CN104889975A - Two-degree-of-freedom fully-isotropic parallel robot mechanism - Google Patents
Two-degree-of-freedom fully-isotropic parallel robot mechanism Download PDFInfo
- Publication number
- CN104889975A CN104889975A CN201510257043.2A CN201510257043A CN104889975A CN 104889975 A CN104889975 A CN 104889975A CN 201510257043 A CN201510257043 A CN 201510257043A CN 104889975 A CN104889975 A CN 104889975A
- Authority
- CN
- China
- Prior art keywords
- pair
- side chain
- revolute pair
- parallel
- rotating
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a two-degree-of-freedom fully-isotropic parallel robot mechanism. The mechanism is composed of a movable platform for the connection of two branched chains and a fixed platform; and a branched chain independent drive control theory is adopted. The first branched chain is composed of a rotating pair 1 and a movement pair 2, wherein the motion direction of the movement pair is parallel to the direction of a rotating shaft of the rotating pair. The second branched chain is composed of a rotating pair 3, a rotating pair 4, a rotating pair 5, a compound motion pair (4R) 6 and a compound motion pair (4R) 7, wherein the rotating axis of the rotating pair 3 is parallel to the rotating axis of the rotating pair 4, and the axial direction of the rotating pair 5 and the rotating axial direction of the movable platform are collinear. The rotating pair 1 and the rotating pair 3 are in input drive and are directly connected with a fixed base. The two-degree-of-freedom fully-isotropic parallel robot mechanism belongs to complete-decouping and fully-isotropic parallel mechanism and can be used for the fields of parallel mechanisms, industrial robots and microoperation and the like; and the two-degree-of-freedom fully-isotropic parallel robot mechanism has the advantages of being compact in structure, simple to control and good in rigidity and is very good in application prospect.
Description
Art
The invention belongs to parallel robot field, be specifically related to a kind of one and move a rotation two degrees of freedom completely isotropic spatial parallel robot mechanism.
Background technology
Parallel institution refers to the class mechanism being connected fixed platform and moving platform by some side chains, compared with traditional serial mechanism, parallel institution has the advantage of some uniquenesses, and as high in bearing capacity, rigidity is relatively strong, inertia is relatively little, have higher dynamic etc.Therefore parallel institution is widely used in the fields such as industry, space flight, agricultural, and wherein Delta mechanism is industrially used widely.
The normal solution of serial mechanism is easy, and the control of serial mechanism is simple, and application industrially widely.The structure of parallel institution is more complicated, its normal solution relative difficult, so the control problem of parallel institution hinders the application development of parallel institution.
Parallel institution connects fixed platform by some side chains and moving platform forms, so its mechanism can be more complicated than serial mechanism, mechanism's rigidity also can be brought low, structural unstable problem.
Summary of the invention
The object of the present invention is to provide a kind of one to move a rotation two degrees of freedom completely isotropic spatial parallel robot mechanism, solve the problem of the decoupling difficulty of current parallel institution existence, structural instability, poor rigidity.
The present invention is made up of fixed pedestal 8, moving platform operator end 9, side chain one and side chain two.Its concrete technical scheme is: side chain one is made up of revolute pair 1 and moving sets 2, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; Side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, compound motion pair (4R) 6, compound motion pair (4R) 7, wherein the axis of revolute pair 3 and revolute pair 4 is parallel to each other and perpendicular to the mobile axis direction of moving platform, the axis direction of revolute pair 5 and the moving direction conllinear of moving platform, the moving direction not conllinear of compound motion pair (4R) 6 and compound motion pair (4R) 7, the plane that its two-dimensional movement is formed is vertical with the moving direction of moving platform.By revolute pair 3 and the parallel subchain of 2R that revolute pair 4 is formed, between its 2R subchain, other kinematic pair can not be contained.
The present invention is compared with other technologies, advantage is: (1) the present invention patent discloses a kind of two degrees of freedom completely isotropic parallel institution, achieve one and move one turn of two-freedom motion, mechanism adopts drive side chain theoretical, has full decoupled, the feature of completely isotropic, two output frees degree of two side chains difference controlling organizations of mechanism simultaneously, form single closed loop parallel institution, simplify the complexity of mechanism, add the stability of mechanism.(2) mechanism adopts the parallel subchain of 2R to replace the mobile of general mechanism to drive, and mechanism's side chain two is all made up of revolute pair, and side chain two all adopts chain connection, mechanism is had simple and compact for structure, the feature of good rigidly.(3) driving being supplied to two branches in the present invention is rotating drive, adopt driven by servomotor, and driving is directly installed in frame, can increase the stability of mechanism kinematic, improve speed and the precision of mechanism kinematic, the operability of mechanism and realizability are strengthened greatly.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention
Fig. 2 is structure diagram of the present invention
Detailed description of the invention:
As shown in fig. 1, a kind of one rotates one moves two degrees of freedom completely isotropic spatial parallel robot mechanism, is made up of fixed pedestal 8, moving platform operator end 9, side chain one and side chain two.Side chain one is made up of revolute pair 1 and moving sets 2, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; Side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, compound motion pair (4R) 6, compound motion pair (4R) 7, wherein the axis of revolute pair 3 and revolute pair 4 is parallel to each other and perpendicular to the mobile axis direction of moving platform, the axis direction of revolute pair 5 and the moving direction conllinear of moving platform, the moving direction not conllinear of compound motion pair (4R) 6 and compound motion pair (4R) 7, the plane that its two-dimensional movement is formed is vertical with the moving direction of moving platform.By revolute pair 3 and the parallel subchain of 2R that revolute pair 4 is formed, between its 2R subchain, other kinematic pair can not be contained.Two side chains all adopt driven by servomotor, and drive motors is arranged on the position of revolute pair 1 and revolute pair 3, achieve one-dimensional movement and the one-dimensional rotation motion of mechanism.
