CN104858857A - 2PR and PRS spatial parallel robot mechanism - Google Patents

2PR and PRS spatial parallel robot mechanism Download PDF

Info

Publication number
CN104858857A
CN104858857A CN201510146114.1A CN201510146114A CN104858857A CN 104858857 A CN104858857 A CN 104858857A CN 201510146114 A CN201510146114 A CN 201510146114A CN 104858857 A CN104858857 A CN 104858857A
Authority
CN
China
Prior art keywords
chain
moving sets
moving
revolute pair
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510146114.1A
Other languages
Chinese (zh)
Inventor
陈佰炜
李军安
蔡桂钧
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd
Original Assignee
GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd filed Critical GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECHNOLOGY Co Ltd
Priority to CN201510146114.1A priority Critical patent/CN104858857A/en
Publication of CN104858857A publication Critical patent/CN104858857A/en
Pending legal-status Critical Current

Links

Abstract

The invention relates to a 2PR and PRS spatial parallel robot mechanism. The 2PR and PRS spatial parallel robot mechanism comprises a moving platform, a fixed platform and three branch chains for connecting the two platforms; the first branch chain and the second branch chain in the three branch chains are the same in structure, and each of the first branch chain and the second branch chain comprises a revolute pair, a sliding pair and a connecting rod therebetween from the top down; the third branch chain in the three branch chains comprises a ball pair, a revolute pair, a sliding pair and connecting rods among the ball pair, the revolute pair and the sliding pair. According to the 2PR and PRS spatial parallel robot mechanism, three mobile movement output can be realized, the mechanism is simple, the processing and the manufacturing are easy, and the kinematic model is simple and can enable kinematic calibration and control to be easy; meanwhile, the mechanism is less in joint, so that the structural rigidity is improved.

