CN104626130A - Variable-topology four-degrees-of-freedom parallel mechanism - Google Patents
Variable-topology four-degrees-of-freedom parallel mechanism Download PDFInfo
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- CN104626130A CN104626130A CN201510110551.8A CN201510110551A CN104626130A CN 104626130 A CN104626130 A CN 104626130A CN 201510110551 A CN201510110551 A CN 201510110551A CN 104626130 A CN104626130 A CN 104626130A
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- side chain
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Abstract
The invention discloses a variable-topology four-degrees-of-freedom parallel mechanism which comprises a rack, a movable platform and four branch chains between the rack and the movable platform, wherein two ends of each of the four branch chains are connected with the rack and the movable platform by virtue of a spherical hinge structure, structures of the four branch chain structures are completely identical, the four branch chains are rectangularly distributed between the rack and the movable platform; the fifth branch chain is arranged between the rack and the movable platform. The movable platform is controlled by virtue of the four branch chains to move, thus the variable-topology four-degrees-of-freedom parallel mechanism is simple in structure and easy to realize; the change of the degrees-of-freedom of the movable platform of the variable-topology four-degrees-of-freedom parallel mechanism can be completed by changing the fifth branch chain, the movable platform can be used as an end effector, and used for completing works such as grabbing, conveying and damping devices; by virtue of simple topological transformation, a multifunctional mechanism relatively has a practicability, so that the use efficiency of the mechanism is improved.
Description
Technical field
The present invention relates to robot field, particularly a kind of variable topological four-freedom parallel mechanism.
Background technology
Parallel institution has the plurality of advantages such as rigidity is large, bearing capacity is strong, accumulated error is little, control accuracy is high, the heat of theory of mechanisms research in recent years, minority carrier generation lifetime is simple with structure, manufacture and control cost the extensive concern causing academia such as relatively low, four-freedom parallel mechanism can meet the work requirements of parallel machine with its good kinetic characteristic, four-freedom parallel mechanism can have compact conformation as the prototype of the equipment such as lathe, damping device and vibratory sieve, manufacture and design and the advantage such as low of controlling cost.In currently available technology, utilize pattern synthesis method, obtain being made up of simple serial chain, irredundant side chain, symmetrical and isotropic four-freedom parallel mechanism, but such mechanism configuration is very limited, can not effectively be used, and the complicated cost of mechanism is high.
Summary of the invention
For solving this problem existed in above-mentioned technology, the invention provides a kind of multi-functional mechanism obtained by simple topological transformation, having more practicality, the variable topological four-freedom parallel mechanism of mechanism's service efficiency can be improve.
The present invention is for solving the problems of the technologies described above, the technical scheme adopted is: a kind of variable topological four-freedom parallel mechanism, comprise frame, moving platform and four side chains between frame and moving platform, article four, the two ends of side chain are all by spherical hinge structure connection frame and moving platform, first side chain comprises the connecting rod L11 be connected with moving platform and the connecting rod L12 be connected with frame, one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block, slide block can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame and moving platform, the 5th side chain is also provided with between frame and moving platform, 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, the revolute pair that one end of connecting rod L51 is passed through is connected with moving platform, this revolute pair with y direction for axis rotation, the other end of connecting rod L51 is by can one end of the first moving sets connection connecting rod L52 of movement in the z-direction, the other end of connecting rod L52 is by the second moving sets of movement in the y-direction connecting one end of connecting rod L53, and the other end of connecting rod L53 passes through can the three moving sets connection frame of movement in the x-direction.
As a kind of preferred version, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform by Hooke's hinge, the other end of connecting rod L51 is by the first moving sets of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can the three moving sets connection frame of movement in the x-direction.
As another kind of preferred version, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform by ball pair, and the other end of connecting rod L51 is by can one end of the first moving sets connection connecting rod L52 of movement in the z-direction, and the other end of connecting rod L52 is fixedly connected with frame.
Income effect: control moving platform motion by four side chains relative to prior art, structure is simply easy to realize, only change the change that the 5th side chain can complete the mechanism kinematic platform free degree, moving platform can be used as end effector, for completing the work such as crawl, carrying and damping device, obtain multi-functional mechanism by simple topological transformation and have more practicality, improve mechanism's service efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is structure diagram of the present invention.
Fig. 3 is the structure diagram of the second form of the present invention.
Fig. 4 is the structure diagram of the third form of the present invention.
Graphical indicia, first connecting rod in L11, the first side chain, second connecting rod in L12, the first side chain, first connecting rod in L51, the 5th side chain, second connecting rod in L52, the 5th side chain, the 3rd connecting rod in L53, the 5th side chain, 1, moving platform, 2, frame, 3, slide block, 4, revolute pair, 5, the first moving sets, the 6, second moving sets, 7, three moving sets, 8, Hooke's hinge, 9, ball is secondary.
Detailed description of the invention
Elaborate to embodiments of the invention below in conjunction with accompanying drawing, the present embodiment, premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1 as shown in Figure 2, a kind of variable topological four-freedom parallel mechanism, comprise frame 2, moving platform 1 and four side chains between frame 2 and moving platform 1, article four, the two ends of side chain are all by spherical hinge structure connection frame 2 and moving platform 1, first side chain comprises the connecting rod L11 be connected with the moving platform 1 and connecting rod L12 be connected with frame 2, one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block 3, slide block 3 can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame 2 and moving platform 1, article four, side chain is as driving side chain, moving platform 1 can as end effector, crawl has been used for by driving the driving of side chain, the work such as carrying and damping device.
