CN103317498A - Folding type five-degree-of-freedom parallel connected attitude adjustment platform - Google Patents
Folding type five-degree-of-freedom parallel connected attitude adjustment platform Download PDFInfo
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- CN103317498A CN103317498A CN2013102108618A CN201310210861A CN103317498A CN 103317498 A CN103317498 A CN 103317498A CN 2013102108618 A CN2013102108618 A CN 2013102108618A CN 201310210861 A CN201310210861 A CN 201310210861A CN 103317498 A CN103317498 A CN 103317498A
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Abstract
The invention discloses a folding type five-degree-of-freedom parallel connected attitude adjustment platform. The folding type five-degree-of-freedom parallel connected attitude adjustment platform comprises an upper platform, a lower platform and six branches; the six branches are used for connecting the upper platform and the lower platform; the five branches which are arranged on the periphery are driving branches with identical structures; and the rest one is a middle constraint branch. First universal hinges of the five driving hinges are connected with the lower platform; one ends of lower connecting rods are connected with the first universal hinges; the other ends of the lower connecting rods are connected with one ends of upper connecting rods through revolute pairs; the other ends of the upper connecting rods are connected with the upper platform through spherical hinges; the tail portions of electric cylinders are connected with the lower connecting rods; extensible rods of the electric cylinders are connected with the upper connecting rods; a middle connecting rod of the middle constraint branch is an extensible rod; one end of the middle connecting rod is connected with lower platform through one of the second universal hinges; the other end of the middle connecting rod is connected with the upper platform through one of the spherical hinges. The folding type five-degree-of-freedom parallel connected attitude adjustment platform has the advantages of being simple in structure, small in occupying area, low in self-weight, large in attitude adjustment space, convenient to install and maintain, being capable of achieving spatial three dimensional rotational freedom and two dimensional rotational freedom.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of posture adjustment platform in parallel.
Background technology
Development along with society, science and technology is improving, people begin to be not content with the exploration of land and ocean, then yearn for immense universe, and along with the continuous awareness and understanding to universe, people transfer development of resources to wide space from limited ground, and the space technology of at this moment arising at the historic moment becomes the new focus of science and technology research.And in space technology earth observation technology particularly important (mainly by camera take).The change appearance of spacecraft has sextuple coupling, spacecraft changes occuring can to follow when the attitudes such as pitching, driftage, lift-over change camera to occur to change the positions such as advance and retreat, traversing, heave except attitude, if use volume and quality, the raising that traditional tandem turntable can enlarging mechanism to deliver cost; Parallel institution with respect to serial mechanism have that rigidity is large, Stability Analysis of Structures, bearing capacity is strong, precision is high, movement inertia is little, normal solution is difficult and anti-solution easy, cumulative errors are little, fast response time, be easy to realize the characteristics of multiaxis coupled motions, and be widely used.Most study is Six Degree-of-Freedom Parallel Platform at present, but the real work great majority do not need six-freedom degree.Space lower-mobility parallel institution is compared with traditional six-degree-of-freedom parallel connection mechanism, has a driving element few, simple in structure, and working space is large, manufactures and designs and all relatively low characteristics of controlling cost.But the research of lower-mobility parallel institution is extremely uneven, wherein two, the research of the parallel institution of Three Degree Of Freedom is mature on the whole, and four, the parallel institution of five degree of freedom studies that complexity still is in the starting stage, limited to a certain extent development and the application of such parallel institution.And four, the five-freedom parallel structure is used for few very few especially in the posture adjustment, its performance is still waiting to improve, posture adjustment platform in parallel has broad application prospects.
