CN103707281A - Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation - Google Patents
Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation Download PDFInfo
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- CN103707281A CN103707281A CN201210372558.3A CN201210372558A CN103707281A CN 103707281 A CN103707281 A CN 103707281A CN 201210372558 A CN201210372558 A CN 201210372558A CN 103707281 A CN103707281 A CN 103707281A
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Abstract
A spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation is composed of a fixed platform, a movable platform and four same branched chains used for connecting the fixed platform with the movable platform. The branched chains include two types, wherein the first type is formed by six components in a connecting mode of R-R-2R=2R-R-R (R refers to a revolute pair, - refers to the components, and = refers to a pair of member bars which are parallel and equal in length), the second type is formed by four components in a connecting mode of R-2U=2U-R (R refers to a revolute pair, - refers to the components, = refers to a pair of member bars which are parallel and equal in length, and U refers to a Hooke joint). Each branched chain is driven by a servo motor firmly tied to the fixed platform. The four-degree-of-freedom parallel mechanism is simple in structure, easy for the mechanism to find forward and inverse solutions, convenient to control, good in mechanism rigidity, small in inertia and good in dynamics performance; in addition, the drive motors can be disposed on the fixed platform, and the member bars can be made into light bars, so that mechanism weight can be effectively reduced.
Description
Technical field
The present invention relates to a kind of three-dimensional translation and one-dimensional rotation space four-freedom parallel mechanism.
Background technology
Patent US.4976582 has announced a kind of three-dimensional translation and one-dimensional rotation space four-freedom parallel mechanism, this mechanism adopts three outer revolute pairs to drive and parallelogram branched structure, realize the high speed three-dimensional translation of end effector, also between sound platform, be provided with two ends simultaneously and rotate to realize the single-degree-of-freedom of end effector with the scalable rotating shaft of hook hinge.Dan Gai mechanism realize that end effector rotates process in adopted Telescopic rod structure, this will affect rigidity and the life-span of mechanism with high speed motion, paper " H4:a new family of 4-dofparallel robots ", paper " Par4-very high speed parallel robot for pick-and-place ", patent US20090019960A1, patent EP1804802B1, patent 200910228105.1, patent 201010212312.0, patent 201010614256.3, patent 201110107857.X, patent 201110107380.5, patent 201110107384.3, patent 201110109529.6 has been announced several space four-degree-of-freedom mechanisms that three-dimensional translation and one-dimensional rotates that realize, such mechanism adopts four outer revolute pairs to drive and parallelogram branched structure, and by the relative motion of side chain terminal link, realize the high speed three-dimensional dimensional translation and one rotational motion of end effector.But it is to realize by the relative motion between four side chain terminal links that the end effector of such mechanism is realized four-degree-of-freedom motion, and this structure will affect the rigidity of parallel institution.
Summary of the invention
The object of the present invention is to provide a kind of three-dimensional translation and one-dimensional rotation space four-freedom parallel mechanism, it has at a high speed, does the advantages such as rigidity, life-span length.
The present invention is achieved like this, the present invention achieves the above object by the following technical programs: a kind of three-dimensional translation and one-dimensional rotation space four-freedom parallel mechanism is comprised of four identical side chains of silent flatform, moving platform and connection sound platform thereof, every side chain is all by a driven by servomotor being cemented on silent flatform, and four common drivings of servomotor can realize the motion of the three-dimensional translation and one-dimensional rotation space four-degree-of-freedom of moving platform; First side chain one end connects with silent flatform by the first revolute pair, the first side chain other end connects with moving platform by the second revolute pair, second side chain one end connects with silent flatform by the 3rd revolute pair, the second side chain other end connects with moving platform by the 4th revolute pair, the 3rd side chain one end connects with silent flatform by the 5th revolute pair, the 3rd side chain other end connects with moving platform by the 6th revolute pair, the 4th side chain one end connects with silent flatform by the 7th revolute pair, and the 4th side chain other end connects with moving platform by the 8th revolute pair; The first of side chain forms: the first member connects with second component by I revolute pair, second component two ends connect with first connecting rod, second connecting rod by II revolute pair, III revolute pair respectively, the first connecting rod other end connects with the 3rd member one end by IV revolute pair, the second connecting rod other end connects with the 3rd member other end by V revolute pair, the 3rd member connects with the 4th member by VI revolute pair, and first connecting rod is parallel with second connecting rod isometric; The second of side chain forms: the 1st member connects with the 1st connecting rod, the 2nd connecting rod by I Hooke's hinge, II Hooke's hinge, the 1st connecting rod other end connects with the 2nd member by III Hooke's hinge, the 2nd connecting rod other end connects with the 2nd member by IV Hooke's hinge, and the 1st connecting rod is parallel isometric with the 2nd connecting rod.
