CN103722547A - Decoupling space parallel mechanism with two movements, one rotation and three freedom degrees - Google Patents
Decoupling space parallel mechanism with two movements, one rotation and three freedom degrees Download PDFInfo
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- CN103722547A CN103722547A CN201310669690.5A CN201310669690A CN103722547A CN 103722547 A CN103722547 A CN 103722547A CN 201310669690 A CN201310669690 A CN 201310669690A CN 103722547 A CN103722547 A CN 103722547A
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Abstract
A decoupling space parallel mechanism with two movements, one rotation and three freedom degrees comprises a fixed platform, a movable platform and three branches used for connecting the fixed platform and the movable platform. The fixed platform is provided with a rectangular bottom surface, a sliding rail is installed on one side of the bottom surface of the fixed platform, the center line of the sliding rail is in parallel with the bottom surface of the fixed platform, the movable platform is of an isosceles triangle structure, and the first branch is composed of a movable pair, three rotation pairs and three connecting rods used for connecting the movable pair and the rotation pairs. The second branch is composed of four rotation pairs and three connecting rods used for connecting the rotation pairs. The third branch is composed of five rotation pairs and four connecting rods used for connecting the rotation pairs. The decoupling space parallel mechanism is simple in structure, the kinetic pairs are low pairs, manufacturing cost is low, the movable platform performs one movement in the direction in parallel with the fixed platform, performs one rotation in the direction in parallel with the axis of the fixed platform and performs one movement in the direction perpendicular to the fixed platform, all the movements are completely decoupled, control is easy to implement, and the bearing capacity is high.
Description
Technical field
The invention belongs to robot field, particularly a kind of space parallel mechanism.
Background technology
Parallel institution has the advantages such as the rigidity of structure is large, bearing capacity is strong, kinematic accuracy is high, accumulated error is little, dynamic performance is good, therefore it is widely used in mechanical industry field.Domestic and international many scholars, comprising Gogu, Gosselin, Clavel, Tsai, Kong, yellow true and peak etc., they have made significant contribution to the research of parallel institution.
In the parallel institution of studying at present, much all exist the outstanding feature of this parallel institution of close coupling.And decoupling parallel institution can not only overcome the many difficulties such as Configuration Design, computational analysis, assembling and motion control that parallel institution close coupling brings, can also make parallel institution continue the advantages such as maintenance is strong to serial mechanism bearing capacity, accumulated error is little, rigidity is large.Decoupling parallel mechanism Hai Keshi mechanism obtains larger working space, better isotropism and higher kinematic accuracy.
In the research of lower-mobility parallel institution, for two, move a decoupling research that turns 3-freedom parallel mechanism and obtain some progress, for example, China Patent Publication No. is that CN102476294A has proposed a kind of special three-degree-of-freedom two translation-rotary parallel connection mechanism, and this mechanism is simple, be easy to Precision Machining, exist part to control decoupling; China Patent Publication No. is that CN102431027A proposes a kind of two and moves one and turn three freedom decoupling space parallel mechanism, the three degree of freedom motion of this mechanism is full decoupled, and the direction of two one-movement-freedom-degrees and fixed platform plane parallel, and the axis of rotational freedom is vertical with fixed platform plane.In addition, China Patent Publication No. is that CN102922310A has also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Although mechanism of foregoing invention mechanism moving platform can realize two, to move a transhipment moving, and the decoupling of most of mechanism does not have fine solution.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, convenient processing and manufacture, control easily, having of input and output decoupling zero two move a decoupling zero space parallel mechanism that turns Three Degree Of Freedom.
The San Ge branch that the present invention includes fixed platform, moving platform and connect these two platforms, wherein fixed platform is rectangle structure, one side this fixed platform be provided with slide rail, the center line of this slide rail is parallel with fixed platform bottom surface, moving platform is isosceles triangular structure; One end of first connecting rod in branch one is connected with moving sets, this moving sets is located on slide rail, can on slide rail, move, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch two is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; One end of first connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, the other end of this third connecting rod is connected with one end of the 4th connecting rod by revolute pair, and the other end of the 4th connecting rod is connected with moving platform by revolute pair.
In branch one, the moving direction of moving sets is parallel with the axis of three revolute pairs; In branch two, except the revolute pair being connected with fixed platform, the axis of other three revolute pairs is parallel, and vertical with the axis of the revolute pair being connected with fixed platform; In branch three, the axis of two revolute pairs that are connected with moving platform with fixed platform is respectively parallel, and the axis of three revolute pairs is in addition parallel, and vertical with the axis of two revolute pairs that are connected with moving platform with fixed platform.
