CN103862462B - A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom - Google Patents
A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom Download PDFInfo
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- CN103862462B CN103862462B CN201410054855.2A CN201410054855A CN103862462B CN 103862462 B CN103862462 B CN 103862462B CN 201410054855 A CN201410054855 A CN 201410054855A CN 103862462 B CN103862462 B CN 103862462B
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Abstract
A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom, they three branches comprising fixed platform, moving platform and connect fixed platform and moving platform, described fixed platform is rectangular bottom surface, slide rail is installed on the both sides, bottom surface of fixed platform, the center line of described slide rail is parallel with fixed platform bottom surface, moving platform is triangular structure, and branch one is made up of a moving sets and three revolute pairs and three connecting rods being connected them; Branch two is made up of with three connecting rods being connected them four revolute pairs; Branch three is made up of a moving sets and four revolute pairs and four connecting rods being connected them.Structure of the present invention is simple, low cost of manufacture, can realize moving platform along be parallel to fixed platform direction two movements and around rotations being parallel to fixed platform axis, each motion is full decoupled, and be easy to control, bearing capacity is strong.
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 bearing capacity is large, rigidity is high, movement velocity is fast, accumulated error is little, dynamic performance is good, therefore it is widely applied in motion simulator, force snesor, satellite antenna, medicine equipment and packaging for foodstuff.
Due to the restriction of structure, parallel institution sports coupling this problem strong does not solve very well.The strong coupling existence of parallel institution makes mechanism there are problems in mechanism design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of parallel institution, the decoupling improving parallel institution has become the hot issue of theory of mechanisms research field.
In 3-freedom parallel mechanism research, some progress are obtained for the two decoupling researchs moving one turn of 3-freedom parallel mechanism, such as, Chinese patent literature CN102688853A proposes a kind of 3-freedom parallel mechanism tea finishing machine, three Vibration Chains of this mechanism are non-interference, full decoupled, improve the screening efficiency of tealeaves; China Patent Publication No. is that CN102431027A proposition a kind of two moves one turn of 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 is parallel with fixed platform plane, and the axis of rotational freedom and fixed platform plane orthogonal.In addition, Chinese patent literature CN102922310A it is also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Move a transhipment move although mechanism of foregoing invention mechanism moving platform can realize two, such mechanism is very rare, and the decoupling of most of mechanism does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, input and output are full decoupled two moves one turn of full decoupled space parallel mechanism of Three Degree Of Freedom.
The present invention includes fixed platform, moving platform and connect three branches of these two platforms, wherein fixed platform is rectangle structure, the adjacent both sides of this fixed platform are provided with slide rail, and the center line of two slide rails is mutually vertical and all parallel with fixed platform bottom surface, and moving platform is triangular structure; Branch one is made up of a moving sets and three revolute pairs and three connecting rods being connected them; Branch two is made up of with three connecting rods being connected them four revolute pairs; Branch three is made up of a moving sets and four revolute pairs and four connecting rods being connected them.
Wherein, one end of first connecting rod in branch one is connected with fixed platform by moving sets, 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 by revolute pair one end with the second connecting rod of L-type, the other end of this second connecting rod is connected by revolute pair one end with the third connecting rod of L-type, 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 moving sets, 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 by revolute pair one end with double leval jib, and the other end of this double leval jib is connected with moving platform by revolute pair.
In branch one, the axis being parallel of the moving direction of moving sets and three revolute pairs; In branch two, except the revolute pair be connected with fixed platform, the axis being parallel of other three revolute pairs, and the axes normal of the revolute pair be connected with fixed platform; In branch three, the moving direction of moving sets and the axis being parallel except three revolute pairs be connected with moving platform, and the axes normal of the revolute pair be connected with moving platform.
Two moving sets be connected with fixed platform respectively in above-mentioned three branches and revolute pair are that the input motion of each branch is secondary.The moving direction of two moving sets is vertical, the moving direction of one of them moving sets and the axis being parallel of revolute pair, the moving direction of another moving sets and the axes normal of revolute pair, and three input motion pairs are all parallel to fixed platform.The axis of the revolute pair that branch one is connected with moving platform with branch three, parallel with moving platform all the time, the axes normal of the revolute pair that branch two is connected with moving platform is in moving platform.
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 the mobile moving platform that drives finally through third connecting rod is moved; 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 the rotation finally through third connecting rod drives moving platform to rotate; In branch three, 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 the mobile moving platform that drives finally through double leval jib is moved; And two of these three directions movements and a rotational motion are decoupling zeros, non-interference.
The moving sets be connected with fixed platform in above-mentioned branch one and nearest first revolute pair can replace with a cylindrical pair with turns auxiliary shaft line parallel; Be connected two nearest revolute pairs in above-mentioned branch two to replace with a Hooke's hinge with fixed platform; The moving sets be connected with fixed platform in above-mentioned branch three and nearest first revolute pair can replace with a cylindrical pair with turns auxiliary shaft line parallel, and being connected two nearest revolute pairs can replace with a Hooke's hinge with moving platform.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, and kinematic pair is lower pair, can reduce manufacturing cost;
2, two, space one-movement-freedom-degree is achieved and a rotational freedom is full decoupled;
3, all input motion pairs are all connected with fixed platform, which reduce the load of rod member, have good motility and higher reaction speed.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
Move in one turn of full decoupled space parallel mechanism schematic diagram of Three Degree Of Freedom in the one two shown in Fig. 1, fixed platform 11 is rectangle structure, the adjacent both sides of this fixed platform are provided with right angle slide rail 10, and the center line of right angle slide rail is parallel with fixed platform bottom surface, and moving platform 9 is triangular structure; One end of first connecting rod 3 in branch 1 is connected with fixed platform by moving sets 2, 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 the second connecting rod 16 of L-type by revolute pair 15, the other end of this second connecting rod is connected with one end of the third connecting rod 18 of L-type 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 moving sets 21, the other end of this first connecting rod is connected with one end of second connecting rod 24 by revolute pair 23, the other end of this second connecting rod is connected with one end of third connecting rod 26 by revolute pair 25, the other end of this third connecting rod is connected with one end of double leval jib 28 by revolute pair 27, and the other end of this double leval jib is connected with moving platform by revolute pair 29.
