CN103600347B - There is asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts - Google Patents

There is asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts Download PDF

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CN103600347B
CN103600347B CN201310608141.7A CN201310608141A CN103600347B CN 103600347 B CN103600347 B CN 103600347B CN 201310608141 A CN201310608141 A CN 201310608141A CN 103600347 B CN103600347 B CN 103600347B
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chain
moving
platform
link
rod
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CN103600347A (en
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许允斗
赵永生
姚建涛
周莎莎
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Yanshan University
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Yanshan University
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Abstract

A kind of asymmetric two turn of one motion three-freedom-degree parallel mechanism with two continuous rotating shafts, it comprises three side chains of these two platforms of fixed platform, moving platform and connection, fixed platform and moving platform are isosceles triangle, article three, the first and second branched structures in side chain are identical, one end of upper connecting rod in these two side chains is connected with moving platform by Hooke's hinge, on this, the other end of connecting rod is connected with one end of lower link by moving sets, being connected with fixed platform by revolute pair of the other end of this lower link; One end of upper connecting rod in 3rd side chain is connected with moving platform by revolute pair, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by ball pivot.The present invention has two continuous rotating shafts, and kinematics analysis is simple, is easy to demarcate and control, and has that joint number is few, structure is simple, rigidity is large.

Description

There is asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
The advantages such as two turn of one motion three-freedom-degree parallel mechanism has that structure is simple, low cost of manufacture, control are easy.After nineteen eighty-three Hunt proposes 3-RPS parallel institution, two turn of one motion three-freedom-degree parallel mechanism is just paid close attention to widely, is also applied on numerous areas.Tricept mechanisms (3UPS-UP 3-freedom parallel mechanism) etc. move parallel institution containing two turn of UP bound branch and have two continuous rotating shafts, there is Kinematic Calibration and control to be easy to advantage, two turn of one moving mechanism with continuous rotating shaft also have Chinese patent CN201310078089.9,201110357878.7, the mechanism that proposes of CN201210445025.3 and CN200920117054.0.But except said mechanism, two turn one at present with two continuous rotating shafts is moved the rare report of parallel institution.In addition, mechanism's demand fulfillment three point on a straight line of above-mentioned Chinese patent CN201210445025.3, CN200920117054.0 invention or axis meet at any harsh geometry constraint conditions, bring very large difficulty to processing and manufacturing.
Summary of the invention
The object of the present invention is to provide that a kind of processing and manufacturing is easy, kinematics analysis is simple, be easy to asymmetric two turn of one motion three-freedom-degree parallel mechanism with two continuous rotating shafts of demarcating and control, joint number being few, the rigidity of structure is good.
Technical scheme of the present invention is as follows:
The present invention includes fixed platform, moving platform and connect three side chains of moving platform and fixed platform, fixed platform and moving platform are isosceles triangle, and three described side chains have two kinds of different components and connected mode.
First kind of way: the first side chain in three side chains is identical with the second branched structure, one end of upper connecting rod in this two side chain is connected with moving platform by Hooke's hinge, on this, the other end of connecting rod is connected with one end of lower link by moving sets, being connected with fixed platform by revolute pair of the other end of this lower link; One end of upper connecting rod in 3rd side chain is connected with moving platform by revolute pair, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by ball pivot.Moving sets in three side chains is that the input motion of this mechanism is secondary.The revolute pair axis of above-mentioned first side chain and the second side chain is parallel to each other, and is parallel to the axis of Hooke's hinge near fixed platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with moving platform.The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with moving platform with Hooke's hinge in the first side chain and the second side chain.
The second way: in three side chains, the first side chain is identical with the second branched structure, one end of the upper connecting rod of this two side chain is connected with moving platform by revolute pair, on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by Hooke's hinge; One end of upper connecting rod in 3rd side chain is connected with moving platform by ball pivot, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by revolute pair.Article three, the moving sets of side chain is the input motion pair of this mechanism.First side chain and the second side chain revolute pair axis are parallel to each other, and are parallel to the axis of Hooke's hinge near moving platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with fixed platform.The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with fixed platform with the Hooke's hinge in the first side chain and the second side chain.
The present invention compared with prior art tool has the following advantages: structure of the present invention is simple, processing and manufacturing easy, has two continuous rotating shafts, and kinematics model is simple, and make Kinematic Calibration and control become simple, joint number is few, improves the rigidity of structure.
Accompanying drawing explanation
Accompanying drawing 1 is the stereochemical structure simplified schematic diagram of the embodiment of the present invention 1.
Accompanying drawing 2 is stereochemical structure simplified schematic diagram of the embodiment of the present invention 2.
Detailed description of the invention
Have in asymmetric two turn of one motion three-freedom-degree parallel mechanism schematic diagram of two continuous rotating shafts shown in Fig. 1, fixed platform 1 and moving platform 2 are in isosceles triangle, article three, side chain connects moving platform and fixed platform, the first side chain in these three side chains is identical with the second branched structure, one end of upper connecting rod 4 in this two side chain is connected with moving platform by Hooke's hinge 3, on this, the other end of connecting rod is connected with one end of lower link 6 by moving sets 5, and the revolute pair 7 of passing through of the other end of this lower link is connected with fixed platform; One end of upper connecting rod 9 in 3rd side chain is connected with moving platform by revolute pair 8, and on this, the other end of connecting rod is connected with one end of lower link 11 by moving sets 10, and the other end of this lower link is connected with fixed platform by ball pivot 12.Moving sets in three side chains is that the input motion of this mechanism is secondary.The revolute pair axis of above-mentioned first side chain and the second side chain is parallel to each other, and is parallel to the axis of Hooke's hinge near fixed platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with moving platform.The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with moving platform with Hooke's hinge in the first side chain and the second side chain.
Have in asymmetric two turn of one motion three-freedom-degree parallel mechanism schematic diagram of two continuous rotating shafts shown in Fig. 2, fixed platform 1 and moving platform 2 are in isosceles triangle, article three, side chain connects moving platform and fixed platform, article three, in side chain, the first side chain is identical with the second branched structure, one end of the upper connecting rod 4 of this two side chain is connected with moving platform by revolute pair 7, on this, the other end of connecting rod is connected with one end of lower link 6 by moving sets 5, and the other end of this lower link is connected with fixed platform by Hooke's hinge 3; One end of upper connecting rod 9 in 3rd side chain is connected with moving platform by ball pivot 12, and on this, the other end of connecting rod is connected with one end of lower link 11 by moving sets 10, and the other end of this lower link is connected with fixed platform by revolute pair 8.Article three, the moving sets of side chain is the input motion pair of this mechanism.First side chain and the second side chain revolute pair axis are parallel to each other, and are parallel to the axis of Hooke's hinge near moving platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with fixed platform.The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with fixed platform with the Hooke's hinge in the first side chain and the second side chain.