The moving sets that above-mentioned San Ge branch is connected with fixed platform respectively and the input motion of two revolute pair Wei Ge branches are secondary, and the moving direction of moving sets is parallel with the axis of two revolute pairs, and is all parallel to fixed platform.Yi He branch three of branch is parallel with the axis of the revolute pair that moving platform connects, all parallel with moving platform all the time, the axis of the revolute pair that the axis Yu Lingliangge branch of the revolute pair that branch two is connected with moving platform is connected with moving platform is vertical, and also parallel with moving platform all the time.
In above-mentioned branch one, first connecting rod is moved under the driving of moving sets, and drives second connecting rod to be moved, and second connecting rod drives again third connecting rod to be moved, and finally through the mobile drive moving platform of third connecting rod, is parallel to the movement of fixed platform; In branch two, first connecting rod rotates under the first revolute pair drives, and drives second connecting rod to rotate, and second connecting rod drives again third connecting rod to rotate, and finally the rotation through third connecting rod drives moving platform to occur around the rotation that is parallel to fixed platform axis; In branch three, first connecting rod rotates under the driving of the first revolute pair, and drives second connecting rod to rotate, and finally drives the 4th connecting rod to rotate, and the movement perpendicular to fixed platform occurs moving platform under the drive of the 4th connecting rod; And two movements and a rotational motion of these three directions are unconditional decoupling zero, non-interference.
The moving sets being connected with fixed platform in above-mentioned branch one and enough one nearest of first revolute pair energy replace with the cylindrical pair of turns auxiliary shaft line parallel; In above-mentioned branch two, being connected two nearest revolute pairs can replace by enough Hooke's hinges with fixed platform; In above-mentioned branch three, be connected nearest two revolute pairs with fixed platform and be connected two nearest revolute pairs with moving platform, also can with two Hooke's hinges, replace respectively.
The present invention compared with prior art tool has the following advantages:
1, mechanism structure is simple, and kinematic pair is lower pair, can reduce manufacturing cost;
2, two, space one-movement-freedom-degree and a rotational freedom are full decoupled, make the control of mechanism and positive and negative solution very easy, and have reduced the difficulty of the trajectory planning of mechanism;
3, all input motions are secondary has reduced the load of rod member all near fixed platform, has good motility and higher reaction speed.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
Having shown in Fig. 1, two move one and turn in the decoupling zero space parallel mechanism schematic diagram of Three Degree Of Freedom, fixed platform 10 is rectangle structure, one side of this fixed platform is provided with slide rail 11, and the center line of this slide rail is parallel with fixed platform bottom surface, and moving platform 9 is isosceles triangular structure; First connecting rod 3 one end in branch 1 are connected with moving sets 2, this moving sets is located on slide rail, can on slide rail, move, the other end of this first connecting rod is connected with one end of second connecting rod 5 by revolute pair 4, the other end of this second connecting rod is connected with one end of third connecting rod 7 by revolute pair 6, and the other end of this third connecting rod is connected with moving platform by revolute pair 8; First connecting rod 14 in branch 2 12 is connected with fixed platform by revolute pair 13, the other end of this first connecting rod is connected with one end of second connecting rod 16 by revolute pair 15, the other end of this second connecting rod is connected with one end of third connecting rod 18 by revolute pair 17, and the other end of this third connecting rod is connected with moving platform by revolute pair 19; One end of first connecting rod 22 in branch 3 20 is connected with fixed platform by revolute pair 21, the other end of this first connecting rod is connected with one end of the second connecting rod 24 of L-type by revolute pair 23, the other end of this second connecting rod is connected with one end of the third connecting rod 26 of L-type by revolute pair 25, the other end of this third connecting rod is connected with one end of the 4th connecting rod 28 by revolute pair 27, and the other end of the 4th connecting rod is connected with moving platform by revolute pair 29.
The moving direction of the moving sets 2 in branch one is parallel, all parallel with moving platform 9 all the time with the axis direction of revolute pair 21 in revolute pair 13He branch three in branch two, and the moving direction of moving sets and two revolute pairs axis parallel.
The revolute pair 8 connecting with moving platform in Yi He branch of branch three is parallel with the axis of revolute pair 29, all parallel with moving platform all the time, the axis of the revolute pair 19 being connected with moving platform in branch two is vertical with the axis of revolute pair 29 with another two revolute pairs that are connected with moving platform 8, and also parallel with moving platform all the time.