Description

A kind of 2PR & PRS spatial parallel robot mechanism
Technical field
The present invention relates to robot field, particularly relate to a kind of 2PR & PRS spatial parallel robot mechanism.
Background technology
Parallel institution (Parallel Mechanism, be called for short PM), can be defined as moving platform and fixed platform by least two independently kinematic chain be connected, mechanism has two or more frees degree, and with a kind of close loop mechanism that parallel way drives.
Parallel robot and the traditional industry serial manipulator relation in the unity of opposites in philosophy, compare with serial manipulator, parallel robot has following characteristics: without accumulated error, and precision is higher; Drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large; The parallel institution of full symmetric has good isotropism; Working space is less; According to these features, parallel robot need not be widely applied in the field of very large working space in the high rigidity of needs, high accuracy or large load.
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has the plural free degree, and with the mechanism that parallel way drives, the serial manipulator of this and transmission is all very different in theory of mechanisms, kinematics, dynamics etc.
Connection robot mechanism is widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, inching operation, manufacture processing, and researcher have also been invented a lot of parallel institution.But existing parallel robot mechanism still comes with some shortcomings, the problems such as poor in manufacturability, complex structure, manufacturing cost are high.
Summary of the invention
For this reason, the invention provides a kind of 2PR & PRS spatial parallel robot mechanism, the object of the invention is to the defect for prior art and deficiency, there is provided a kind of structure simple, kinematic pair number is few, and cost is lower, can realize the spatial parallel robot mechanism of three movements.
The technical scheme that the present invention solves the problems of the technologies described above is as follows:
A kind of 2PR & PRS spatial parallel robot mechanism, be made up of three side chains of above-mentioned two platforms of moving platform, fixed platform and connection, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod of the first side chain is connected with moving platform by the first revolute pair, and the other end of first connecting rod is connected with fixed platform by the first moving sets;
One end of the second connecting rod of the second side chain is connected with moving platform by the second revolute pair, and the other end of second connecting rod is connected with fixed platform by the second moving sets;
One end of the third connecting rod of the 3rd side chain is connected with moving platform by ball pair, and the other end of third connecting rod is connected with one end of double leval jib by the 3rd revolute pair, and the other end of double leval jib is connected with fixed platform by three moving sets;
Wherein, the three moving sets of the first moving sets of the first side chain, the second moving sets of the second side chain and the 3rd side chain is the driving pair of mechanism.
Preferably, described moving platform is isosceles triangle.
Preferably, described moving platform is isosceles right triangle, and wherein the line angle of the first revolute pair central point, the second revolute pair central point and ball sub-center point is 90 °.
Preferably, the first moving sets axis of the first side chain and the axis being parallel of the first revolute pair.
Preferably, the second moving sets axis of the second side chain and the axis being parallel of the second revolute pair.
Preferably, the three moving sets of the first moving sets of the first side chain, the second moving sets of the second side chain and the 3rd side chain all adopts motor to drive, or the three moving sets of the first moving sets of the first side chain, the second moving sets of the second side chain and the 3rd side chain all adopts air pump to drive.
The invention has the beneficial effects as follows:
The invention provides a kind of 2PR & PRS spatial parallel robot mechanism, the motion platform of described parallel robot mechanism can realize the movement output of three movements, mechanism is simple, processing and manufacturing is easy, kinematics model is simple, make Kinematic Calibration and control become easy, mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
Fig. 1 is a kind of 2PR & PRS spatial parallel robot mechanism.
Wherein: 1-moving platform, 2-ball is secondary, 3-the 3rd revolute pair, 4-three moving sets, 5-first revolute pair, 6-first moving sets, 7-second revolute pair, 8-second moving sets, 9-fixed platform, L1-first connecting rod, L2-second connecting rod, L3-third connecting rod, L4-double leval jib.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
In one embodiment, as shown in Figure 1, a kind of 2PR & PRS spatial parallel robot mechanism, be made up of moving platform 1, fixed platform 9 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod L1 of the first side chain is connected with moving platform 1 by the first revolute pair 5, and the other end of first connecting rod L1 is connected with fixed platform by the first moving sets 6;
One end of the second connecting rod L2 of the second side chain is connected with moving platform 1 by the second revolute pair 7, and the other end of second connecting rod L2 is connected with fixed platform by the second moving sets 8;
One end of the third connecting rod L3 of the 3rd side chain is connected with moving platform 1 by ball secondary 2, and the other end of third connecting rod L3 is connected with one end of double leval jib L4 by the 3rd revolute pair 3, and the other end of double leval jib L4 is connected with fixed platform by three moving sets 4;
Wherein, second moving sets 8 of the first moving sets 6, second side chain of the first side chain and the three moving sets 4 of the 3rd side chain are that the driving of mechanism is secondary.
Described moving platform 1 is isosceles right triangle, and wherein the line angle of secondary 2 central points of the first revolute pair 5 central point, the second revolute pair 7 central point and ball is 90 °.
First moving sets 6 axis of the first side chain and the axis being parallel of the first revolute pair 5.Second moving sets 8 axis of the second side chain and the axis being parallel of the second revolute pair 7.
Second moving sets 8 of the first moving sets 6, second side chain and the three moving sets 4 of the 3rd side chain of the first side chain all adopt motor to drive.
In another embodiment, as shown in Figure 1, a kind of 2PR & PRS spatial parallel robot mechanism, be made up of moving platform 1, fixed platform 9 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod L1 of the first side chain is connected with moving platform 1 by the first revolute pair 5, and the other end of first connecting rod L1 is connected with fixed platform by the first moving sets 6;
One end of the second connecting rod L2 of the second side chain is connected with moving platform 1 by the second revolute pair 7, and the other end of second connecting rod L2 is connected with fixed platform by the second moving sets 8;
One end of the third connecting rod L3 of the 3rd side chain is connected with moving platform 1 by ball secondary 2, and the other end of third connecting rod L3 is connected with one end of double leval jib L4 by the 3rd revolute pair 3, and the other end of double leval jib L4 is connected with fixed platform by three moving sets 4;
Wherein, second moving sets 8 of the first moving sets 6, second side chain of the first side chain and the three moving sets 4 of the 3rd side chain are that the driving of mechanism is secondary.
Described moving platform 1 is isosceles right triangle, and wherein the line angle of secondary 2 central points of the first revolute pair 5 central point, the second revolute pair 7 central point and ball is 90 °.
First moving sets 6 axis of the first side chain and the axis being parallel of the first revolute pair 5.Second moving sets 8 axis of the second side chain and the axis being parallel of the second revolute pair 7.
Second moving sets 8 of the first moving sets 6, second side chain and the three moving sets 4 of the 3rd side chain of the first side chain all adopt air pump to drive.
Above disclosedly be only present pre-ferred embodiments, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.

Claims (7)