The moving direction of the moving sets 2 in branch one is parallel with the axis direction of the revolute pair 13 in branch two, and vertical with the moving direction of the moving sets 21 in branch three, parallel with moving platform 9 all the time.
The axis being parallel of branch one and the revolute pair 8 be connected with moving platform in branch three and revolute pair 29, all all the time, parallel with moving platform, the axes normal of the revolute pair 8 that the axis of the revolute pair 19 be connected with moving platform in branch two is connected with another two and moving platform and revolute pair 29, and vertical with moving platform all the time.
In branch one, the axis being parallel of the moving direction of moving sets 2 and the first revolute pair 4, second revolute pair 6, the 3rd revolute pair 8, and with the axes normal of first connecting rod 3, second connecting rod 5 and third connecting rod 7; In branch two, the axis being parallel of the second revolute pair 15, the 3rd revolute pair 17 and the 4th revolute pair 19, and with the axes normal of the first revolute pair 13.Axis one end of first connecting rod 14 and the axes normal of the first revolute pair 13, the dead in line of the other end and the second revolute pair 15.Second connecting rod 16 and third connecting rod 18 are all L-type right angle connecting rod, one end of their connecting rod axis respectively with the axes normal of the second revolute pair 15 and the 3rd revolute pair 17, the other end respectively with the dead in line of the 3rd revolute pair 17 and the 4th revolute pair 19; In branch three, the axis being parallel of the moving direction of moving sets 21 and the first revolute pair 23, second revolute pair 25, the 3rd revolute pair 27, all with the axes normal of the 4th revolute pair 29.The axes normal of revolute pair in the axis of first connecting rod 22, second connecting rod 24, third connecting rod 26 and double leval jib 28 and this branch in addition.
Claims (2)
1. one kind two is moved one turn of full decoupled space parallel mechanism of Three Degree Of Freedom, they three branches comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: its fixed platform is rectangle structure, the adjacent both sides of this fixed platform are provided with slide rail, the center line of two slide rails is mutually vertical and all parallel with fixed platform bottom surface, and moving platform is triangular structure; One end of first connecting rod in its branch one is connected with fixed platform by moving sets, 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 moving sets, 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 by revolute pair one end with double leval jib, and the other end of this double leval jib is connected with moving platform by revolute pair; In branch one, the axis being parallel of the moving direction of moving sets and three revolute pairs; In branch two, except the revolute pair be connected with fixed platform, the axis being parallel of other three revolute pairs, and the axes normal of the revolute pair be connected with fixed platform; In branch three, the moving direction of moving sets and the axis being parallel except three revolute pairs be connected with moving platform, and the axes normal of the revolute pair be connected with moving platform.
2. according to claim 1 a kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom, it is characterized in that: the moving sets be connected with fixed platform in above-mentioned branch one and be connected first nearest revolute pair with fixed platform and can replace with a cylindrical pair with turns auxiliary shaft line parallel; Be connected two nearest revolute pairs in above-mentioned branch two to replace with a Hooke's hinge with fixed platform; The moving sets be connected with fixed platform in above-mentioned branch three and nearest first revolute pair can replace with a cylindrical pair with turns auxiliary shaft line parallel, and being connected two nearest revolute pairs can replace with a Hooke's hinge with moving platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410054855.2A CN103862462B (en) | 2014-02-18 | 2014-02-18 | A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom |
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| CN201410054855.2A CN103862462B (en) | 2014-02-18 | 2014-02-18 | A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom |
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| Publication Number | Publication Date |
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| CN103862462A CN103862462A (en) | 2014-06-18 |
| CN103862462B true CN103862462B (en) | 2016-01-27 |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563461A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
| CN104690714A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN104526687A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism |
| CN104626117A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| 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 |
| CN106090166B (en) * | 2016-06-14 | 2018-07-13 | 北京工业大学 | A kind of movement transforming device based on spatial linkage |
| CN106763127A (en) * | 2017-01-09 | 2017-05-31 | 魏铃杰 | A kind of bindiny mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
| CN109290189A (en) * | 2018-10-30 | 2019-02-01 | 江苏大学 | A kind of feed classification vibrating screen in parallel |
| CN109848970B (en) * | 2019-03-15 | 2021-09-10 | 上海工程技术大学 | Three-rotational-freedom-degree spatial decoupling mechanism for virtual-axis machine tool and robot |
| CN110977938A (en) * | 2019-11-18 | 2020-04-10 | 江苏大学 | Zero-coupling three-degree-of-freedom parallel robot |
| CN112571404B (en) * | 2020-12-11 | 2022-04-15 | 南京信息工程大学滨江学院 | Six-degree-of-freedom decoupling series-parallel mechanism |
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| CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| GB2454721A (en) * | 2007-11-19 | 2009-05-20 | Dafydd Roberts | Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom |
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| 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 (5)
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|---|---|---|---|---|
| CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| 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 |
| 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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