Technique effect of the present invention is:
1, drive motors is installed in frame, and rod member is made lighter bar, and mechanism is lightweight, good rigidly, inertia is little, dynamic performance good;
2, the translational motion of mechanism and rotational motion are controlled separately by different side chains respectively, and the forward and inverse problem solving of kinematics of mechanism is easy, and it is convenient to control;
3, install different end effectors, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, the field such as medical.
Accompanying drawing explanation
Fig. 1 is the first structural representation of the present invention.
Fig. 2 is the second structural representation of the present invention.
Fig. 3 is the first branched structure schematic diagram of the present invention.
Fig. 4 is the second branched structure schematic diagram of the present invention.
In the drawings, 1, silent flatform 2, the first servomotor 3, the second servomotor 4, the 3rd servomotor 5, the 4th servomotor 6, the first revolute pair 7, the 3rd revolute pair 8, the 5th revolute pair 9, the 7th revolute pair 10, the second revolute pair 11, the 4th revolute pair 12, the 6th revolute pair 13, the 8th revolute pair 14, moving platform 15, the first member 16, I revolute pair 17, second component 18, II revolute pair 19, III revolute pair 20, first connecting rod 21, second connecting rod 22, IV revolute pair 23, V revolute pair 24, the 3rd member 25, VI revolute pair 26, the 4th member 27, the 1st member 28, I Hooke's hinge 29, II Hooke's hinge 30, the 1st connecting rod 31, the 2nd connecting rod 32, III Hooke's hinge 33, IV Hooke's hinge 34, the 2nd member.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
As attached Fig. 1 and 2, first side chain one end connects with silent flatform 1 by the first revolute pair 6, the first side chain other end connects with moving platform 14 by the second revolute pair 10, second side chain one end connects with silent flatform 1 by the 3rd revolute pair 7, the second side chain other end connects with moving platform 14 by the 4th revolute pair 11, the 3rd side chain one end connects with silent flatform 1 by the 5th revolute pair 8, the 3rd side chain other end connects with moving platform 14 by the 6th revolute pair 12, the 4th side chain one end connects with silent flatform 1 by the 7th revolute pair 9, the 4th side chain other end connects with moving platform 14 by the 8th revolute pair 13.
As accompanying drawing 2, above-mentioned the first side chain is driven by the first servomotor 2 being cemented on silent flatform 1, the second side chain is driven by the second servomotor 3 being cemented on silent flatform 1, the 3rd side chain is driven by the 3rd servomotor 4 being cemented on silent flatform 1, and the 4th side chain is driven by the 4th servomotor 5 being cemented on silent flatform 1.
As accompanying drawing 3, the first of above-mentioned side chain forms: first member 15 other ends connect with second component 17 by I revolute pair 16, second component 17 two ends are respectively by II revolute pair 18, III revolute pair 19 and first connecting rod 20, second connecting rod 21 connects, first connecting rod 20 other ends connect with the 3rd member 24 one end by IV revolute pair 22, second connecting rod 21 other ends connect with the 3rd member 24 other ends by V revolute pair 23, the 3rd member 24 connects with the 4th member 26 by VI revolute pair 25, first connecting rod 20 is parallel isometric with second connecting rod 21.
As accompanying drawing 4, the second of side chain forms: the 1st member 27 connects with the 1st connecting rod the 30, the 2nd connecting rod 31 by I Hooke's hinge 28, II Hooke's hinge 29, the 1st connecting rod 30 other ends connect with the 2nd member 34 by III Hooke's hinge 32, the 2nd connecting rod 31 other ends connect with the 2nd member 34 by IV Hooke's hinge 33, and the 1st connecting rod 30 is parallel isometric with the 2nd connecting rod 31.
Claims (1)
1. a three-dimensional translation and one-dimensional rotation space four-freedom parallel mechanism is comprised of four identical side chains of silent flatform, moving platform and connection sound platform thereof, it is characterized in that:
First side chain one end connects with silent flatform by the first revolute pair, the first side chain other end connects with moving platform by the second revolute pair, second side chain one end connects with silent flatform by the 3rd revolute pair, the second side chain other end connects with moving platform by the 4th revolute pair, the 3rd side chain one end connects with silent flatform by the 5th revolute pair, the 3rd side chain other end connects with moving platform by the 6th revolute pair, the 4th side chain one end connects with silent flatform by the 7th revolute pair, the 4th side chain other end connects with moving platform by the 8th revolute pair
The first of above-mentioned side chain forms: the first member connects with second component by I revolute pair, second component two ends connect with first connecting rod, second connecting rod by II revolute pair, III revolute pair respectively, the first connecting rod other end connects with the 3rd member one end by IV revolute pair, the second connecting rod other end connects with the 3rd member other end by V revolute pair, the 3rd member connects with the 4th member by VI revolute pair, first connecting rod is parallel with second connecting rod isometric
The second of above-mentioned side chain forms: the 1st member connects with the 1st connecting rod, the 2nd connecting rod by I Hooke's hinge, II Hooke's hinge, the 1st connecting rod other end connects with the 2nd member by III Hooke's hinge, the 2nd connecting rod other end connects with the 2nd member by IV Hooke's hinge, and the 1st connecting rod is parallel isometric with the 2nd connecting rod.