Claims (2)

1. one kind has asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts, they three side chains comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: described fixed platform and moving platform are isosceles triangle, article three, the first side chain in side chain is identical with the second branched structure, one end of upper connecting rod in this two side chain is connected with moving platform by Hooke's hinge, on this, the other end of connecting rod is connected with one end of lower link by moving sets, being connected with fixed platform by revolute pair of the other end of this lower link; One end of upper connecting rod in 3rd side chain is connected with moving platform by revolute pair, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by ball pivot; The revolute pair axis of above-mentioned first side chain and the second side chain is parallel to each other, and is parallel to the axis of Hooke's hinge near fixed platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with moving platform; The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with moving platform with Hooke's hinge in the first side chain and the second side chain.
2. one kind has asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts, they three side chains comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: described fixed platform and moving platform are isosceles triangle, article three, in side chain, the first side chain is identical with the second branched structure, one end of the upper connecting rod of this two side chain is connected with moving platform by revolute pair, on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by Hooke's hinge; One end of upper connecting rod in 3rd side chain is connected with moving platform by ball pivot, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, and the other end of this lower link is connected with fixed platform by revolute pair; First side chain and the second side chain revolute pair axis are parallel to each other, and are parallel to the axis of Hooke's hinge near moving platform, perpendicular to the axis of moving sets, and the dead in line that the Hooke's hinge in these the first and second two side chains is connected with fixed platform; The revolute pair axis of the 3rd side chain and moving sets axes normal, and the axis being parallel be connected with fixed platform with the Hooke's hinge in the first side chain and the second side chain.
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CN104384941B (en) * 2014-09-16 2016-08-17 燕山大学 There is the Planar Mechanisms parallel institution of equivalent Tricept mechanism kinematic
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
CN105364913B (en) * 2015-11-25 2017-03-22 燕山大学 Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism
CN105773577A (en) * 2016-03-24 2016-07-20 褚宏鹏 Multi-branched-chain coupled two-rotation parallel mechanism
CN105856193B (en) * 2016-05-10 2018-01-23 燕山大学 A kind of two degrees of freedom one-rotation parallel mechanism that two continuous pivot centers be present
CN105936044B (en) * 2016-06-02 2018-04-03 燕山大学 A kind of two turn of one motion three-freedom-degree parallel mechanism of full decoupled formula
CN106002956B (en) * 2016-07-14 2018-04-03 燕山大学 A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform
CN106426096B (en) * 2016-10-25 2018-11-20 浙江理工大学 A kind of one mobile parallel connection mechanism of rotation of big corner two
CN106426105B (en) * 2016-11-10 2019-09-17 中国地质大学(武汉) A kind of 2R two-degree-of-freedom parallel mechanism promoting load capacity
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CN111085987B (en) * 2020-01-16 2021-05-14 燕山大学 Two-rotation one-shift parallel mechanism with motion equivalent characteristic and containing middle constraint branch

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FR2965207A1 (en) * 2010-09-28 2012-03-30 Francois Nicolas Parallel robot for use in e.g. industry, has passive joint equipped with three rotational degrees of freedom and three translational degrees, and two actuators whose fixed part is integrated with base
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