Claims (4)
1. a two degrees of freedom completely isotropic parallel robot mechanism, it comprises fixed platform 8, moving platform operator end 9, side chain one, side chain two composition; Side chain one is made up of revolute pair 1 and moving sets 2, and side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, compound motion pair (4R) 6, compound motion pair (4R) 7, this parallel institution compact conformation, controls simple, good rigidly.
2. according to claim 1 a kind of one move a rotation two degrees of freedom completely isotropic spatial parallel robot mechanism, it is characterized in that, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; The revolute pair 3 of side chain two and the axis of revolute pair 4 are parallel to each other and perpendicular to the mobile axis direction of moving platform, axis direction and the moving platform pivot center direction of revolute pair 5 are parallel to each other, the moving direction not conllinear of compound motion pair (4R) 6 and compound motion pair (4R) 7, and its plane orthogonal formed is in the moving direction of moving platform.
3. a kind of one move a rotation two degrees of freedom completely isotropic spatial parallel robot mechanism as described in claim 1, its feature is, adopts drive side chain theoretical, and namely one of a side chain control moving platform exports the free degree; And it drives pair all to adopt driven by servomotor, be directly installed on close to pedestal place, this mechanism has compact conformation, controls simple, the features such as good rigidly.
4. a kind of one move a rotation two degrees of freedom completely isotropic spatial parallel robot mechanism as described in claim 1, constitute a parallel subchain of 2R by revolute pair 3 and revolute pair 4 in side chain two, between its 2R subchain, can not other kinematic pair be contained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510257043.2A CN104889975A (en) | 2015-05-19 | 2015-05-19 | Two-degree-of-freedom fully-isotropic parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510257043.2A CN104889975A (en) | 2015-05-19 | 2015-05-19 | Two-degree-of-freedom fully-isotropic parallel robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104889975A true CN104889975A (en) | 2015-09-09 |
Family
ID=54023143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510257043.2A Pending CN104889975A (en) | 2015-05-19 | 2015-05-19 | Two-degree-of-freedom fully-isotropic parallel robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104889975A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215976A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Full decoupled 3-freedom parallel mechanism |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
-
2015
- 2015-05-19 CN CN201510257043.2A patent/CN104889975A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215976A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Full decoupled 3-freedom parallel mechanism |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
| CN106826776B (en) * | 2017-04-07 | 2024-03-26 | 河南科技大学 | Isotropic space two-degree-of-freedom rotating parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103722552B (en) | A kind of controllable multi-degree-of-freedom manipulator | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN103302660B (en) | Two-degree-of-freedom metamorphic mechanism | |
| CN108656087A (en) | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement | |
| CN103722553B (en) | A kind of controlled welding robot of multiple freedom parallel mechanism formula | |
| CN104476535A (en) | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism | |
| CN104875184A (en) | Completely-decoupled 3T1R spatial parallel robot mechanism | |
| CN104044134A (en) | Multi-freedom-degree controlled parallel robot | |
| CN103381602A (en) | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN205129850U (en) | Move secondary drive's four degree of freedom parallel transfer robots | |
| CN104875183A (en) | Non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN104440867A (en) | Eight-freedom-degree movable robot palletizer | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN108557493B (en) | Metamorphic mechanism type stacking robot | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN104889975A (en) | Two-degree-of-freedom fully-isotropic parallel robot mechanism | |
| CN104626107A (en) | Four-degree-of-freedom seven-connecting-rod controllable moving operation mechanical arm with sliding plug pin | |
| CN104959972A (en) | Non-coupling completely-isotropic two-degree-of-freedom parallel robot mechanism | |
| CN104875201B (en) | One allosteric state large space robot palletizer mechanism | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN103624778A (en) | Asymmetric full-decoupling four-freedom-degree parallel mechanism | |
| CN210389181U (en) | Parallel structure with three-dimensional movement | |
| CN103350418B (en) | High-speed five-freedom-degree parallel mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150909 |
|
| WD01 | Invention patent application deemed withdrawn after publication |