Patent CN102773855A has proposed a kind of four-degree-of-freedom posture adjustment vibration-isolating platform in parallel, and that this invention has is simple in structure, the posture adjustment space is large, dynamic response fast and the characteristics that are easy to control.Its weak point is: take volume larger, own wt is not suitable for more greatly space environment; The high rigidity four-freedom parallel mechanism with posture adjustment ability that patent CN102601794A proposes, this invention have the advantages that rigidity is large, mechanism's response is fast.Its deficiency is: complex structure, the posture adjustment space is little, precision is relatively poor and wayward; Patent CN1462672A has proposed parallel decoupling mechanism with 5 degree of freedom, and this invention can realize that the unconditional decoupling zero of Three Degree Of Freedom translation and two-freedom rotate the decoupling zero of having ready conditions, have simple in structure, working space large and the characteristics that are easy to control.Its weak point is: mechanism's rigidity is little, takies volume under the equal working space larger.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, volume is little, collapsible, the posture adjustment space is large, can the implementation space Three dimensional rotation free degree and two to the collapsible five degree of freedom of one-movement-freedom-degree posture adjustment platforms in parallel.
Technical scheme of the present invention is as follows:
Six branches that the present invention mainly comprises upper mounting plate, lower platform and connects these two platforms, five around wherein being distributed in branch into the identical URS driving branch of structure, and one is bound branch in the middle of the US.Article five, drive branch and form by ball pivot, upper connecting rod, revolute pair, electric cylinder, lower link and the first universal hinge, it drives the branch drives form is that electric cylinder drives the revolute pair rotation.This end that drives the lower link in the branch is connected with lower platform by the first universal hinge, its other end is connected with an end of upper connecting rod by revolute pair, upward the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair.Five the first universal hinges are pentagon at lower platform and arrange, the center of rotation of five the first universal hinges is distributed on the circle, second is parallel with the line of the mid point of the first universal hinge of the third and fourth branch with the line of the point of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, the point of the first universal hinge of the first branch is not on vertical line; Five ball pivot dot center are that the pentagon identical with the first universal hinge arranged at upper mounting plate; The center of rotation of five ball pivots is distributed on the circle, and second is parallel with the line of the point of third and fourth branch's ball pivot with the line of the point of quintafurcation ball pivot, and is symmetrically distributed in the vertical line in the center of circle, and the point of first branch's ball pivot is not on vertical line.The intermediate connecting rod of middle bound branch is telescopic rod, and the one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.It can be compressed to lowest order when being in off working state, length no longer changed after intermediate connecting rod was elongated to working position when in running order.
Five the second connected modes that drive branch: five ends that drive the lower link of branch are connected with lower platform by the first universal hinge, its other end is connected with an end of upper connecting rod by revolute pair, upward the other end of connecting rod is connected with upper mounting plate by ball pivot, and the above-mentioned first universal hinge is arranged on the inner circle of lower platform; The afterbody of electric cylinder is connected with lower platform by the 3rd universal hinge, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, and the above-mentioned the 3rd universal hinge and the above-mentioned first universal hinge are vertically set on the cylindrical of lower platform.
Middle bound branch the second connected mode: middle bound branch is RPS branch, and it is comprised of the second revolute pair, moving sets guide rail, slide block, intermediate connecting rod and medial fascicle ball pivot.The second revolute pair is that a rotating disk is located at the lower platform center, fix a moving sets guide rail that is parallel to lower platform on the rotating disk, this guide rail is provided with slide block, and intermediate connecting rod is telescopic rod, the one end is fixed on the slide block perpendicular to guide rail, and its other end is connected with upper mounting plate by ball pivot.
The present invention compared with prior art has following advantage:
1, mechanism structure is simple, and the posture adjustment space is large, can the implementation space three independently rotational freedom and two one-movement-freedom-degrees of following Z axis to move.
2, medial fascicle is compressible shaft, medial fascicle is compressible during the inoperative position takies volume little so that mechanism is in folding lowest order, and intermediate connecting rod no longer changes after being elongated to working position when being in working position, certain effect of contraction is played in mechanism, improve the bearing capacity of mechanism.
3, the present invention is that electric cylinder drives, and stable performance in its posture adjustment space still has higher dynamic response when bearing load, be easy to installation and maintenance.
4, five-freedom parallel structure satisfies the demand that great majority are worked, and has wide practical use in a lot of fields.
Description of drawings
Fig. 1 is the embodiment of the invention 1 three-dimensional simplified schematic diagram;
Fig. 2 is the embodiment of the invention 1 compression lowest order schematic diagram;
Fig. 3 is the embodiment of the invention 2 three-dimensional simplified schematic diagram;
Fig. 4 is the embodiment of the invention 3 three-dimensional simplified schematic diagram.
