CN103639712B - A kind of three rotation spherical parallel institutions - Google Patents
A kind of three rotation spherical parallel institutions Download PDFInfo
- Publication number
- CN103639712B CN103639712B CN201310604507.3A CN201310604507A CN103639712B CN 103639712 B CN103639712 B CN 103639712B CN 201310604507 A CN201310604507 A CN 201310604507A CN 103639712 B CN103639712 B CN 103639712B
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- revolute pair
- circular
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- axis
- spherical parallel
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- 230000007246 mechanism Effects 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of three rotation spherical parallel institutions.Three turns of spherical parallel institutions that object is to provide have the advantages that rigidity is high, motor imagination is fast, rotary inertia is little, structure is simple, be convenient to installation.Technical scheme is: a kind of three rotation spherical parallel institutions, comprise three branches of circular gantry, circular moving platform and connection frame and moving platform, it is characterized in that: described three branches comprise revolute pair, curved rod, moving sets, guide rod and ball pivot all successively.
Description
Technical field
The present invention relates to the executing agency of a kind of lathe and industrial robot, especially under spherical work environment, there is the Digit Control Machine Tool executing agency of three rotation parallel-connection structures or there is the robot actuating mechanism of three rotation parallel-connection structures.
Background technology
Parallel institution is the closed loop moving system be made up of multiple parallel side chain, and be namely connected with an end effector (moving platform) by one end of multiple parallel side chain is formed simultaneously.From the successful Application of Steward mechanism on Tire testing and flight simulator, parallel institution becomes the object of many scholar's research always.Parallel institution (PM) is compared and traditional serial mechanism, has the precision of larger rigidity, load and Geng Gao.In a certain sense, parallel institution has possessed the advantage of Digit Control Machine Tool (high rigidity, high accuracy, high speed) and industrial robot (low cost, flexibly, be easy to integrated) simultaneously.
Minority carrier generation lifetime, as a large class of parallel institution, due to strong adaptability, is used in many special working environments; Three one-rotation parallel mechanisms are wherein widely used the joint such as waist, shoulder, wrist in robot due to its special exercise performance, also have many utilizations in satellite antenna, camera positioning, medicine equipment etc. simultaneously.
CN102259269A proposes a kind of three rotation spherical parallel institutions, has the advantage that structure is simple, working space large, be convenient to manufacture; CN101590650A proposes a kind of three-rotation freedom parallel mechanism of decoupling zero, has the advantage that mechanism is simple, rotary inertia is little, motor imagination is fast.CN101244558A proposes a kind of space three-rotation freedom parallel mechanism, is easy to realize high-speed motion, has good dynamic characteristic.Said mechanism all has respective feature, but for the application that will realize under spherical work environment, part body makes Stiffness due to too much kinematic pair, and another part mechanism then profile cannot ensure; So seek one both had high rigidity, dynamic response soon, the three rotation spherical parallel institutions meeting again operating environment requirements are emphasis that the present invention designs.
Summary of the invention
Technical problem to be solved by this invention is the deficiency overcoming above-mentioned background technology, proposes a kind of under spherical work environment, has that rigidity is high, motor imagination is fast, rotary inertia is little, structure is simple, be convenient to three turns of spherical parallel institutions of characteristic.
The technical solution used in the present invention is:
A kind of three rotation spherical parallel institutions, comprise three branches of circular gantry, circular moving platform and connection frame and moving platform, it is characterized in that: described three branches comprise revolute pair, curved rod, moving sets, guide rod and ball pivot all successively.
The revolute pair of described three branches to be uniformly distributed on circular gantry and three revolute pair axis co-planar, and each revolute pair axis also forms 45° angle through the center of circle of circular gantry with moving sets axis; The axis of described moving sets through ball pivot the centre of sphere and point to the center of circle of circular gantry.
The driving pair of described mechanism is the revolute pair in each branch, and type of drive is driven by harmonic speed reducer by servomotor.
The radius of described curved rod is equal with the radius of circular gantry.
The invention has the beneficial effects as follows:
The present invention adopts the equal mode for cloth of curved rod and mechanism is hemispherical, can run under spherical work environment; Kinematic pair between frame to moving platform is few, makes mechanism have good rigidity; And have that motor imagination is fast, rotary inertia is little, structure is simple, be convenient to the advantages such as installation.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention.
Detailed description of the invention
Further illustrate below in conjunction with embodiment shown in the drawings.
