CN104626100A - Three-freedom-degree parallel mechanism with plane branches and middle driven branch - Google Patents
Three-freedom-degree parallel mechanism with plane branches and middle driven branch Download PDFInfo
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- CN104626100A CN104626100A CN201410764773.7A CN201410764773A CN104626100A CN 104626100 A CN104626100 A CN 104626100A CN 201410764773 A CN201410764773 A CN 201410764773A CN 104626100 A CN104626100 A CN 104626100A
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Abstract
A three-freedom-degree parallel mechanism with plane branches and a middle driven branch comprises a movable platform, a base, an upper transverse shaft, a lower transverse shaft, two RPR (revolute pair-prismatic pair-revolute pair) linear drive branches, an SPS (spherical pair-revolute pair-spherical pair) linear drive branch and an SP (spherical pair-revolute pair) middle linear driven branch. The upper transverse shaft and the lower transverse shaft are connected with the movable platform and the base through revolute pairs, the upper ends and the lower ends of the two RPR branches are connected with the revolute pairs of the two ends of the upper transverse shaft and the two ends of the lower transverse shaft respectively, the axes of the four revolute pairs are parallel, and a plane closed-loop double-drive branch chain is formed. The upper end and the lower end of the SPS branch are connected with the base and the movable platform through spherical pairs respectively. The upper end of a cylindrical rod of the SP branch is perpendicularly and fixedly connected with the movable platform. The middle of the cylindrical rod is in slide fit with a center hole of a sphere and the sphere is connected with the center of the base through a spherical pair. The three-freedom-degree parallel mechanism is simple in structure, large in bearing capacity and high in rigidity, the lower end of the cylindrical rod is connected with different tools, and various devices can be formed.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Over nearly 20 years, 3-freedom parallel mechanism becomes the hot-point and frontier of domestic and international robot field research always.(containing the passive branch of UP) 3SPS+UP type of current Sweden, (containing the parallel subchain of 4U) Delta type of Germany, the three translation 3UPU types of Tsai, the 3RPS type of Hunt, the 2SPS+UP type in yellow field and 3PRS type, some 3-freedom parallel mechanisms such as the 3SPR type that University On The Mountain Of Swallows road is virtuous have been used successfully to manufacture parallel machine, Medical Devices, micro-electromechanical device, multi-dimensional force parallel sensor etc.In recent years about the China of 3-freedom parallel mechanism authorizes patent of invention as follows: CN101844307A discloses a kind of redundancy-driven three-degree; CN102069393A discloses the 3-freedom parallel mechanism for virtual axis machine and robot; CN102366896A discloses a kind of 3-freedom parallel mechanism with two vertical interlaced rotating shafts; CN102380771A discloses high rigidity redundant-drive three-degree-of-freedom parallel mechanism; CN102366896B discloses the 3-freedom parallel mechanism with two vertical interlaced rotating shafts.The mechanism more than announced comprises three and drives branch, without middle passive branch.CN101025247 announces a kind of space three-freedom connection-in-parallel mechanism of mobile decoupling; CN101791804A announces a kind of symmetrical two turn of one motion three-freedom-degree parallel mechanism; Above-mentioned two mechanisms comprise three space branches.CN102962848A discloses a kind of 3-freedom parallel mechanism for robot wrist, shoulder, and this mechanism is without plane branch.
Above-mentioned 3-freedom parallel mechanism differs from one another, but does not use it for and manufacture helicopter propeller drive unit, naval vessel propeller drive unit, steel-making Cinder Machine, mining equipment and Xiu Ya robot.How to utilize 3-freedom parallel mechanism just can realize the relative fuselage of helicopter propeller drive shaft quick switch and stretching motion flexibly, and bear large live load; Realize steel-making and take off slag pawl in switch and the flexible slagging-off motion fast flexibly of ladle opening part, and bear large live load; Realize flexible at the oral cavity place of people, quick, the accurate switch of grinding tool of Xiu Ya robot and stretch.
Summary of the invention:
The object of the invention is to provide that a kind of structure is simple, take-off lever switch and stretching motion is flexible, working space is large, rigidity is high, control simply to contain passive branch of plane branch and centre 3-freedom parallel mechanism.
