CN103659793B - The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain - Google Patents
The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain Download PDFInfo
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- CN103659793B CN103659793B CN201210324176.3A CN201210324176A CN103659793B CN 103659793 B CN103659793 B CN 103659793B CN 201210324176 A CN201210324176 A CN 201210324176A CN 103659793 B CN103659793 B CN 103659793B
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Abstract
The present invention relates to a kind of single side chain and contain closed loop moving chain, and with translation for parallel institution that drive, that end is output as three translations.Mechanism is made up of fixed platform (1), three movement branched chain, moving platforms (9).Article three, movement branched chain structure is identical, it is single that movement branched chain comprises driven in translation joint (2), (wherein closed loop moving chain is by Hooke's hinge (3), (4) for closed loop moving chain (5), revolute pair (6), (7), (8) are sequentially connected in series and form, revolute pair (6), (8) rotation are parallel, and vertical with revolute pair (7) axis).Movement branched chain head and the tail are connected to form with fixed platform (1), moving platform (9).This mechanism is with three translations for input, and end realizes the output of three translations.The fields such as mechanism has simple in construction, good rigidly, the motion feature such as flexibly, can be applicable to machine body design, robot body design.
Description
Technical field
The present invention is under the jurisdiction of industrial robot/machine tool field, relates to a kind of three-translational freedom degree parallel connection mechanism.
Background technology
Parallel institution refers to be connected in parallel by two or more movement branched chain between pedestal and end, and mechanism has two or more frees degree.Parallel institution has the features such as stiffness/weight ratio is big, dynamic property good, compact conformation relative to serial mechanism, is used for the fields such as lathe, robot mechanism design and motion simulator design.
Parallel institution end is referred to as minority carrier generation lifetime less than the mechanism of six degree of freedom, is less than six degree of freedom application scenario in the required free degree, and lower-mobility mechanism has simple in construction, manufacture and design and control the advantages such as cost is relatively low.It is mainly used in the fields such as the automatic production line of medicine, food and electron trade, processing and manufacturing, Automated assembly.
Content of the invention
A kind of single side chain that the present invention provides to overcome existing three-translational parallel connection mechanism to there is Planar Mechanisms contains the three-translational parallel connection mechanism of the driven in translation of closed loop.
The technical solution adopted in the present invention: mechanism is made up of fixed platform (1), three movement branched chain, moving platforms (9).Article three, movement branched chain structure is identical, wall scroll movement branched chain comprises driven in translation joint (2), (wherein closed loop moving chain is by Hooke's hinge the first, two (the 3rd, 4) for closed loop moving chain (5), revolute pair the first, the 2nd, three (the 6th, the 7th, 8) is sequentially connected in series and forms, revolute pair one (6), revolute pair three (8) rotation are parallel, and vertical with revolute pair two (7) axis).Movement branched chain head and the tail are connected to form with fixed platform (1), moving platform (9).
The technical characterstic that the present invention has: three movement branched chain structures are identical, manufactures and designs simple, and mechanism structure is symmetrical；Main driving uses driven in translation；The introducing of passive closed loop moving chain overcomes minority carrier generation lifetime to be existed the defect of Planar Mechanisms and improves the integral rigidity of mechanism.
Brief description
Fig. 1 is schematic diagram of mechanism of the present invention.
Fig. 2 is embodiment of the present invention mechanism 3D model.
In Fig. 1: 1. fixed platform, 2. driven in translation joint, 3. Hooke's hinge one, 4. Hooke's hinge two, 5. closed loop moving chain, 6. revolute pair one, 7. revolute pair two, 8. revolute pair three, 9. motion platform.
In Fig. 2: 10. motor, 11. leading screws, 12. supporting plates.
Detailed description of the invention
It is further discussed below the present invention in conjunction with embodiment and accompanying drawing.