In branch one, the moving direction of moving sets 2 is parallel with the axis of revolute pair 4, revolute pair 6, revolute pair 8, and vertical with the axis of third connecting rod 7 with first connecting rod 3, second connecting rod 5; In branch two, revolute pair 15, revolute pair 17 are parallel with the axis of revolute pair 19, and vertical with the axis of revolute pair 13.Axis one end of first connecting rod 14 is vertical with the axis of revolute pair 13, and the other end is vertical with the axis of revolute pair 15.The axis of second connecting rod 16 and third connecting rod 18 is all vertical with the axis of revolute pair 19 with revolute pair 15, revolute pair 17; In branch three, revolute pair 21 is parallel with the axis of revolute pair 29, and revolute pair 23, revolute pair 25 are parallel with the axis of revolute pair 27, and vertical with the axis of revolute pair 29 with revolute pair 21; Axis one end of first connecting rod 22 is vertical with the axis of revolute pair 21, the dead in line of the other end and revolute pair 23.Second connecting rod 24 and third connecting rod 26 are all right angle connecting rod, and one end of their connecting rod axis is vertical with the axis of revolute pair 25 with revolute pair 23 respectively, the other end respectively with the dead in line of revolute pair 25 and revolute pair 27.The axis of the 4th connecting rod 28 is vertical with the axis of revolute pair 29 with revolute pair 27 respectively.
Claims (2)
1. one kind has two and moves a decoupling zero space parallel mechanism that turns Three Degree Of Freedom, the San Ge branch that it comprises fixed platform, moving platform and connects these two platforms, it is characterized in that: its fixed platform is rectangle structure, one side of this fixed platform is provided with slide rail, the center line of this slide rail is parallel with fixed platform bottom surface, and moving platform is isosceles triangular structure; One end of first connecting rod in branch one is connected with moving sets, this moving sets is located on slide rail, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch two is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; One end of first connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, the other end of this third connecting rod is connected with one end of the 4th connecting rod by revolute pair, and the other end of the 4th connecting rod is connected with moving platform by revolute pair; In branch one, the moving direction of moving sets is parallel with the axis of three revolute pairs; In branch two, except the revolute pair being connected with fixed platform, the axis of other three revolute pairs is parallel, and vertical with the axis of the revolute pair being connected with fixed platform; In branch three, the axis of two revolute pairs that are connected with moving platform with fixed platform is respectively parallel, and the axis of three revolute pairs is in addition parallel, and vertical with the axis of two revolute pairs that are connected with moving platform with fixed platform.
2. according to claim 1 have two and move a decoupling zero space parallel mechanism that turns Three Degree Of Freedom, it is characterized in that: the moving sets being connected with fixed platform in above-mentioned branch one be connected with fixed platform first nearest revolute pair can be enough a cylindrical pair replacement with turns auxiliary shaft line parallel; In above-mentioned branch two, being connected two nearest revolute pairs can replace by enough Hooke's hinges with fixed platform; In above-mentioned branch three, be connected nearest two revolute pairs with fixed platform and be connected two nearest revolute pairs with moving platform and can with two Hooke's hinges, replace respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310669690.5A CN103722547B (en) | 2013-12-11 | 2013-12-11 | There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310669690.5A CN103722547B (en) | 2013-12-11 | 2013-12-11 | There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting |
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| CN103722547A true CN103722547A (en) | 2014-04-16 |
| CN103722547B CN103722547B (en) | 2016-08-17 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104985610A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | One translation three rotation (1T3R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN106426086A (en) * | 2015-08-05 | 2017-02-22 | 江苏金源锻造股份有限公司 | Robot for forging system |
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| CN1868664A (en) * | 2006-06-06 | 2006-11-29 | 江苏工业学院 | Bitranslation-rotation parallel mechanism used for parallel motion structure |
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| CN101700621A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN101927491A (en) * | 2010-08-11 | 2010-12-29 | 河南科技大学 | Completely isotropic three-freedom degree spatial parallel robot mechanism |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN103381602A (en) * | 2013-07-10 | 2013-11-06 | 燕山大学 | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom |
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Patent Citations (6)
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| CN1868664A (en) * | 2006-06-06 | 2006-11-29 | 江苏工业学院 | Bitranslation-rotation parallel mechanism used for parallel motion structure |
| GB2454721A (en) * | 2007-11-19 | 2009-05-20 | Dafydd Roberts | Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom |
| CN101700621A (en) * | 2009-11-03 | 2010-05-05 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN101927491A (en) * | 2010-08-11 | 2010-12-29 | 河南科技大学 | Completely isotropic three-freedom degree spatial parallel robot mechanism |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN103381602A (en) * | 2013-07-10 | 2013-11-06 | 燕山大学 | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| CN104002298B (en) * | 2014-05-12 | 2016-01-27 | 燕山大学 | A kind of two move a rotating decoupling parallel robot mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104985610A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | One translation three rotation (1T3R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN106426086A (en) * | 2015-08-05 | 2017-02-22 | 江苏金源锻造股份有限公司 | Robot for forging system |
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| CN103722547B (en) | 2016-08-17 |
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