CN103486413B - Three freedom decoupling Long Distances mini positioning platform - Google Patents
Three freedom decoupling Long Distances mini positioning platform Download PDFInfo
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- CN103486413B CN103486413B CN201310470918.8A CN201310470918A CN103486413B CN 103486413 B CN103486413 B CN 103486413B CN 201310470918 A CN201310470918 A CN 201310470918A CN 103486413 B CN103486413 B CN 103486413B
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Abstract
The invention provides a kind of three freedom decoupling Long Distances mini positioning platform, comprise moving platform, base, connect the side chain that moving platform is identical with three structures of base, every bar side chain includes a micro-displacement driver, the branch that compliant translational joint and axis identical with two-strip structure is parallel to each other, one end of Mei Tiao branch is connected with moving platform, the other end is connected with compliant translational joint, the fixed end of micro-displacement driver is connected with base, drive end is connected with compliant translational joint, moving platform and base are by three orthogonal flat board compositions, article three, side chain connects moving platform and base corresponding flat with the form of orthogonal crossover, and formation is connected in parallel.The three-dimensional that the present invention can realize decoupling zero moves, and is not needing just can obtain larger stroke and higher resolution under the prerequisite introducing displacement amplifying mechanism.Compact overall structure and there is good mechanics transmit performance.
Description
Technical field
The invention belongs to advanced manufacture field, be specifically related to a kind of three freedom decoupling Long Distances mini positioning platform.
Background technique
Mini positioning platform based on flexible hinge has extensive use in the occasion such as atom force microscope, biological micromanipulator, micro-nano processing, MEMS assembling, fiber alignment and calibration due to its characteristic such as highi degree of accuracy and high-resolution.
As technical research institute of Swiss Confederation have developed a kind of 3-RPS flexible parallel connection mini positioning platform for fiber alignment, the TAMIO of Japan have developed a kind of two finger micro-operation hands based on Stewart platform, Saskatchewan university of Canada have developed a kind of 3-RRR plane Microrobot, Harbin Institute of Technology have developed the six-freedom micro displacement robot based on Stewart platform, and BJ University of Aeronautics & Astronautics proposes a kind of series parallel connection micromotion mechanism etc. for fiber alignment.Be 201310166438 at application number, 201310156056, 201310145711, 201310103681, 00100198, disclose " Large-stroke micro-drive precise two-dimensional worktable " in the patent document of 200810079902, " there is the Long Distances two-dimensional nano work system of angle compensation function ", " a kind of two-dimensional parallel micromotion platform of Piezoelectric Ceramic ", " a kind of flexible micro-positioning platform ", " vernier robot with decoupled parallel three freedoms and three-axle structure ", " three-dimensional translation micro-operation hand ".The subject matter that current most mini positioning platform exists is complex structure, can not be full decoupled between each freedom of movement, and output displacement scope is little, causes positioning precision reduction etc. owing to introducing enlarger.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the three freedom decoupling Long Distances mini positioning platform that a kind of compact structure, stroke are large, Motion Resolution rate is high, cumulative error is little is provided.
Three freedom decoupling Long Distances mini positioning platform provided by the invention, comprise moving platform, base, connect the moving platform side chain identical with three structures of base and three micro-displacement drivers, every bar side chain includes a micro-displacement driver, the branch that compliant translational joint and axis identical with two-strip structure is parallel to each other, Mei Tiao branch is made up of two cylindrical pliable hinges at two ends and a rigid link of centre, one end of Mei Tiao branch is connected with moving platform, the other end is connected with compliant translational joint, the fixed end of micro-displacement driver is connected with base, drive end is connected with compliant translational joint, the driving direction of micro-displacement driver is along branch's axial direction, moving platform and base are by three orthogonal flat boards composition (moving platform is relative with the opening of base), participate in the 3rd branch of formation first side chain and the determined plane of axis of the 6th branch and the top surface being parallel of moving platform, participate in the second branch of formation second side chain and the determined plane of axis of the 4th branch, and the first branch participating in formation the 3rd side chain is parallel with two sides of moving platform respectively with the determined plane of the axis of quintafurcation, article three, side chain connects moving platform and base corresponding flat with the form of orthogonal crossover, and formation is connected in parallel.
Compared with prior art, its advantage is in the present invention: (1) adopts micro-displacement driver Direct driver, realizes the requirement of high-precision large-stroke under the prerequisite not introducing enlarger; Article (2) three, side chain adopts orthogonal crossover arranged in form, reduces organization volume, improves mechanism's mechanics and transmits performance.
Accompanying drawing explanation
Fig. 1 is the platform structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the platform structure schematic diagram after removing base in embodiments of the invention.
Fig. 3 is the structural representation of a Platform movement side chain in embodiments of the invention.
In figure: 1, moving platform, the 2, first side chain, 3, base, 4, the second side chain, the 5, the 3rd side chain, the 6, first branch, 7, the second branch, the 8, the 3rd branch, the 9, the 4th branch, 10, quintafurcation, 11, the 6th branch, 12, cylinder type flexible hinge, 13, rigid link, 14, compliant translational joint, 15, micro-displacement driver.
