CN104308834A - Symmetric three-rotation parallel mechanism - Google Patents
Symmetric three-rotation parallel mechanism Download PDFInfo
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- CN104308834A CN104308834A CN201410577160.2A CN201410577160A CN104308834A CN 104308834 A CN104308834 A CN 104308834A CN 201410577160 A CN201410577160 A CN 201410577160A CN 104308834 A CN104308834 A CN 104308834A
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- branched chain
- active branched
- moving platform
- driving branched
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Abstract
The invention discloses a symmetric three-rotation parallel mechanism. The symmetric three-rotation parallel mechanism consists of a fixed platform, a movable platform, a first driving branched chain, a second driving branched chain and a third driving branched chain, wherein the fixed platform is connected with the movable platform via the first driving branched chain, the second driving branched chain and the third driving branched chain; an annular guide track is arranged on the outer wall of the fixed platform in the periphery direction; the first driving branched chain, the second driving branched chain and the third driving branched chain have the same mechanical structures; each of the first driving branched chain, the second driving branched chain and the third driving branched chain consists of a slider; the sliders are slidably connected with the annular guide track and are rotatably connected with one end of a connecting rod through spherical hinges; and the other end of the connecting rod is rotatably connected with the movable platform through a rotating pair. All the branched chains have the same mechanical structures, and are spatially and symmetrically distributed at intervals of an angle of 120 degrees relative to a central axis of the movable platform. The parallel mechanism has a spatial symmetric structure; the kinematics property and the dynamics property are symmetric; the branched chains of the mechanism are connected to one another via the annular guide track, the spherical hinges and the rotating pair; and the symmetric three-rotation parallel mechanism is simple in structure, cannot be overconstrained, and can three-dimensionally rotate in space at high speed and at a large rotating angle.
Description
Technical field
The present invention relates to three one-rotation parallel mechanisms, particularly relate to symmetric form three one-rotation parallel mechanism.
Background technology
Three one-rotation parallel mechanisms are with a wide range of applications at industrial circle, can be used for the location tracking device of inter-satellite link satellite, robot shoulder/wrist joint, Minimally Invasive Surgery mechanical hand etc.Above-mentioned application all requires that three one-rotation parallel mechanism structures have symmetry, and speed is fast, the advantages such as rotation space is larger.
At present, three one-rotation parallel mechanisms proposed mainly have the following disadvantages: 1) structure does not possess symmetry, cause kinematics of mechanism, dynamic performance asymmetric in working space.Space three one-rotation parallel mechanism as described in patent CN101590650B has three active branched chain, wherein two side chains consist of spherical hinge-moving sets-spherical hinge, another side chain is made up of the revolute pair that three axis are mutually orthogonal.Kinematics of mechanism and dynamics do not have asymmetric.2) by the restriction of branched structure or kinematic pair, mechanism cannot realize the motion that velocity of rotation is very fast, corner is larger.The side chain composition of space three one-rotation parallel mechanism as described in patent CN102120299B is complicated, is difficult to realize large rotating angle movement.Mechanism described in patent CN1189288C is made up of " universal joint-moving sets-cylindrical pair " that three structures are identical, and due to the restriction of moving sets and cylindrical pair, such mechanism cannot realize high-speed rotation.
In sum, the application scenario that existing space three one-rotation parallel mechanism is unfavorable at a high speed, corner is large.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, a kind of symmetrical configuration is provided, symmetric form three one-rotation parallel mechanism that speed is fast, rotation space is larger can be realized.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of symmetric form three one-rotation parallel mechanism of the present invention, it is made up of the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection, the second active branched chain and the 3rd active branched chain, and described silent flatform outer wall is circumferentially provided with ring-shaped guide rail;
Described first active branched chain, the second active branched chain and the 3rd active branched chain have identical frame for movement, include the slide block be slidably connected with ring-shaped guide rail, described slide block is rotationally connected by spherical hinge and connecting rod one end, and the described connecting rod other end is rotationally connected by revolute pair and described moving platform;
As the initial bit shape of mechanism when silent flatform plane and moving platform plane are parallel to each other, under initial bit shape, moving platform central axis and silent flatform central axis conllinear, the revolute pair of described first active branched chain, the second active branched chain and the 3rd active branched chain relative to moving platform central axis become 120 degree symmetrical, the pivot center of the revolute pair of three active branched chain is coplanar and intersect at moving platform central point.