The specific embodiment
Embodiment 1
In five degree of freedom shown in Figure 1 posture adjustment platform in parallel schematic diagram, article five, the first universal hinge 6 that the URS that structure is identical drives in the branch is connected with lower platform 7, one end of lower link 5 and the first universal being hinged, its other end is connected with an end of upper connecting rod 3 by revolute pair 11, upward the other end of connecting rod is connected with upper mounting plate 1 by ball pivot 2, upper and lower strut is hollow structure, the afterbody of electric cylinder 4 is connected in the lower link by driving lower revolute pair 13, and the expansion link of this electric cylinder is connected with upper connecting rod by driving upper revolute pair 12.Five the first universal hinges are pentagon at lower platform arranges, the center of rotation of five the first universal hinges is distributed on the circle, the some A of the first universal hinge of the second branch
2Some A with the first universal hinge of quintafurcation
5Line and the mid point A of the first universal hinge of the 3rd branch
3Mid point A with the first universal hinge of the 4th branch
4Line parallel, and be symmetrically distributed in the vertical line in the center of circle, the some A of the first universal hinge of the first branch
1Not on vertical line; Five ball pivot dot center are that the pentagon identical with the first universal hinge arranged at upper mounting plate; The center of rotation of five ball pivots is distributed on the circle, the some B of second branch's ball pivot
2Some B with the quintafurcation ball pivot
5Line and the some B of the 3rd branch's ball pivot
3Some B with the 4th branch's ball pivot
4Line parallel, and be symmetrically distributed in the vertical line in the center of circle, the some B of first branch's ball pivot
1Not on vertical line.The intermediate connecting rod 9 of medial fascicle is telescopic rod, and the one end is connected with lower platform by the second universal hinge 8, and its other end is connected with upper mounting plate by ball pivot 10.Among Fig. 1, round dot O is positioned at the upper mounting plate center, and Z axis is perpendicular to upper mounting plate, and X-axis is parallel with A3A4 line and A2A5 line on the upper mounting plate plane, and Y-axis meets right-hand rule.As shown in Figure 2, it can be compressed to lowest order when being in off working state, length no longer changed after intermediate connecting rod was elongated to working position when in running order.
In a kind of five degree of freedom posture adjustment platform in parallel schematic diagram shown in Figure 3, five the first universal hinges 6 that drive branch are connected with lower platform 7, one end of lower link 5 and the first universal being hinged, its other end is connected with an end of upper connecting rod 3 by revolute pair 11, upward the other end of connecting rod is connected with upper mounting plate 1 by ball pivot 2, and the above-mentioned first universal hinge is arranged on the inner circle of lower platform; The afterbody of electric cylinder 4 is connected with lower platform by the 3rd universal hinge 14, and the expansion link of this electric cylinder is connected with upper connecting rod by driving upper revolute pair, and the above-mentioned the 3rd universal hinge and the above-mentioned first universal hinge are vertically set on the cylindrical of lower platform.Other member is identical with embodiment 1 with annexation.
In a kind of five degree of freedom posture adjustment platform in parallel schematic diagram shown in Figure 4, medial fascicle is RPS branch, the second revolute pair 15 is that a rotating disk is located at the lower platform center, fix a moving sets guide rail 16 that is parallel to lower platform on the rotating disk, this guide rail is provided with slide block 17, intermediate connecting rod 9 is telescopic rod, and the one end is fixed on the slide block perpendicular to guide rail, and its other end is connected with upper mounting plate by ball pivot 10.Other member is identical with embodiment 1 with annexation.