The present invention includes the passive branch of straight line in the middle of moving platform, support, upper transverse axis, lower transverse axis, RPR (revolute pair-moving sets-revolute pair) the type linear drives branch that 2 structures are identical, 1 SPS (ball pair-moving sets-ball is secondary) type linear drives branch and 1 SP (ball pair-moving sets) type.Wherein, 2 RPR type linear drives branches arrange in plane symmetry between moving platform and support, and and SPS type linear drives branch circumferentially uniform between moving platform and support; The passive branch of SP type straight line is positioned at moving platform and support middle.Lower transverse axis rotates with the side of support and connects, and upper transverse axis rotates with the side of the moving platform of support the same side and connects.Each RPR type linear drives branch comprises upper end revolute pair, middle moving sets electric cylinder and lower end revolute pair; The upper end of 2 RPR type branches connects with upper transverse axis two ends respectively by revolute pair, and its axis is parallel to each other, and the lower end of 2 RPR type branches connects with lower transverse axis two ends respectively by revolute pair, its axis and upper end turns auxiliary shaft line parallel; 2 RPR type branches and upper and lower transverse axis form a plane closed loop Dual Drive side chain, and 4 revolute pair axis are wherein parallel to each other.It is secondary that SPS type rectilinear branches comprises upper end ball pair, middle moving sets electric cylinder and lower end ball, and its upper and lower end ball pair connects with moving platform and support respectively.SP type rectilinear branches comprises cylindrical bar and ball cover, one end of cylindrical bar is vertical with moving platform to be connected, the other end of this cylindrical bar is free end through the centre bore being located at the spheroid at support center by ball cover, be slidably matched with ball cover centre bore in the middle part of cylindrical bar, the free end of its cylindrical bar can connect from different instrument, can construct multiple equipment.
The present invention compared with prior art tool has the following advantages:
1, the topological diagram of mechanism of the present invention topological diagram and existing 3-freedom parallel mechanism is non-isomorphic, so topological diagram gained mechanism of the present invention is certain have essential distinction with existing 3-freedom parallel mechanism.
2, the kinematic pair in plane Dual Drive branch is all revolute pair and moving sets, has carrying and draws the advantage large with pressure, can eliminate revolute pair gap by firmly beforehand means, improve kinematic accuracy.
3, medial fascicle effectively can eliminate that the structure Coupling of existing 3-freedom parallel mechanism causes from fine motion.
4, overall structure is simple, and relative support bearing capacity is large, rigidity is high, and export cylindrical bar and realize not only flexible but also swingable compound motion with Three Degree Of Freedom form, flexibility is good, and working space is large.
5, take-off lever end can connect with different instrument, can meet rise machine propeller, naval vessel propeller, slag skim paw, mining drill bit, milling cutter, repair the Three Degree Of Freedoms such as tooth grinding tool, scalpel and sewing needle and stretch and wave the requirement of compound varying motion, be easy to improve its kinematic dexterity energy, contribute to improving its motion stress.
6, all drivings and control unit are all positioned at the opposite side of machine seat board, are easy to man-machine mutual security protection.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is mechanism of the present invention topological diagram.
In figure: transverse axis, the upper transverse axis of 4-, 5-RPR type linear drives branch, 6-SPS type linear drives branch, 7-cylindrical bar, 8-spheroid, 9-propeller under 1-support, 2-moving platform, 3-.
Detailed description of the invention
Shown in Fig. 1 containing in passive branch of plane branch and centre 3-freedom parallel mechanism schematic diagram, the RPR type linear drives branch 5 that 2 structures are identical arranges in plane symmetry between moving platform 2 and support 1, and and SPS type linear drives branch 6 circumferentially uniform between moving platform and support; The passive branch of SP type straight line is positioned at moving platform and support middle.Lower transverse axis 3 rotates with the side of support and connects, and upper transverse axis 4 rotates with the side of the moving platform of support the same side and connects.Each RPR type linear drives branch comprises upper end revolute pair, middle moving sets electric cylinder and lower end revolute pair; The upper end of 2 RPR type branches connects with upper transverse axis two ends respectively by revolute pair, and its axis is parallel to each other, and the lower end of 2 RPR type branches connects with lower transverse axis two ends respectively by revolute pair, its axis and upper end turns auxiliary shaft line parallel; 2 RPR type branches and upper and lower transverse axis form a plane closed loop Dual Drive side chain, and 4 revolute pair axis are wherein parallel to each other.It is secondary that SPS type rectilinear branches comprises upper end ball pair, middle moving sets electric cylinder and lower end ball, and its upper and lower end ball pair connects with moving platform and support respectively.One end of cylindrical bar 7 in SP type rectilinear branches is vertical with moving platform to be connected, this cylindrical bar other end is free end through the centre bore being located at the spheroid 8 at support center by ball cover, be slidably matched with ball cover centre bore in the middle part of cylindrical bar, the free end of its cylindrical bar can connect with propeller 9, can form helicopter or naval vessel driving equipment.
Mechanism of the present invention topological diagram comprises 4 three secondary bars, 4 side chains and 13 binary links, as shown in Figure 2.4 three secondary bars corresponding upper mounting plate respectively, support, upper transverse axis and lower transverse axis; Containing side chain corresponding (RPR, SP, SPS) type linear drives branch respectively of (2,3,6) individual binary link.