1. a 2PR & PRS spatial parallel robot mechanism, it is characterized in that: be made up of moving platform (1), fixed platform (9) and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a revolute pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod (L1) of the first side chain is connected with moving platform (1) by the first revolute pair (5), and the other end of first connecting rod (L1) is connected with fixed platform by the first moving sets (6);
One end of the second connecting rod (L2) of the second side chain is connected with moving platform (1) by the second revolute pair (7), and the other end of second connecting rod (L2) is connected with fixed platform by the second moving sets (8);
One end of the third connecting rod (L3) of the 3rd side chain is connected with moving platform (1) by ball pair (2), the other end of third connecting rod (L3) is connected with one end of double leval jib (L4) by the 3rd revolute pair (3), and the other end of double leval jib (L4) is connected with fixed platform by three moving sets (4);
Wherein, the three moving sets (4) of first moving sets (6) of the first side chain, second moving sets (8) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 1, is characterized in that: described moving platform (1) is isosceles triangle.
3. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 1 and 2, it is characterized in that: described moving platform (1) is isosceles right triangle, wherein the line angle of the first revolute pair (5) central point, the second revolute pair (7) central point and ball pair (2) central point is 90 °.
4. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 3, is characterized in that: the first moving sets (6) axis of the first side chain and the axis being parallel of the first revolute pair (5).
5. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 4, is characterized in that: the second moving sets (8) axis of the second side chain and the axis being parallel of the second revolute pair (7).
6. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 5, is characterized in that: the three moving sets (4) of first moving sets (6) of the first side chain, second moving sets (8) of the second side chain and the 3rd side chain all adopts motor to drive.
7. a kind of 2PR & PRS spatial parallel robot mechanism according to claim 1, is characterized in that: the three moving sets (4) of first moving sets (6) of the first side chain, second moving sets (8) of the second side chain and the 3rd side chain all adopts air pump to drive.
CN201510146114.1A 2015-03-31 2015-03-31 2PR and PRS spatial parallel robot mechanism Pending CN104858857A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510146114.1A CN104858857A (en) 2015-03-31 2015-03-31 2PR and PRS spatial parallel robot mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510146114.1A CN104858857A (en) 2015-03-31 2015-03-31 2PR and PRS spatial parallel robot mechanism

Publications (1)

Publication Number Publication Date
CN104858857A true CN104858857A (en) 2015-08-26

Family

ID=53905241

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510146114.1A Pending CN104858857A (en) 2015-03-31 2015-03-31 2PR and PRS spatial parallel robot mechanism

Country Status (1)

Country Link
CN (1) CN104858857A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710863A (en) * 2016-03-30 2016-06-29 冯基洲 Novel parallel robot
CN105710862A (en) * 2016-03-30 2016-06-29 冯基洲 Parallel mechanism
CN105710861A (en) * 2016-03-30 2016-06-29 冯基洲 Robot
CN105835042A (en) * 2016-05-30 2016-08-10 柳州柳环环保技术有限公司 Three-freedom-degree energy-saving robot mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105710863A (en) * 2016-03-30 2016-06-29 冯基洲 Novel parallel robot
CN105710862A (en) * 2016-03-30 2016-06-29 冯基洲 Parallel mechanism
CN105710861A (en) * 2016-03-30 2016-06-29 冯基洲 Robot
CN105835042A (en) * 2016-05-30 2016-08-10 柳州柳环环保技术有限公司 Three-freedom-degree energy-saving robot mechanism

Similar Documents

Publication Publication Date Title
CN104858856A (en) 2PU and CRS spatial parallel robot mechanism
CN104858857A (en) 2PR and PRS spatial parallel robot mechanism
CN103072132B (en) The Three Degree Of Freedom moved decoupling parallel robot mechanism of structure full symmetric
CN102825595A (en) Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
CN102886777B (en) Two-degree-of-freedom parallel mechanism with large horizontal displacement
CN102699908A (en) Two-freedom-degree mobile decoupling parallel robot mechanism
CN103586864A (en) Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains
CN104669251A (en) 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism
CN104440879A (en) Multi-freedom-degree parallel mechanism
CN104440881A (en) Double-platform mechanism
CN102699907A (en) Three-degree-of-freedom mobile decoupling parallel robot mechanism
CN102626921A (en) Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains
CN104589308A (en) Multi-rotating-pair mechanism
CN202922581U (en) Two-degree freedom parallel mechanism with large lateral displacement
CN106078686A (en) A kind of multiple degrees of freedom spatial parallel robot mechanism
CN104385264B (en) A kind of branched frame Double tabletop mechanism
CN107511817B (en) Two-rotation one-movement asymmetric coupling mechanism
CN106078685A (en) A kind of multiple freedom parallel mechanism
CN104875187A (en) (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism
CN105033986A (en) Multi-freedom-degree robot
CN103406897B (en) There is the 3-freedom parallel mechanism that two move a turn
CN103707286B (en) A kind of palletizing mechanical arm in parallel of circumferential rotation type
CN106112967A (en) A kind of highly branched chain platform robot mechanism
CN105835042A (en) Three-freedom-degree energy-saving robot mechanism
CN205915332U (en) Spatial parallel robot mechanism

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
EXSB Decision made by sipo to initiate substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20150826

C02 Deemed withdrawal of patent application after publication (patent law 2001)