Claims (3)
1. collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, lower platform and six branches that connect upper mounting plate and lower platform, five around wherein being distributed in branch into the identical URS of structure and drive branch, article one, be bound branch in the middle of the US, it is characterized in that: its end that drives the lower link in the branch is connected with lower platform by the first universal hinge, its other end is connected with an end of upper connecting rod by revolute pair, upward the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair; Above-mentioned five the first universal hinges are pentagon at lower platform and arrange, the center of rotation of five the first universal hinges is distributed on the circle, second is parallel with the line of the mid point of the first universal hinge of the third and fourth branch with the line of the point of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, the point of the first universal hinge of the first branch is not on vertical line; Five ball pivot dot center are that the pentagon identical with the first universal hinge arranged at upper mounting plate; The center of rotation of five ball pivots is distributed on the circle, and second is parallel with the line of the point of third and fourth branch's ball pivot with the line of the point of quintafurcation ball pivot, and is symmetrically distributed in the vertical line in the center of circle, and the point of first branch's ball pivot is not on vertical line; The intermediate connecting rod of medial fascicle is telescopic rod, and the one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.
2. collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, lower platform and six branches that connect upper mounting plate and lower platform, five around wherein being distributed in branch into the identical URS of structure and drive branch, article one, be bound branch in the middle of the US, it is characterized in that: its end that drives the lower link of branch is connected with lower platform by the first universal hinge, its other end is connected with an end of upper connecting rod by revolute pair, upward the other end of connecting rod is connected with upper mounting plate by ball pivot, and the above-mentioned first universal hinge is arranged on the inner circle of lower platform; The afterbody of electric cylinder is connected with lower platform by the 3rd universal hinge, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair, and the above-mentioned the 3rd universal hinge and the above-mentioned first universal hinge are vertically set on the cylindrical of lower platform; The universal hinge of above-mentioned five branches is pentagon at lower platform and arranges, the center of rotation of its universal hinge is distributed on inside and outside two circles, second is parallel with the line of the mid point of the first universal hinge of the third and fourth branch with the line of the point of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, the point of the first universal hinge of the first branch is not on vertical line; Five ball pivot dot center are that the pentagon identical with the first universal hinge arranged at upper mounting plate; The center of rotation of five ball pivots is distributed on the circle, and second is parallel with the line of the point of third and fourth branch's ball pivot with the line of the point of quintafurcation ball pivot, and is symmetrically distributed in the vertical line in the center of circle, and the point of first branch's ball pivot is not on vertical line; The intermediate connecting rod of medial fascicle is telescopic rod, and the one end is connected with lower platform by the second universal hinge, and its other end is connected with upper mounting plate by ball pivot.
3. collapsible five degree of freedom posture adjustment platform in parallel, comprise upper mounting plate, lower platform and six branches that connect upper mounting plate and lower platform, five around wherein being distributed in branch into the identical URS of structure and drive branch, article one, be bound branch in the middle of the RPS, it is characterized in that: its end that drives the lower link in the branch is connected with lower platform by the first universal hinge, its other end is connected with an end of upper connecting rod by revolute pair, upward the other end of connecting rod is connected with upper mounting plate by ball pivot, the afterbody of electric cylinder is connected with above-mentioned lower link by driving lower revolute pair, and the expansion link of this electric cylinder is connected with above-mentioned upper connecting rod by driving upper revolute pair; Above-mentioned five the first universal hinges are pentagon at lower platform and arrange, the center of rotation of five the first universal hinges is distributed on the circle, second is parallel with the line of the mid point of the first universal hinge of the third and fourth branch with the line of the point of the first universal hinge of quintafurcation, and be symmetrically distributed in the vertical line in the center of circle, the point of the first universal hinge of the first branch is not on vertical line; Above-mentioned five ball pivot dot center are that the pentagon identical with the first universal hinge arranged at upper mounting plate; The center of rotation of five ball pivots is distributed on the circle, and second is parallel with the line of the point of third and fourth branch's ball pivot with the line of the point of quintafurcation ball pivot, and is symmetrically distributed in the vertical line in the center of circle, and the point of first branch's ball pivot is not on vertical line; The second revolute pair in the middle bound branch is that a rotating disk is located at the lower platform center, fix a moving sets guide rail that is parallel to lower platform on the rotating disk, this guide rail is provided with slide block, intermediate connecting rod is telescopic rod, the one end is fixed on the slide block perpendicular to guide rail, and its other end is connected with upper mounting plate by ball pivot.
