CN103286778A - Two-DOF (two degrees of freedom) rotation decoupling parallel mechanism - Google Patents

Two-DOF (two degrees of freedom) rotation decoupling parallel mechanism Download PDF

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Publication number
CN103286778A
CN103286778A CN2013101990964A CN201310199096A CN103286778A CN 103286778 A CN103286778 A CN 103286778A CN 2013101990964 A CN2013101990964 A CN 2013101990964A CN 201310199096 A CN201310199096 A CN 201310199096A CN 103286778 A CN103286778 A CN 103286778A
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China
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rod
revolute pair
axis
parallel
branch
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CN2013101990964A
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Chinese (zh)
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CN103286778B (en
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卢文娟
张立杰
张一同
曾达幸
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燕山大学
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Priority to CN201310199096.4A priority Critical patent/CN103286778B/en
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Abstract

A two-DOF (two degrees of freedom) rotation decoupling parallel mechanism comprises a fixed platform, a moving platform and three branches for connecting the two platforms. One end of a first link of the first branch is connected with the fixed platform through a prismatic pair, and the other end of the first branch is connected with the moving platform through a first Hooke joint. One end of a second link of the second branch is connected with the moving platform through a first revolute pair, and the other end of the second link is connected with one end of a third link through a second revolute pair, the other end of the third link is connected with one end of a fourth link through a third revolute pair, and the other end of the fourth link is connected with the fixed platform through a fourth revolute pair. One end of a fifth link of the third branch is connected with the fixed platform through a fifth revolute pair, and the other end of the fifth link is connected with one end of a sixth link through a second Hooke joint, the other end of the sixth link is connected with one end of a seventh link through a sixth revolute pair, and the other end of the seventh link is connected with the moving platform through a seventh revolute pair. The two-DOF rotation decoupling parallel mechanism is simple in structure, fully decoupled in motion with no associated motion, and easy to assembly and process.

