CN103522281A - Space-symmetrical three-freedom-degree parallel mechanism - Google Patents
Space-symmetrical three-freedom-degree parallel mechanism Download PDFInfo
- Publication number
- CN103522281A CN103522281A CN201310477678.4A CN201310477678A CN103522281A CN 103522281 A CN103522281 A CN 103522281A CN 201310477678 A CN201310477678 A CN 201310477678A CN 103522281 A CN103522281 A CN 103522281A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- longitudinal
- axis
- connecting rod
- branch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a space-symmetrical three-freedom-degree parallel mechanism which has the advantages of being simple in structure, high in rigidness, quick in response speed, convenient to manufacture and mount and easy to control. According to the technical scheme, the space-symmetrical three-freedom-degree parallel mechanism comprises a moving platform, a machine frame and three branch mechanisms which are connected in parallel between the moving platform and the machine frame, and the three branch mechanisms are two horizontal branch mechanisms which are placed on the two sides of the moving platform symmetrically and a longitudinal branch mechanism. The space-symmetrical three-freedom-degree parallel mechanism is characterized in that each horizontal branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod and a spherical hinge which are connected between the machine frame and the moving platform in sequence, or each horizontal branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, a third rotating pair, a third connecting rod and a universal hinge which are connected between the machine frame and the moving platform in sequence.
Description
Technical field
The present invention relates to the executing agency of a kind of industrial lathe and industrial robot, specifically a kind ofly realize two and turn the 3-freedom parallel mechanism moving.
Background technology
Parallel institution (PM) is compared with traditional serial mechanism, has the precision of larger rigidity, load and Geng Gao.Successful Application from Steward mechanism Tire testing and flight simulator starts, and parallel institution becomes the object of many scholar's research always.But in parallel institution, there is a difficult problem for computing complexity in multiple freedom parallel mechanism, thus in some occasion, lower-mobility parallel institution because driving element number is few, motion model is simple and cost is lower, thereby has higher use value.
3-freedom parallel mechanism is the important branch of parallel institution, has practical value, so its research and development also just seem very necessary.But, all there is kinematics model complexity, control and demarcate difficult problem in existing 3-freedom parallel mechanism (as US6431802, CA2349576, ZL200610013608.3, ES59905578D), need further solution.
Summary of the invention
The object of the invention is to overcome the deficiency in above-mentioned background technology, a kind of 3-freedom parallel mechanism of space symmetr is provided, that this parallel institution should have advantages of is simple in structure, rigidity is high, fast response time, be convenient to manufacture install and be easy to and control.
Technical scheme of the present invention is: a kind of 3-freedom parallel mechanism of space symmetr, comprise moving platform, frame and be connected in moving platform in parallel and frame between San Ge branch; Described San Ge branch is two transverse branch mechanism and longitudinal branches that are arranged symmetrically in moving platform both sides; It is characterized in that:
Described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod and the ball pivot being connected in turn between frame and moving platform; Or described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair, third connecting rod and the universal hinge being connected in turn between frame and moving platform;
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame and moving platform, longitudinal first connecting rod, longitudinal the first revolute pair, longitudinal second connecting rod, longitudinal the second revolute pair, longitudinal third connecting rod and longitudinal the 3rd revolute pair;
Described longitudinal universal hinge comprises universal hinge bar, connect the upper revolute pair of universal hinge bar and frame, be connected universal hinge bar and the longitudinal lower revolute pair of first connecting rod, and upper revolute pair axis is mutually vertical with lower revolute pair axis.
In described each transverse branch mechanism, the axis of each revolute pair is parallel to each other; In described each transverse branch mechanism, the axis of each revolute pair is vertical with the axis of the upper revolute pair of longitudinal branch; The axis of the axis of longitudinal the first revolute pair in described longitudinal branch, the axis of longitudinal the second revolute pair and longitudinal the 3rd revolute pair is parallel mutually.
The axis of the first revolute pair of described Liang Ge transverse branch mechanism is coplanar.
The axis of the upper revolute pair of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
The invention has the beneficial effects as follows:
The present invention can carry out the motion of two rotational freedoms and an one-movement-freedom-degree in space, and the present invention adopts symmetrical structure design, therefore have advantages of simple in structure, rigidity is high, fast response time, be convenient to manufacture and install and be easy to motion control, can be widely used in the field of industrial lathe and industrial robot.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention 1.
Fig. 2 is the perspective view of the embodiment of the present invention 2.
The specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the present invention is not limited to following examples.
Embodiment 1
As shown in Figure 1, a kind of 3-freedom parallel mechanism of space symmetr, comprises moving platform 4, frame (comprising two the first frames 11 and the 3rd frame 31 that are connected as a single entity) and is connected in the San Ge branch between moving platform and frame in parallel; Described San Ge branch comprises two transverse branch mechanism and longitudinal branches that are arranged symmetrically in moving platform both sides; The axis of the first revolute pair of described Liang Ge transverse branch mechanism is in same plane.