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| CN201310210861.8A CN103317498B (en) | 2013-05-31 | 2013-05-31 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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| CN201310210861.8A CN103317498B (en) | 2013-05-31 | 2013-05-31 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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| CN103317498A true CN103317498A (en) | 2013-09-25 |
| CN103317498B CN103317498B (en) | 2015-04-29 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103753520A (en) * | 2014-01-17 | 2014-04-30 | 广州中国科学院先进技术研究所 | High-precision heavy-load hexapod parallel robot |
| CN103895004A (en) * | 2014-04-04 | 2014-07-02 | 浙江钱江摩托股份有限公司 | Center shaft structure of delta robot |
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
| CN105033988A (en) * | 2015-08-25 | 2015-11-11 | 中国农业大学 | Two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism |
| CN105171717A (en) * | 2015-08-03 | 2015-12-23 | 电子科技大学 | Foldable six-freedom-degree parallel motion platform |
| CN105196304A (en) * | 2015-11-11 | 2015-12-30 | 哈尔滨工业大学 | Foldable mechanical palm |
| CN105500348A (en) * | 2016-01-28 | 2016-04-20 | 燕山大学 | Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches |
| CN106005278A (en) * | 2016-06-23 | 2016-10-12 | 江苏科技大学 | Marine dining table with six-DOF (degree of freedom) wave active compensation function and compensation method |
| CN109454635A (en) * | 2018-10-15 | 2019-03-12 | 山东中衡光电科技有限公司 | A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle |
| CN110510143A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Omnidirectional moving large aircraft level assembly 13 freedom degree mixed connection posture adjustment platforms of docking |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| CN112677139A (en) * | 2020-12-23 | 2021-04-20 | 南京全控航空科技有限公司 | Three-degree-of-freedom parallel motion platform and control method thereof |
| CN113633363A (en) * | 2021-07-07 | 2021-11-12 | 北京工业大学 | Parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom |
| CN114027988A (en) * | 2021-12-07 | 2022-02-11 | 临沂大学 | Three-degree-of-freedom continuum robot main manipulator and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753520A (en) * | 2014-01-17 | 2014-04-30 | 广州中国科学院先进技术研究所 | High-precision heavy-load hexapod parallel robot |
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| CN105196304A (en) * | 2015-11-11 | 2015-12-30 | 哈尔滨工业大学 | Foldable mechanical palm |
| CN105500348A (en) * | 2016-01-28 | 2016-04-20 | 燕山大学 | Six-degree-of-freedom parallel posture adjustment and vibration isolation platform containing tower-shaped telescopic branches |
| CN106005278A (en) * | 2016-06-23 | 2016-10-12 | 江苏科技大学 | Marine dining table with six-DOF (degree of freedom) wave active compensation function and compensation method |
| CN109454635A (en) * | 2018-10-15 | 2019-03-12 | 山东中衡光电科技有限公司 | A kind of steel wire flexible cable parallel connection mirror processing device based on lever principle |
| CN110510143A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Omnidirectional moving large aircraft level assembly 13 freedom degree mixed connection posture adjustment platforms of docking |
| CN110510143B (en) * | 2019-08-15 | 2020-12-29 | 燕山大学 | Omnidirectional movement large-scale airplane horizontal assembly butt joint 13-degree-of-freedom hybrid attitude adjusting platform |
| CN112483786A (en) * | 2020-11-12 | 2021-03-12 | 华中科技大学 | Six-degree-of-freedom platform and application thereof |
| CN112677139A (en) * | 2020-12-23 | 2021-04-20 | 南京全控航空科技有限公司 | Three-degree-of-freedom parallel motion platform and control method thereof |
| CN113633363A (en) * | 2021-07-07 | 2021-11-12 | 北京工业大学 | Parallel external fixator for large-amplitude ankle deformity requiring five correction degrees of freedom |
| CN114027988A (en) * | 2021-12-07 | 2022-02-11 | 临沂大学 | Three-degree-of-freedom continuum robot main manipulator and working method thereof |
| CN114027988B (en) * | 2021-12-07 | 2023-07-07 | 临沂大学 | Main manipulator of three-degree-of-freedom continuum robot and working method thereof |
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