Description

Two-freedom rotates decoupling parallel mechanism
Technical field the invention belongs to the robot field, particularly a kind of parallel robot mechanism.
The background technology parallel institution has series of advantages such as rigidity of structure height, dynamic response is good, accumulated error is little, makes it all be widely used in high accuracy process unit, high-speed motion platform and accurate little driving field.But shortcomings such as parallel institution ubiquity working space is little, control decoupling difference have restricted its application in some degree.Wherein coupled characteristic is the inherent characteristic of parallel institution, also brings the difficult problem of synthesis of mechanism and analysis, process and assemble, motion control aspect when it makes parallel institution have above-mentioned advantage.And the parallel institution of mobile decoupling not only can reduce the difficulty of process and assemble and motion control, also has the advantage of general parallel institution simultaneously concurrently.
Rotate the parallel institution of decoupling zero as an important branch of decoupling mechanism, advantage such as, response simple because of its precision height, control fast, bearing capacity is big can be widely used in levelling gear, radar, robot, camera, medicine equipment, solar panel, MISSILE LAUNCHING etc. needs the spatial orientation field.Existing decoupling zero two-freedom rotating mechanism contains two branches more, and ratio of rigidity is lower, and weight capacity is relatively poor; Contain ball pair, moving sets etc. in the rotating mechanism of some three branches, be unfavorable for processing and assembling, ratio of precision is lower; Some mechanism rotates output in order to guarantee to exist, and needs to satisfy special geometrical relationships such as coaxial between the axis of branch, and is higher to the required precision of processing and installation.
Summary of the invention the object of the present invention is to provide a kind of two-freedom full decoupled and that assemble easily and process that moves to rotate decoupling parallel mechanism.The present invention mainly comprises fixed platform, moving platform and is connected three branches of these two platforms.Wherein an end of the connecting rod one in first branch is connected with fixed platform by moving sets, the other end of connecting rod one is connected with moving platform by Hooke's hinge, the axis that is connected with connecting rod one in the axis direction of above-mentioned moving sets and the Hooke's hinge is parallel, and it is secondary that this moving sets can be elected to be branch's one input; One end of the connecting rod two in second branch is connected with moving platform by revolute pair, the other end of connecting rod two is connected with an end of connecting rod three by revolute pair, the other end of this connecting rod three is connected with an end of connecting rod four by revolute pair, the other end of this connecting rod four is connected with fixed platform by revolute pair, wherein the axis of three revolute pairs of close fixed platform is parallel, and parallel with the axis direction of the moving sets of above-mentioned first branch, the axis of the revolute pair that is connected with moving platform is vertical with above-mentioned three pivot centers; One end of the connecting rod five in the 3rd branch is connected with fixed platform by revolute pair, the other end of connecting rod five is connected with an end of connecting rod six by Hooke's hinge, the other end of this connecting rod six is connected with an end of connecting rod seven by revolute pair, the other end of this connecting rod seven is connected with moving platform by revolute pair, wherein parallel with an axis in the Hooke's hinge near two revolute pair axis of moving platform, and perpendicular to the axis of the revolute pair that is connected with fixed platform, this revolute pair axis is parallel with another axis of above-mentioned Hooke's hinge, while is parallel with the axis direction of the moving sets of first branch, and it is secondary that the above-mentioned revolute pair that is connected with fixed platform can be used as this branch's input.
Do not need to guarantee the axis conllinear when kinematic pair axis is installed between each branch, but the optional position installation is very low to matching requirements.There are two frees degree in this three branch, redundant bondage not, and moving platform can be realized two rotational motions, do not contain non-self-movement element, namely do not have the association campaign, and two motions are full decoupled, pivot center is respectively two axis directions of Hooke's hinge in first branch.
The present invention compared with prior art has following advantage:
1, the present invention is two-freedom-degree parallel mechanism, and moving platform can be realized two rotational motions, and does not contain the association campaign, and it is full decoupled to move.
2, simple in structure, do not contain the ball pair, only contain a moving sets, all the other kinematic pairs are revolute pair and Hooke's hinge; Processing, assembly precision are required low, without the need for the special geometric status requirement.
3, the positive and negative solution of its kinematics is simple, makes its control very easy, and has good kinematics performance, bigger working space.
4, be made of three branches in the mechanism, mechanism's rigidity is big, good stability.
5, the pivot center of moving platform is not that the scope of application is extensive along the direction perpendicular to moving platform.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Among the figure: 1. fixed platform, 2. moving sets, 3. connecting rod one, 4. Hooke's hinge, 5. moving platform, 6. revolute pair, 7. connecting rod two, 8. revolute pair, 9. connecting rod three, 10. revolute pair, 11. connecting rod four, 12. revolute pairs, 13. revolute pairs, 14. connecting rod five, 15. Hooke's hinges, 16. connecting rods six, 17. revolute pair, 18. connecting rods, seven, 19. revolute pairs.
The specific embodiment
Rotate in the decoupling parallel mechanism schematic diagram at two-freedom shown in Figure 1, one end of the connecting rod 1 in first branch is connected with fixed platform 1 by moving sets 2, the other end of this connecting rod 1 is connected with moving platform 5 by Hooke's hinge 4, the axis that is connected with connecting rod 1 in the axis direction of above-mentioned moving sets 2 and the Hooke's hinge 4 is parallel, and moving sets 2 can be used as the input pair of this branch; One end of the connecting rod 27 in second branch is connected with moving platform 5 by revolute pair 6, the other end of this connecting rod 27 is connected with an end of connecting rod 39 by revolute pair 8, the other end of this connecting rod 39 is connected with an end of connecting rod 4 11 by revolute pair 10, the other end of connecting rod 4 11 is connected with fixed platform 1 by revolute pair 12, wherein parallel near three revolute pairs 8 of fixed platform 1,10,12 axis, and parallel with the axis direction of the moving sets 2 of above-mentioned first branch, the axis of the revolute pair 6 that is connected with moving platform 5 is vertical with above-mentioned three pivot centers; One end of the connecting rod 5 14 in the 3rd branch is connected with fixed platform 1 by revolute pair 13, the other end of connecting rod 5 14 is connected with an end of connecting rod 6 16 by Hooke's hinge 15, the other end of this connecting rod 6 16 is connected with an end of connecting rod 7 18 by revolute pair 17, the other end of this connecting rod 7 18 is connected with moving platform 5 by revolute pair 19, wherein near two revolute pairs 17 of moving platform 5,19 axis is parallel with an axis in the Hooke's hinge 15, and with the axis normal of another axis of this Hooke's hinge 15 and the revolute pair 13 that is connected with fixed platform 1, this axis of Hooke's hinge 15 and the axis of revolute pair 13 are parallel to each other, and parallel with the axis direction of the moving sets 2 of above-mentioned first branch, it is secondary that the above-mentioned revolute pair 13 that is connected with fixed platform 1 can be used as this branch's input.

Claims (1)

1. a two-freedom rotates decoupling parallel mechanism, three branches that it mainly comprises fixed platform, moving platform and is connected these two platforms, it is characterized in that: an end of the connecting rod one in its first branch is connected with fixed platform by moving sets, the other end of this connecting rod one is connected with moving platform by Hooke's hinge, and the axis that is connected with connecting rod one in the axis direction of above-mentioned moving sets and the Hooke's hinge is parallel; One end of the connecting rod two in second branch is connected with moving platform by revolute pair, the other end of this connecting rod two is connected with an end of connecting rod three by revolute pair, the other end of this connecting rod three is connected with an end of connecting rod four by revolute pair, the other end of this connecting rod four is connected with fixed platform by revolute pair, wherein the axis of three revolute pairs of close fixed platform is parallel, and parallel with the axis direction of the moving sets of above-mentioned first branch, the axis of the revolute pair that is connected with moving platform is vertical with above-mentioned three pivot centers; One end of the connecting rod five in the 3rd branch is connected with fixed platform by revolute pair, the other end of this connecting rod five is connected with an end of connecting rod six by Hooke's hinge, the other end of this connecting rod six is connected with an end of connecting rod seven by revolute pair, the other end of this connecting rod seven is connected with moving platform by revolute pair, wherein parallel with an axis in the Hooke's hinge near two revolute pairs of moving platform, and with the axis normal of another axis of this Hooke's hinge and the revolute pair that is connected with fixed platform, another of above-mentioned Hooke's hinge axis is parallel to each other with the axis of the above-mentioned revolute pair that is connected with fixed platform, and parallel with the axis direction of the moving sets of first branch.
CN201310199096.4A 2013-05-24 2013-05-24 Two-freedom rotates decoupling parallel mechanism CN103286778B (en)

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CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism

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CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism
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