Claims (1)
1. one kind contains passive branch of plane branch and centre 3-freedom parallel mechanism, mainly comprise moving platform, support, upper transverse axis, lower transverse axis, 2 RPR type linear drives branches, 1 SPS type linear drives branch and 1 middle passive branch of straight line of SP type, it is characterized in that: 2 RPR type linear drives branches arrange in plane symmetry between moving platform and support, and and SPS type linear drives branch circumferentially uniform between moving platform and support, the passive branch of SP type straight line is positioned at moving platform and support middle, lower transverse axis rotates with the side of support and connects, upper transverse axis rotates with the side of the moving platform of support the same side and connects, each RPR type linear drives branch comprises upper end revolute pair, middle moving sets electric cylinder and lower end revolute pair, the upper end of 2 RPR type branches connects with upper transverse axis two ends respectively by revolute pair, its axis is parallel to each other, the lower end of 2 RPR type branches connects with lower transverse axis two ends respectively by revolute pair, its axis and upper end turns auxiliary shaft line parallel, 2 RPR type branches and upper and lower transverse axis form a plane closed loop Dual Drive side chain, and 4 revolute pair axis are wherein parallel to each other, it is secondary that SPS type rectilinear branches comprises upper end ball pair, middle moving sets electric cylinder and lower end ball, and its upper and lower end ball pair connects with moving platform and support respectively, SP type rectilinear branches comprises cylindrical bar and ball cover, one end of cylindrical bar is vertical with moving platform to be connected, the other end of this cylindrical bar is free end through the centre bore being located at the spheroid at support center by ball cover, be slidably matched with ball cover centre bore in the middle part of cylindrical bar, the free end of its cylindrical bar can connect from different instrument, can construct multiple equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410764773.7A CN104626100B (en) | 2014-12-12 | 2014-12-12 | A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410764773.7A CN104626100B (en) | 2014-12-12 | 2014-12-12 | A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism |
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| Publication Number | Publication Date |
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| CN104626100A true CN104626100A (en) | 2015-05-20 |
| CN104626100B CN104626100B (en) | 2016-05-18 |
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| CN201410764773.7A Expired - Fee Related CN104626100B (en) | 2014-12-12 | 2014-12-12 | A kind of containing plane branch and middle passive branch 3-freedom parallel mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112978A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of humanoid shoulder and big forearm serial-parallel mirror mechanism |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN106134859A (en) * | 2016-07-06 | 2016-11-23 | 巩莉 | A kind of agricultural product growing vegetables Intelligent watering manipulator |
| CN107939408A (en) * | 2017-10-26 | 2018-04-20 | 燕山大学 | A kind of tunnelling parallel drive unit |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN109648543A (en) * | 2018-11-28 | 2019-04-19 | 燕山大学 | The branch of double drive containing plane and SP drive branch's 3-freedom parallel mechanism |
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| DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
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| CN201841545U (en) * | 2010-05-26 | 2011-05-25 | 汕头大学 | Three-rotation one-movement freedom parallel robot with driving telescopic rod |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
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| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
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Patent Citations (7)
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| DE19955520A1 (en) * | 1999-11-18 | 2001-05-31 | Variomatic Gmbh & Co Kg | Processing head for processing of free-form surfaces has carrier connected in movable fashion with base plate by ball joint or Cardan joint and struts have computer-controlled actuators |
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| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN201841545U (en) * | 2010-05-26 | 2011-05-25 | 汕头大学 | Three-rotation one-movement freedom parallel robot with driving telescopic rod |
| EP2540454B1 (en) * | 2011-06-28 | 2015-08-26 | CAE Consulting & Engineering GmbH | Hybrid robot on the basis of three linear actuators with intersecting axles, a parallelism maintainer, a multifunctional pivotal link, a multi-axle pivotal link and a spatial orientation unit |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106134859A (en) * | 2016-07-06 | 2016-11-23 | 巩莉 | A kind of agricultural product growing vegetables Intelligent watering manipulator |
| CN106112978A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of humanoid shoulder and big forearm serial-parallel mirror mechanism |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN106112979B (en) * | 2016-07-25 | 2018-06-08 | 燕山大学 | One kind contains two orthogonal plane branch four-freedom parallel mechanisms |
| CN107939408A (en) * | 2017-10-26 | 2018-04-20 | 燕山大学 | A kind of tunnelling parallel drive unit |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN109648543A (en) * | 2018-11-28 | 2019-04-19 | 燕山大学 | The branch of double drive containing plane and SP drive branch's 3-freedom parallel mechanism |
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|---|---|
| CN104626100B (en) | 2016-05-18 |
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