The invention has the advantages that:
The whole side chain of a kind of symmetry three one-rotation parallel mechanism of the present invention has identical frame for movement, and each side chain becomes 120 degree of space symmetr distributions relative to moving platform central axis, mechanism has space symmetr structure, kinematics performance and dynamic performance have symmetry, the each side chain of mechanism is connected with revolute pair by ring-shaped guide rail, spherical hinge, structure is simple, without Planar Mechanisms, can implementation space at a high speed, large corner Three dimensional rotation, can be applicable to hygienic trace location, the occasions such as robot shoulder/wrist joint pose adjustment.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of symmetric form three one-rotation parallel mechanism of the present invention;
Fig. 2 is the structural representation of the active branched chain in the mechanism shown in Fig. 1;
Reference numeral: silent flatform 1 first active branched chain 2 second active branched chain 3 the 3rd active branched chain 4 moving platform 5 slide block 6 spherical hinge 7 connecting rod 8 revolute pair 9 moving platform center point P silent flatform central point O spherical hinge central point A silent flatform central axis a moving platform central axis b revolute pair axis c
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
A kind of symmetric form three one-rotation parallel mechanism of the present invention as shown in drawings, it is by silent flatform 1, moving platform 5 and be connected the first active branched chain 2, second active branched chain 3 of dynamic and static platform and the 3rd active branched chain 4 is formed, and described silent flatform outer wall is circumferentially provided with ring-shaped guide rail;
Described first active branched chain 2, second active branched chain 3 and the 3rd active branched chain 4 have identical frame for movement, include the slide block 6 be slidably connected with ring-shaped guide rail, described slide block is rotationally connected by spherical hinge 7 and connecting rod 8 one end, and described connecting rod 8 other end is rotationally connected by revolute pair 9 and described moving platform 5;
As the initial bit shape of mechanism when silent flatform plane and moving platform plane are parallel to each other, under initial bit shape, moving platform central axis b and silent flatform central axis a conllinear, the revolute pair 9 of described first active branched chain 2, second active branched chain 3 and the 3rd active branched chain 4 relative to moving platform central axis b become 120 degree symmetrical, the revolute pair axis c of three active branched chain is coplanar and intersect at moving platform center point P.
In conjunction with each width figure, the present invention is described in detail more below.
As shown in Figure 1, a kind of symmetric form three one-rotation parallel mechanism of the present invention, by silent flatform 1, moving platform 5 be connected the first active branched chain 2, second active branched chain 3 of dynamic and static platform and the 3rd active branched chain 4 is formed.
Described silent flatform 1 is provided with ring-shaped guide rail, and described silent flatform 1 and slide block 6 are slidably connected, make slide block 6 annularly track realize circumference continuous moving.
As shown in Figure 2, described first active branched chain 2, described second active branched chain 3 and described 3rd active branched chain 4 have identical frame for movement, form by slide block 6, spherical hinge 7, connecting rod 8 and revolute pair 9.Described silent flatform 1 is slidably matched with described slide block 6, and described slide block 6 is rotationally connected with described connecting rod 8 one end by described spherical hinge 7, and described connecting rod 8 other end is rotationally connected with described moving platform 5 by described revolute pair 9.
By silent flatform central point O, direction is the axis in silent flatform plane normal direction is silent flatform central axis a; By moving platform center point P, direction is the axis in moving platform plane normal direction is moving platform central axis b; When silent flatform plane and moving platform plane are parallel to each other, the position residing for a kind of symmetric form three one-rotation parallel mechanism of the present invention and attitude are called initial bit shape.Under initial bit shape, moving platform central axis b and silent flatform central axis a conllinear, the revolute pair axis c of described first active branched chain 2, described second active branched chain 3 and described 3rd active branched chain 4 relative to moving platform central axis b become 120 degree symmetrical, and coplanar and intersect at moving platform center point P.