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| CN201210372558.3A CN103707281A (en) | 2012-09-29 | 2012-09-29 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
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| CN201210372558.3A CN103707281A (en) | 2012-09-29 | 2012-09-29 | Spatial four-degree-of-freedom parallel mechanism capable of three-dimensional translation and one-dimensional rotation |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN104589326A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven electric cylinder three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN104589314A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN105234922A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105313106A (en) * | 2015-11-03 | 2016-02-10 | 浙江大学 | Fruit picking device based on non-uniform distribution parallel mechanism |
| CN105522566A (en) * | 2016-01-28 | 2016-04-27 | 东莞理工学院 | Accurate M-shaped four-degree-of-freedom parallel positioning device |
| CN106363608A (en) * | 2016-10-28 | 2017-02-01 | 南昌大学 | Parallel robot device with two operation modes |
| CN106378771A (en) * | 2016-11-21 | 2017-02-08 | 南京理工大学 | Multi-coordinate high-speed parallel robot mechanism |
| CN110425383A (en) * | 2019-07-16 | 2019-11-08 | 广东工业大学 | A kind of macro micro- compound platform of servo motor and Piezoelectric Ceramic |
| CN111168649A (en) * | 2020-01-08 | 2020-05-19 | 清华大学 | High-speed high-precision parallel robot |
| CN114987639A (en) * | 2022-04-28 | 2022-09-02 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
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| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
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| US7735390B2 (en) * | 2005-02-17 | 2010-06-15 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN1857875A (en) * | 2006-06-09 | 2006-11-08 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
| EP2241416A1 (en) * | 2009-04-17 | 2010-10-20 | Weber Maschinenbau GmbH Breidenbach | Robot with delta kinematics |
| CN102441889A (en) * | 2010-09-30 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Parallel-connection robot |
| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260079A (en) * | 2014-09-16 | 2015-01-07 | 天津市天大银泰科技有限公司 | Parallel robot device comprising double-space parallel branch chains for 3D (three-dimensional) printer |
| CN104589326A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Belt-driven electric cylinder three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN104589314A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven three-dimensional translational and one-dimensional rotational spatial four-degree-of-freedom manipulator |
| CN105234922A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device |
| CN105234922B (en) * | 2015-10-08 | 2017-01-25 | 南昌大学 | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device |
| CN105313106B (en) * | 2015-11-03 | 2017-03-29 | 浙江大学 | Fruit picker based on non-uniform parallel institution |
| CN105313106A (en) * | 2015-11-03 | 2016-02-10 | 浙江大学 | Fruit picking device based on non-uniform distribution parallel mechanism |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105522566A (en) * | 2016-01-28 | 2016-04-27 | 东莞理工学院 | Accurate M-shaped four-degree-of-freedom parallel positioning device |
| CN105522566B (en) * | 2016-01-28 | 2017-12-15 | 东莞理工学院 | A kind of accurate M type four-degree-of-freedom parallel connection positioners |
| CN106363608A (en) * | 2016-10-28 | 2017-02-01 | 南昌大学 | Parallel robot device with two operation modes |
| CN106363608B (en) * | 2016-10-28 | 2018-12-04 | 南昌大学 | There are two types of the parallel robot devices of operation mode for tool |
| CN106378771A (en) * | 2016-11-21 | 2017-02-08 | 南京理工大学 | Multi-coordinate high-speed parallel robot mechanism |
| CN110425383A (en) * | 2019-07-16 | 2019-11-08 | 广东工业大学 | A kind of macro micro- compound platform of servo motor and Piezoelectric Ceramic |
| CN111168649A (en) * | 2020-01-08 | 2020-05-19 | 清华大学 | High-speed high-precision parallel robot |
| CN111168649B (en) * | 2020-01-08 | 2021-04-27 | 清华大学 | High-speed high-precision parallel robot |
| CN114987639A (en) * | 2022-04-28 | 2022-09-02 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
| CN114987639B (en) * | 2022-04-28 | 2024-01-26 | 上海工程技术大学 | Multi-configuration reversible rolling mechanism |
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Application publication date: 20140409 |