Shown in, the 5th side chain is also provided with between frame 2 and moving platform 1, 5th side chain is as driven side chain, described 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, one end of connecting rod L51 is connected with moving platform 1 by revolute pair 4, the other end of the connecting rod L51 that this revolute pair 4 can be axis rotation with y direction is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, the other end of connecting rod L52 is by the second moving sets 6 of movement in the y-direction connecting one end of connecting rod L53, the other end of connecting rod L53 is by can three moving sets 7 connection frame 2 of movement in the x-direction.5th side chain and four side chains form the four-freedom parallel mechanism that three move a rotation.
This device is by simply changing the 5th side chain, also can form with four side chains the four-freedom parallel mechanism that two move two rotations, as shown in Figure 3, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform 1 by Hooke's hinge 8, the other end of connecting rod L51 is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can three moving sets 7 connection frame 2 of movement in the x-direction.
In addition, 5th side chain also can form the four-freedom parallel mechanism that moves three rotations by four side chains, as shown in Figure 4, described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform 1 by ball pair 9, the other end of connecting rod L51 is by the first moving sets 5 of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 is fixedly connected with frame 2.
It is prior art that the present invention does not describe part.
Claims (3)
1. a variable topological four-freedom parallel mechanism, it is characterized in that: comprise frame (2), moving platform (1) and four side chains between frame (2) and moving platform (1), article four, the two ends of side chain are all by spherical hinge structure connection frame (2) and moving platform (1), first side chain comprises the connecting rod L11 be connected with moving platform (1) and the connecting rod L12 be connected with frame (2), one end that connecting rod L11 is connected with connecting rod L12 is provided with slide block (3), slide block (3) can be nested on connecting rod L12 and to slide, second side chain, 3rd side chain, 4th side chain is all identical with the first branched structure, article four, side chain is rectangular is distributed between frame (2) and moving platform (1), the 5th side chain is also provided with between frame (2) and moving platform (1), 5th side chain comprises connecting rod L51, connecting rod L52 and connecting rod L53, the revolute pair (4) that one end of connecting rod L51 is passed through is connected with moving platform (1), this revolute pair (4) with y direction for axis rotation, the other end of connecting rod L51 is by can one end of the first moving sets (5) connection connecting rod L52 of movement in the z-direction, the other end of connecting rod L52 is by can one end of the second moving sets (6) connection connecting rod L53 of movement in the y-direction, the other end of connecting rod L53 is by can three moving sets (7) connection frame (2) of movement in the x-direction.
2. a kind of variable topological four-freedom parallel mechanism according to claim 1, it is characterized in that: described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform (1) by Hooke's hinge (8), the other end of connecting rod L51 is by first moving sets (5) of movement in the z-direction connecting one end of connecting rod L52, and the other end of connecting rod L52 passes through can three moving sets (7) connection frame (2) of movement in the x-direction.
3. a kind of variable topological four-freedom parallel mechanism according to claim 1, it is characterized in that: described 5th side chain comprises connecting rod L51 and connecting rod L52, one end of connecting rod L51 is connected with moving platform (1) by ball pair (9), the other end of connecting rod L51 is by can one end of the first moving sets (5) connection connecting rod L52 of movement in the z-direction, and the other end of connecting rod L52 is fixedly connected with frame (2).
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| CN201510110551.8A CN104626130A (en) | 2015-03-13 | 2015-03-13 | Variable-topology four-degrees-of-freedom parallel mechanism |
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| CN201510110551.8A CN104626130A (en) | 2015-03-13 | 2015-03-13 | Variable-topology four-degrees-of-freedom parallel mechanism |
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Cited By (6)
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| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
| CN105962854A (en) * | 2016-05-17 | 2016-09-28 | 朱振 | Automatic indoor building cleaning device with dust removing function |
| CN105996915A (en) * | 2016-05-17 | 2016-10-12 | 朱振 | Indoor building automatic cleaning robot |
| CN106311597A (en) * | 2016-08-25 | 2017-01-11 | 王辉 | Capsule screening mechanism based on parallel mechanism |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN113146627A (en) * | 2021-04-01 | 2021-07-23 | 洛阳理工学院 | Parallel mechanism dynamic parameter solving method based on real-time measurement data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
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| CN106311597A (en) * | 2016-08-25 | 2017-01-11 | 王辉 | Capsule screening mechanism based on parallel mechanism |
| CN106311597B (en) * | 2016-08-25 | 2019-03-29 | 王辉 | A kind of capsule screening mechanism based on parallel institution |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN113146627A (en) * | 2021-04-01 | 2021-07-23 | 洛阳理工学院 | Parallel mechanism dynamic parameter solving method based on real-time measurement data |
| CN113146627B (en) * | 2021-04-01 | 2022-11-18 | 洛阳理工学院 | Parallel mechanism dynamic parameter solving method based on real-time measurement data |
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