Described ring-shaped guide rail and slide block 6 structure can be equal to revolute pair, and this equivalent turns auxiliary shaft line is silent flatform central axis a by silent flatform central point O, direction; In conjunction with described spherical hinge 7 and described revolute pair 9, described first active branched chain 2, described second active branched chain 3 and described 3rd active branched chain 4 all have space three-freedom and rotate and two-freedom locomotivity.As shown in Figure 1, because described first active branched chain 2, described second active branched chain 3 and the Equivalent Rotational secondary axis of described 3rd active branched chain 4 and the axes intersect of revolute pair 9 are in moving platform center point P, therefore the central point that described three active branched chain Three Degree Of Freedoms rotate is moving platform center point P, three pivot centers respectively with the line coincident of silent flatform central axis a, revolute pair axis c and spherical hinge central point A and moving platform center point P; As shown in Figure 2, the normal of the two-freedom plane of motion of described first active branched chain 2, described second active branched chain 3 and described 3rd active branched chain 4 is direction shown in the line of spherical hinge central point A and moving platform center point P, the plane of motion of described three active branched chain is without common intersection, therefore the two-freedom locomotivity of described active branched chain is cancelled out each other, the space three-freedom that described moving platform 5 can realize moving Platform center point P rotates.With the slide block 6 in described first active branched chain 2, described second active branched chain 3 and described 3rd active branched chain 4 for input queued switches, a kind of symmetric form three one-rotation parallel mechanism of the present invention can rotate by implementation space Three Degree Of Freedom.(about the definition of fulcrum and plane of motion can refer to document " Herv é JM.The Lie group of rigid body displacements, a fundamental tool for mechanism design.Mech Mach Theory1999; 34:719-730. " (Herv é JM. rigid body displacement Lie subgroup, Fundamentals of Machine Design instrument. theory of mechanics 1999; 34:719-730. ")
The kinematic pair of a kind of symmetric form three one-rotation parallel mechanism of the present invention is made up of ring-shaped guide rail, revolute pair and spherical hinge completely, and above-mentioned hinge relative movement pair, screw pair and cylindrical pair etc. have better high-speed cruising ability.In addition, ring-shaped guide rail and revolute pair all have complete cycle cornering rate, and especially ring-shaped guide rail has 360 degree of rotation abilities, can support side chain large rotation.The active branched chain identical due to a kind of symmetric form three one-rotation parallel mechanism three structures of being arranged by space symmetr of this patent design is formed, therefore three one-rotation parallel mechanisms of realized high speed that mechanism is a class has symmetrical structure rotating angle movement greatly.
The above description of this invention is only schematic, instead of restrictive, so embodiments of the present invention are not limited to above-mentioned detailed description of the invention.If those of ordinary skill in the art enlightens by it, when not departing from present inventive concept and claim institute protection domain, making other change or modification, all belonging to protection scope of the present invention.
Claims (1)
1. symmetric form three one-rotation parallel mechanism, it is characterized in that: it is made up of the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection, the second active branched chain and the 3rd active branched chain, and described silent flatform outer wall is circumferentially provided with ring-shaped guide rail;
Described first active branched chain, the second active branched chain and the 3rd active branched chain have identical frame for movement, include the slide block be slidably connected with ring-shaped guide rail, described slide block is rotationally connected by spherical hinge and connecting rod one end, and the described connecting rod other end is rotationally connected by revolute pair and described moving platform;
As the initial bit shape of mechanism when silent flatform plane and moving platform plane are parallel to each other, under initial bit shape, moving platform central axis and silent flatform central axis conllinear, the revolute pair of described first active branched chain, the second active branched chain and the 3rd active branched chain relative to moving platform central axis become 120 degree symmetrical, the pivot center of the revolute pair of three active branched chain is coplanar and intersect at moving platform central point.