In described Liang Ge transverse branch mechanism, each transverse branch mechanism comprises the first revolute pair 1R1, first connecting rod 12, the second revolute pair 1R2, second connecting rod 13, the ball pivot 1S being connected in turn between the first frame 11 and moving platform respectively.The axis of the first revolute pair in Liang Ge transverse branch mechanism is parallel mutually with the axis of the second revolute pair.
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between the 3rd frame 31 and moving platform 4, longitudinal first connecting rod 33, longitudinal the first revolute pair 3R3, longitudinal second connecting rod 34, longitudinal the second revolute pair 3R4, longitudinal third connecting rod 35 and longitudinal the 3rd revolute pair 3R5; Described longitudinal universal hinge comprises universal hinge bar 32, connect the upper revolute pair 3R1 of universal hinge bar 32 and the 3rd frame 31, be connected universal hinge bar 32 and the longitudinal lower revolute pair 3R2 of first connecting rod 33, and upper revolute pair 3R1 axis is mutually vertical with lower revolute pair 3R2 axis; The axis of the first revolute pair 1R1 and the axis of the second revolute pair 1R2 in the axis Yu Liangge transverse branch mechanism of the upper revolute pair 3R1 of described longitudinal branch are all vertical; In described longitudinal branch: the axis of the axis of longitudinal the first revolute pair 3R3, longitudinal the second revolute pair 3R4, the axis of longitudinal the 3rd revolute pair 3R5 are parallel mutually; Upper revolute pair 3R1 in described longitudinal universal hinge and the axis direction of lower revolute pair 3R2 are mutually vertical.
Above-mentioned all revolute pairs drive by servomotor (omitting in figure).
As recommendation, the axis of the upper revolute pair 3R1 of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Embodiment 2
As shown in Figure 2, a kind of 3-freedom parallel mechanism of space symmetr, comprises moving platform 4, frame (comprising two the first frames 11 and the 3rd frame 31 that are connected as a single entity) and is connected in the San Ge branch between moving platform and frame in parallel; Described San Ge branch comprises two transverse branch mechanism and longitudinal branches that are arranged symmetrically in moving platform both sides; The axis of the first revolute pair of described Liang Ge transverse branch mechanism is in same plane.
Described Liang Ge transverse branch mechanism comprises the first revolute pair 1R1, first connecting rod 12, the second revolute pair 1R2, second connecting rod 13, the 3rd revolute pair 1R3, third connecting rod 14, the horizontal universal hinge 1U being connected in turn between the first frame 11 and moving platform respectively, and the pivot center of described the first revolute pair, the pivot center of the second revolute pair and the axis direction of the 3rd revolute pair are parallel to each other; In described horizontal universal hinge, the axis of two revolute pairs is mutually vertical and crossing.
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame 31 and moving platform 4, longitudinal first connecting rod 33, longitudinal the first revolute pair 3R3, longitudinal second connecting rod 34, longitudinal the second revolute pair 3R4, longitudinal third connecting rod 35 and longitudinal the 3rd revolute pair 3R5; Described longitudinal universal hinge comprises universal hinge bar 32, connect the upper revolute pair 3R1 of universal hinge bar 32 and frame 31, be connected universal hinge bar 32 and the longitudinal lower revolute pair 3R2 of first connecting rod 33, and upper revolute pair 3R1 axis is mutually vertical with lower revolute pair 3R2 axis; The axis of the first revolute pair 1R1 and the axis of the second revolute pair 1R2 in the axis Yu Liangge transverse branch mechanism of the upper revolute pair 3R1 of described longitudinal branch are all vertical; In described longitudinal branch: the axis of the axis of longitudinal the first revolute pair 3R3, longitudinal the second revolute pair 3R4, the axis of longitudinal the 3rd revolute pair 3R5 are parallel mutually; Upper revolute pair 3R1 in described longitudinal universal hinge and the axis direction of lower revolute pair 3R2 are mutually vertical.
Above-mentioned all revolute pairs drive by servomotor (omitting in figure).
As recommendation, the upper revolute pair 3R1 axis of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Claims (4)
1. a 3-freedom parallel mechanism for space symmetr, comprise moving platform (4), frame (11,31) and be connected in moving platform in parallel and frame between San Ge branch; Described San Ge branch is two transverse branch mechanism and longitudinal branches that are arranged symmetrically in moving platform both sides; It is characterized in that:
Described each transverse branch mechanism comprises respectively the first revolute pair (1R1), first connecting rod (12), the second revolute pair (1R2), second connecting rod (13) and the ball pivot (1S) being connected in turn between frame and moving platform; Or described each transverse branch mechanism comprises respectively the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, the 3rd revolute pair (1R3), third connecting rod (14) and the universal hinge (1U) being connected in turn between frame and moving platform;
Described longitudinal branch comprises the longitudinal universal hinge being connected in turn between frame and moving platform, longitudinal first connecting rod (33), longitudinal the first revolute pair (3R3), longitudinal second connecting rod (34), longitudinal the second revolute pair (3R4), longitudinal third connecting rod (35) and longitudinal the 3rd revolute pair (3R5);
Described longitudinal universal hinge comprises universal hinge bar (32), connect the upper revolute pair (3R1) of universal hinge bar and frame, be connected universal hinge bar and the longitudinal lower revolute pair (3R2) of first connecting rod, and upper revolute pair axis is mutually vertical with lower revolute pair axis.
2. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 1, is characterized in that: in described each transverse branch mechanism, the axis of each revolute pair is parallel to each other; In described each transverse branch mechanism, the axis of each revolute pair is vertical with the axis of the upper revolute pair of longitudinal branch; The axis of the axis of longitudinal the first revolute pair in described longitudinal branch, the axis of longitudinal the second revolute pair and longitudinal the 3rd revolute pair is parallel mutually.
3. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 2, is characterized in that: the axis of the first revolute pair of described Liang Ge transverse branch mechanism is coplanar.
4. the 3-freedom parallel mechanism of a kind of space symmetr according to claim 3, is characterized in that: the axis of the upper revolute pair of the longitudinal branch in described longitudinal branch, drops on the symmetrical centre face of Liang Ge transverse branch mechanism the first revolute pair axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477678.4A CN103522281A (en) | 2013-10-12 | 2013-10-12 | Space-symmetrical three-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310477678.4A CN103522281A (en) | 2013-10-12 | 2013-10-12 | Space-symmetrical three-freedom-degree parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103522281A true CN103522281A (en) | 2014-01-22 |
Family
ID=49924808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310477678.4A Pending CN103522281A (en) | 2013-10-12 | 2013-10-12 | Space-symmetrical three-freedom-degree parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103522281A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308835A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Plane-symmetry three-rotating parallel connection mechanism |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008104167A2 (en) * | 2007-02-28 | 2008-09-04 | Technische Universität Braunschweig | Singularity-based machine test and calibration method |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| US7938602B2 (en) * | 2006-03-31 | 2011-05-10 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
| CN103042522A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-5R (revolute) and SS (sphere-sphere) two-degree-of-freedom parallel mechanism with function of posture adjustment and positioning |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN203557380U (en) * | 2013-10-12 | 2014-04-23 | 浙江理工大学 | Spatially symmetrical three-DOF parallel connection mechanism |
-
2013
- 2013-10-12 CN CN201310477678.4A patent/CN103522281A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7938602B2 (en) * | 2006-03-31 | 2011-05-10 | Jtekt Corporation | Three degree of freedom parallel mechanism, multi-axis control machine tool using the mechanism and control method for the mechanism |
| WO2008104167A2 (en) * | 2007-02-28 | 2008-09-04 | Technische Universität Braunschweig | Singularity-based machine test and calibration method |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN103042522A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-5R (revolute) and SS (sphere-sphere) two-degree-of-freedom parallel mechanism with function of posture adjustment and positioning |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN203557380U (en) * | 2013-10-12 | 2014-04-23 | 浙江理工大学 | Spatially symmetrical three-DOF parallel connection mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 黄真: "《并联机器人机构学理论及控制》", 31 December 1997, article "2.2 空间机构的组成元素", pages: 14-18 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308835A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Plane-symmetry three-rotating parallel connection mechanism |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN203818136U (en) | Three-degree-of-freedom high-speed parallel-connection robot | |
| CN103072132B (en) | The Three Degree Of Freedom moved decoupling parallel robot mechanism of structure full symmetric | |
| CN103552058B (en) | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN105215975B (en) | Asymmetric parallel institution with two turn of one shift three degrees of freedom | |
| CN202448136U (en) | 6 degree-of-freedom (6 DOF) parallel robot with few branched chains | |
| CN103056869A (en) | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism | |
| CN103639712A (en) | Three-rotation-spherical-parallel-connection mechanism | |
| CN201389855Y (en) | Parallel mechanism with three freedom degree of two-rotation and one-shifting | |
| CN103042521A (en) | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning | |
| CN105082112A (en) | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function | |
| CN103522281A (en) | Space-symmetrical three-freedom-degree parallel mechanism | |
| CN203557380U (en) | Spatially symmetrical three-DOF parallel connection mechanism | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN203557381U (en) | Three-degree-of-freedom parallel mechanism | |
| CN102962836B (en) | Symmetric two-rotation one-movement parallel mechanism | |
| CN105538290A (en) | Symmetric coupling mechanism with one moving freedom degree | |
| CN103495970A (en) | Three-freedom-degree parallel mechanism | |
| CN102398264A (en) | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism | |
| CN103350417A (en) | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation | |
| CN103302510B (en) | Can be floated containing two the parallel institution of staggered rotating shaft | |
| CN103406897B (en) | There is the 3-freedom parallel mechanism that two move a turn | |
| CN103056870A (en) | Two-rotating one-moving three-freedom-degree parallel mechanism | |
| CN103286778B (en) | Two-freedom rotates decoupling parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140122 |