11-16 | 2018-03-13 | 贵州理工学院 | A kind of micro-nano machining platform of free adjustable |
| CN110812711A (en) * | 2019-10-22 | 2020-02-21 | 燕山大学 | Radiotherapy equipment based on parallel mechanism |
| CN113053228A (en) * | 2021-03-17 | 2021-06-29 | 深圳市大峡谷科技发展有限公司 | Connecting rod type combined lifting free-swing intelligent dynamic model |
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| EP1637277A1 (en) * | 2004-09-17 | 2006-03-22 | CSEM Centre Suisse d'Electronique et de Microtechnique SA | Parallel kinematics machine with elastic joints |
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| US4988244A (en) * | 1989-09-01 | 1991-01-29 | Kearney & Trecker | Six-axis machine tool |
| JPH10296563A (en) * | 1996-03-21 | 1998-11-10 | Vdw Verein Deutscher Werkzeug Mas Fab Ev | Device for generating predetermined positioning and orientation for at least one platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN106695759B (en) * | 2016-12-13 | 2023-04-11 | 九江精密测试技术研究所 | Three-degree-of-freedom parallel stable platform with symmetrical parallel-serial branches |
| CN107791224A (en) * | 2017-11-16 | 2018-03-13 | 贵州理工学院 | A kind of micro-nano machining platform of free adjustable |
| CN107791224B (en) * | 2017-11-16 | 2020-03-20 | 贵州理工学院 | Freely adjustable micro-nano machining platform |
| CN110812711A (en) * | 2019-10-22 | 2020-02-21 | 燕山大学 | Radiotherapy equipment based on parallel mechanism |
| CN113053228A (en) * | 2021-03-17 | 2021-06-29 | 深圳市大峡谷科技发展有限公司 | Connecting rod type combined lifting free-swing intelligent dynamic model |
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Application publication date: 20130807 |