As shown in Figure 1, a kind of three rotation spherical parallel institutions, comprise three branches of frame 1, moving platform 4 and connection frame 1 and moving platform 4.
Described three branches, each branch is made up of (described three branched structures are identical) revolute pair 1R, curved rod 12, moving sets 1P, guide rod 13, ball pivot 1S, circular moving platform 4 all successively.
The radius of the curved rod 12 in each branch is equal with the radius of circular gantry 1, revolute pair 1R axis and moving sets 1P axis angle at 45 °, moving sets 1P axis cross the ball pivot 1S centre of sphere and the arc length pointed between the centre of sphere of the center of circle O(ball pivot between two of circular support or distance all identical).
Described three branches are evenly distributed on circular gantry, and the revolute pair axis in each branch is crossed frame center of circle O(revolute pair axis adjacent between two all the time and formed 120 degree of angles).Described mechanism driving pair is the revolute pair in each branch, and type of drive is driven by harmonic speed reducer by servomotor, and when driving secondary rotation, mechanism makes Three Degree Of Freedom and rotates.
Claims (2)
1. a rotation spherical parallel institution, comprise three branches of circular gantry (1), circular moving platform (4) and connection frame and moving platform, it is characterized in that: described three branches comprise revolute pair (1R), curved rod (12), moving sets (1P), guide rod (13) and ball pivot (1S) all successively;
The revolute pair of described three branches to be uniformly distributed on circular gantry and three revolute pair axis co-planar, and each revolute pair axis also forms 45° angle through the center of circle of circular gantry with moving sets axis; The axis of described moving sets through ball pivot the centre of sphere and point to the center of circle (O) of circular gantry;
The radius of described curved rod is equal with the radius of circular gantry.
2. three rotation spherical parallel institutions according to claim 1, it is characterized in that the driving pair of described mechanism is the revolute pair in each branch, type of drive is driven by harmonic speed reducer by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310604507.3A CN103639712B (en) | 2013-11-25 | 2013-11-25 | A kind of three rotation spherical parallel institutions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310604507.3A CN103639712B (en) | 2013-11-25 | 2013-11-25 | A kind of three rotation spherical parallel institutions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103639712A CN103639712A (en) | 2014-03-19 |
| CN103639712B true CN103639712B (en) | 2016-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310604507.3A Active CN103639712B (en) | 2013-11-25 | 2013-11-25 | A kind of three rotation spherical parallel institutions |
Country Status (1)
| Country | Link |
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| CN (1) | CN103639712B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029197B (en) * | 2014-06-26 | 2016-01-20 | 山东大学（威海） | A kind of vector propulsion mechanism of underwater robot |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104985589B (en) * | 2015-07-02 | 2017-01-25 | 上海交通大学 | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN107030682B (en) * | 2016-01-15 | 2020-07-14 | 崔文德 | Twelve-axis spherical coordinate movement mechanism |
| CN105538296B (en) * | 2016-02-03 | 2017-04-05 | 中北大学 | A kind of restructural spherical parallel manipulator |
| CN106346450B (en) * | 2016-10-17 | 2018-11-09 | 中国科学院深圳先进技术研究院 | Three branch 3-freedom parallel mechanisms |
| CN106671067B (en) * | 2017-03-13 | 2018-09-18 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair |
| WO2018176251A1 (en) * | 2017-03-29 | 2018-10-04 | 中国科学院深圳先进技术研究院 | Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches |
| WO2018195762A1 (en) * | 2017-04-25 | 2018-11-01 | 中国科学院深圳先进技术研究院 | Three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair |
| CN107877492B (en) * | 2017-11-09 | 2020-07-07 | 中国地质大学（武汉） | Parallel manipulator for minimally invasive surgery |
| CN108748089B (en) * | 2018-04-13 | 2021-08-10 | 上海大学 | Symmetrical three-rotational-freedom parallel mechanism |
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|---|---|---|---|---|
| US5354158A (en) * | 1989-09-01 | 1994-10-11 | Kearney & Trecker Corporation | Six axis machine tool |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
-
2013
- 2013-11-25 CN CN201310604507.3A patent/CN103639712B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5354158A (en) * | 1989-09-01 | 1994-10-11 | Kearney & Trecker Corporation | Six axis machine tool |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1375379A (en) * | 2001-03-15 | 2002-10-23 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
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| Publication number | Publication date |
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| CN103639712A (en) | 2014-03-19 |
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