Fig. 1 is the structure diagram of the driven in translation three-translational parallel connection mechanism embodiment containing closed loop for the list side chain of the present invention.This schematic diagram of mechanism comprises fixed platform, motion platform and connects the identical movement branched chain of both three structures and combine.It is characterized in that: three same movement side chains comprise driven in translation joint (2) and passive closed loop moving chain (5), closed loop moving chain is sequentially connected in series by U-U-R-R-R kinematic pair and is formed, and wherein revolute pair two (7) is connected with motion platform.The direction that each kinematic pair moves or rotates is described as follows: driven in translation joint motions direction is uniform in approximately the same plane and one-tenth 120 degree, closed loop moving chain Hooke's hinge the first, two (the 3rd, 4) first gyroaxis direction is vertical with driven in translation joint motions director space, second gyroaxis is parallel with revolute pair the first, three (the 6th, 8) gyroaxis respectively, and gyroaxis is vertical and intersects with revolute pair the first, three (the 6th, 8) for revolute pair two (7).Three driven in translation joint translation inputs, moving platform three translation output under cartesian coordinate system.
Fig. 2 is the driven in translation three-translational parallel connection mechanism 3D figure containing closed loop for the list side chain of the present invention.This 3D figure comprises fixed platform, motion platform and connects the identical movement branched chain of both three structures and combine.It is characterized in that: three same movement side chains comprise driven in translation joint and passive closed loop moving chain, closed loop moving chain is sequentially connected in series by U-U-R-R-R kinematic pair and is formed, Hooke's hinge is connected with supporting plate (12) and connecting rod respectively, and revolute pair is connected with motion platform.The direction that each kinematic pair moves or rotates is described as follows: the linear joint direction of motion is uniform in approximately the same plane and one-tenth 120 degree, closed loop moving chain Hooke's hinge the first, 2 first gyroaxis directions and linear joint direction of motion spatial vertical, second gyroaxis is parallel with revolute pair the first, three gyroaxises respectively, and the first, three gyroaxises are vertical and intersect for revolute pair two and revolute pair.Three driven in translation joint translation inputs, can be driven leading screw (11) to drive supporting plate (12) motion to form by motor (10), and moving platform realizes three translation outputs under cartesian coordinate system.
Claims (1)
1. a driven in translation three-translational parallel connection mechanism containing closed loop for single side chain, comprises fixed platform, motion platform and connects both three structures
Identical movement branched chain；It is characterized in that: the identical movement branched chain of three structures all comprises driven in translation joint (2) and passive closed loop moving chain (5),
Closed loop moving chain (5) is sequentially connected in series by U-U-R-R-R kinematic pair and is formed, and wherein revolute pair two (7) is connected with motion platform, each kinematic pair move or
The direction rotating is described as follows: driven in translation joint (2) direction of motion is uniform in approximately the same plane and one-tenth 120 degree, closed loop moving chain (5) Hooke's hinge one (3),
First gyroaxis direction of Hooke's hinge two (4) all with driven in translation joint (2) direction of motion spatial vertical, the second gyroaxis respectively with revolute pair one (6),
Revolute pair three (8) gyroaxis is parallel, and revolute pair two (7) is with revolute pair one (6), revolute pair three (8) gyroaxis is vertical and intersects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210324176.3A CN103659793B (en) | 2012-09-04 | 2012-09-04 | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain |
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| CN201210324176.3A CN103659793B (en) | 2012-09-04 | 2012-09-04 | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain |
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| CN103659793A CN103659793A (en) | 2014-03-26 |
| CN103659793B true CN103659793B (en) | 2016-11-09 |
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Cited By (1)
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| WO2020109805A1 (en) * | 2018-11-28 | 2020-06-04 | Duffin Associates Limited | Apparatus for solar tracking |
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| CN104162885B (en) * | 2014-07-30 | 2016-05-04 | 常州大学 | A kind of three translations accurately capture robot mechanism |
| CN104589313B (en) * | 2015-01-24 | 2016-02-10 | 江西省机械科学研究所 | Holohedral symmetry V belt translation three translation manipulator |
| CN104589327B (en) * | 2015-01-24 | 2015-12-30 | 江西省机械科学研究所 | Holohedral symmetry band drives electric cylinder three translation manipulator |
| CN106994642B (en) * | 2016-01-22 | 2019-11-22 | 香港理工大学 | Mixed connection burnishing machine |
| WO2018178747A1 (en) * | 2017-03-31 | 2018-10-04 | Xtuas Oü | A spherical solar tracker |
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| WO2020109805A1 (en) * | 2018-11-28 | 2020-06-04 | Duffin Associates Limited | Apparatus for solar tracking |
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