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| CN201410577160.2A CN104308834A (en) | 2014-10-24 | 2014-10-24 | Symmetric three-rotation parallel mechanism |
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| CN201410577160.2A CN104308834A (en) | 2014-10-24 | 2014-10-24 | Symmetric three-rotation parallel mechanism |
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| CN104308834A true CN104308834A (en) | 2015-01-28 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199468A (en) * | 2014-07-16 | 2014-12-10 | 中南大学 | Three-dimensional composite motion platform |
| CN105583558A (en) * | 2016-03-24 | 2016-05-18 | 褚宏鹏 | Novel two-rotation welding robot joint |
| CN105599002A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Four-branch-chain two-rotation parallel robot joint |
| CN105619391A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Two-degree-of-freedom in-parallel mechanism |
| CN105690420A (en) * | 2016-03-24 | 2016-06-22 | 褚宏鹏 | Joint of parallel spray painting robot |
| CN105773579A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branch chain coupled spherical two-rotating parallel mechanism |
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107363814A (en) * | 2017-08-21 | 2017-11-21 | 安徽工程大学 | Single input multi-freedom parallel connection becomes born of the same parents' platform |
| CN107433582A (en) * | 2016-05-25 | 2017-12-05 | 中国科学院沈阳自动化研究所 | A kind of scalable flexible mechanical arm of omnibearing movable |
| CN107471201A (en) * | 2017-09-30 | 2017-12-15 | 北京交通大学 | A kind of relative freedom is three structural redundancy parallel robot mechanism |
| CN108000176A (en) * | 2018-01-12 | 2018-05-08 | 西南石油大学 | A kind of six-degree-of-freedom parallel bed |
| CN108972505A (en) * | 2018-07-02 | 2018-12-11 | 华南理工大学 | A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution |
| CN109363717A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and floating installation |
| CN112654812A (en) * | 2018-09-26 | 2021-04-13 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and floating device |
| CN112720420A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
| CN112847317A (en) * | 2021-03-22 | 2021-05-28 | 四川大学 | Three-dimensional space two-degree-of-freedom centrosome motion parallel mechanism |
| CN113319811A (en) * | 2021-01-12 | 2021-08-31 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104199468A (en) * | 2014-07-16 | 2014-12-10 | 中南大学 | Three-dimensional composite motion platform |
| CN105583558A (en) * | 2016-03-24 | 2016-05-18 | 褚宏鹏 | Novel two-rotation welding robot joint |
| CN105599002A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Four-branch-chain two-rotation parallel robot joint |
| CN105619391A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Two-degree-of-freedom in-parallel mechanism |
| CN105690420A (en) * | 2016-03-24 | 2016-06-22 | 褚宏鹏 | Joint of parallel spray painting robot |
| CN105773579A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branch chain coupled spherical two-rotating parallel mechanism |
| CN107433582A (en) * | 2016-05-25 | 2017-12-05 | 中国科学院沈阳自动化研究所 | A kind of scalable flexible mechanical arm of omnibearing movable |
| CN107433582B (en) * | 2016-05-25 | 2019-06-04 | 中国科学院沈阳自动化研究所 | A kind of scalable flexible mechanical arm of omnibearing movable |
| CN106002024A (en) * | 2016-07-06 | 2016-10-12 | 苏州睿牛机器人技术有限公司 | Vehicle-mounted parallel welding robot system |
| CN107363814A (en) * | 2017-08-21 | 2017-11-21 | 安徽工程大学 | Single input multi-freedom parallel connection becomes born of the same parents' platform |
| CN107363814B (en) * | 2017-08-21 | 2023-08-25 | 安徽工程大学 | Single-input multi-degree-of-freedom parallel metamorphic platform |
| CN107471201A (en) * | 2017-09-30 | 2017-12-15 | 北京交通大学 | A kind of relative freedom is three structural redundancy parallel robot mechanism |
| CN107471201B (en) * | 2017-09-30 | 2020-09-25 | 北京交通大学 | Structure redundancy parallel robot mechanism with three relative degrees of freedom |
| CN108000176A (en) * | 2018-01-12 | 2018-05-08 | 西南石油大学 | A kind of six-degree-of-freedom parallel bed |
| CN108972505A (en) * | 2018-07-02 | 2018-12-11 | 华南理工大学 | A kind of 3PcSS+RTR flexural pivot chain substitution type parallel institution |
| CN109363717A (en) * | 2018-09-26 | 2019-02-22 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and floating installation |
| CN112654812A (en) * | 2018-09-26 | 2021-04-13 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic device and floating device |
| CN109363717B (en) * | 2018-09-26 | 2023-07-04 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic equipment and floating device |
| CN112720420A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
| CN113319811A (en) * | 2021-01-12 | 2021-08-31 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
| CN112720420B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
| CN113319811B (en) * | 2021-01-12 | 2022-03-29 | 山东理工大学 | Double-guide-rail type planar robot with revolute pairs |
| CN112847317A (en) * | 2021-03-22 | 2021-05-28 | 四川大学 | Three-dimensional space two-degree-of-freedom centrosome motion parallel mechanism |
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