Embodiment
Three freedom decoupling Long Distances mini positioning platform provided by the invention, comprise moving platform 1, base 3, connect the side chain (2 that moving platform 1 is identical with three structures of base 3, 4 and 5) and three micro-displacement drivers 15, every bar side chain includes a micro-displacement driver 15, the branch that compliant translational joint 14 and axis identical with two-strip structure is parallel to each other, article three, side chain totally 6 branches, the first branch 6 respectively, second branch 7, 3rd branch 8, 4th branch 9, quintafurcation 10 and the 6th branch 11, Mei Tiao branch is made up of two cylindrical pliable hinges 12 at two ends and a rigid link 13 of centre, one end of Mei Tiao branch is connected with moving platform 1, the other end is connected with compliant translational joint 14, and the axis of Liang Tiao branch is parallel to each other, the fixed end of micro-displacement driver 15 is connected with base 3, drive end is connected with compliant translational joint 14, the driving direction of micro-displacement driver 15 is along branch's axial direction, moving platform 1 and base 3 are by three orthogonal flat boards composition (moving platform is relative with the opening of base), participate in the 3rd branch 8 of formation first side chain 2 and the determined plane of axis of the 6th branch 11 and the top surface being parallel of moving platform 1, participate in the second branch 7 of formation second side chain 4 parallel with two sides of moving platform 1 respectively with the determined plane of the axis of quintafurcation 10 with the first branch 6 of the determined plane of axis of the 4th branch 9 and participation formation the 3rd side chain 5, article three, side chain connects moving platform 1 and base 3 corresponding flat with the form of orthogonal crossover, and formation is connected in parallel.
Claims (1)
1. a three freedom decoupling Long Distances mini positioning platform, comprise moving platform (1), base (3), connect the side chain that moving platform (1) is identical with three structures of base (3), it is characterized in that: every bar side chain includes a micro-displacement driver (15), the branch that compliant translational joint (14) and axis identical with two-strip structure is parallel to each other, Mei Tiao branch is made up of two cylindrical pliable hinges (12) at two ends and a rigid link (13) of centre, one end of Mei Tiao branch is connected with moving platform (1), the other end is connected with compliant translational joint (14), the fixed end of micro-displacement driver (15) is connected with base (3), drive end is connected with compliant translational joint (14), the driving direction of micro-displacement driver (15) is along branch's axial direction, moving platform (1) and base (3) are by three orthogonal flat board compositions, participate in the 3rd branch (8) and the determined plane of axis of the 6th branch (11) and the top surface being parallel of moving platform (1) of formation first side chain (2), participate in second branch (7) of formation second side chain (4) and the determined plane of axis of the 4th branch (9), and the first branch (6) participating in formation the 3rd side chain (5) is parallel with two sides of moving platform (1) respectively with the determined plane of axis of quintafurcation (10), article three, side chain connects moving platform (1) and base (3) corresponding flat with the form of orthogonal crossover, and formation is connected in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310470918.8A CN103486413B (en) | 2013-10-11 | 2013-10-11 | Three freedom decoupling Long Distances mini positioning platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310470918.8A CN103486413B (en) | 2013-10-11 | 2013-10-11 | Three freedom decoupling Long Distances mini positioning platform |
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| Publication Number | Publication Date |
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| CN103486413A CN103486413A (en) | 2014-01-01 |
| CN103486413B true CN103486413B (en) | 2016-02-10 |
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| CN201310470918.8A Expired - Fee Related CN103486413B (en) | 2013-10-11 | 2013-10-11 | Three freedom decoupling Long Distances mini positioning platform |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104895913B (en) * | 2015-05-04 | 2017-11-14 | 清华大学 | Two-freedom mobile decoupling flexure hinge mechanism |
| CN104896268B (en) * | 2015-05-29 | 2016-08-31 | 山东大学 | A kind of Three Degree Of Freedom big stroke flexible nano locating platform |
| CN105127987B (en) * | 2015-10-20 | 2020-08-07 | 山东理工大学 | Planar motion type decoupling parallel robot |
| CN109256174B (en) * | 2018-11-08 | 2023-06-06 | 江南大学 | High-precision space translation micro-positioning platform |
| CN109765842A (en) * | 2019-01-17 | 2019-05-17 | 湖北工程学院 | A kind of micro-positioning table |
| CN109949856B (en) * | 2019-03-15 | 2021-01-29 | 天津理工大学 | Modularized six-degree-of-freedom precise micro-motion mechanism based on flexible hinge |
| DE102019111026B4 (en) * | 2019-04-29 | 2020-11-19 | Physik Instrumente (Pi) Gmbh & Co. Kg | Positioning device |
| CN112809650A (en) * | 2021-02-08 | 2021-05-18 | 天津大学 | Two-degree-of-freedom positioning platform with embedded driving type stepping motor |
Citations (4)
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| CN101246751A (en) * | 2008-03-21 | 2008-08-20 | 东北林业大学 | Hexahedron parallel-connection decoupling six-freedom micro displacement worktable |
| CN101530999A (en) * | 2009-04-16 | 2009-09-16 | 上海交通大学 | Micro-nano working platform of five-dimensional mobile orthogonal structure |
| CN102182899A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Large-stroke three-translation orthogonal decoupling-type precise micromotion platform and control method thereof |
| CN202428438U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Six-freedom-degree parallel connection micro robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8278913B2 (en) * | 2008-05-15 | 2012-10-02 | Eigen Inc. | Apparatus and method for position sensing |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246751A (en) * | 2008-03-21 | 2008-08-20 | 东北林业大学 | Hexahedron parallel-connection decoupling six-freedom micro displacement worktable |
| CN101530999A (en) * | 2009-04-16 | 2009-09-16 | 上海交通大学 | Micro-nano working platform of five-dimensional mobile orthogonal structure |
| CN102182899A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Large-stroke three-translation orthogonal decoupling-type precise micromotion platform and control method thereof |
| CN202428438U (en) * | 2012-01-12 | 2012-09-12 | 燕山大学 | Six-freedom-degree parallel connection micro robot |
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