CN104985588A - Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving - Google Patents
Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving Download PDFInfo
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- CN104985588A CN104985588A CN201510387578.1A CN201510387578A CN104985588A CN 104985588 A CN104985588 A CN 104985588A CN 201510387578 A CN201510387578 A CN 201510387578A CN 104985588 A CN104985588 A CN 104985588A
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Abstract
A two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving comprises a moving platform, a base and three branch chains. One end of each branch chain is movably connected with the base, and the other end of each branch chain is movably connected with the moving platform. The three branch chains comprise two two-rotation-freedom-degree branch chains and one one-rotation-freedom-degree branch chain, so that the moving platform moves in a two dimensional mode and spherically rotates around a fixed point O in a two-freedom-degree mode. The rotating characteristic and the moving characteristic of the moving platform have the advantage that complete decoupling of rotating and moving is achieved. Meanwhile, the 2T2R four-freedom-degree parallel mechanism has the advantages of comprising a few branch chains and being simple in structure, easy to assemble, high in mechanical performance, and easy to control.
Description
Technical field
What the present invention relates to is the technology of a kind of robot field, specifically a kind of two moves two rotations (2T2R) four-degree-of-freedom and rotates mobile full decoupled parallel institution.
Background technology
Parallel institution usually to be connect by many side chains by moving platform and fixed platform and forms, comparatively serial mechanism, the advantage such as have compact conformation, rigidity, bearing capacity is strong, accumulated error is little, therefore obtains widely in practical implementation.
Existing most of four-freedom parallel mechanism does not have decoupling zero feature, controls comparatively complicated, more difficultly meets practical implementation requirement; Current most of four-freedom parallel mechanism all has 4 chains, and this not only limit the working space of moving platform, and increases material, makes structure more complicated.The feature of existing most of four-freedom parallel mechanism is not decoupling mechanism, which increases control difficulty.
Through finding the retrieval of prior art, Chinese patent literature CN101716764A, open (bulletin) day, 2010.06.02, disclose a kind of four-degree-of-freedom redundance driving hybrid mechanism being applicable to vibration damping, this mechanism is by fixed platform, and halfpace, moving platform, six active branched chain and a passive side chain are formed.Halfpace is connected with fixed platform by the branch that three structures are identical, secondary as driving containing a tilted-putted telescopic rod be fixed on fixed platform in each branch, the other end of drive rod is connected with a connecting-rods with constant lengh by universal hinge, and connecting-rods with constant lengh is connected with halfpace by another universal hinge, and the interior axis of two universal hinges and outer axis are parallel to each other respectively; Be connected by three structure same branches between halfpace with moving platform, one is contained as driving secondary extensible link in each branch, and the universal hinge in connecting rod one end is connected with halfpace, and the other end is connected with moving platform by ball pivot; Moving platform is connected by the passive side chain containing a universal hinge with the center of halfpace.But this technology is redundant drive, require that drive motors is more than the platform free degree, and structure is comparatively complicated, is not easy to control.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of two and move the mobile full decoupled parallel institution of two rotation four-degree-of-freedoms rotations, the rotation feature of its moving platform and moving characteristic have and rotate mobile full decoupled feature, and it is few that the present invention has side chain, structure is simple, be easy to assembling, mechanism performance is high, is easy to control.
The present invention is achieved by the following technical solutions:
The present invention includes: moving platform, pedestal and three side chains, wherein: one end of side chain is all connected with base runner, the other end and moving platform are rotationally connected, and make moving platform make two-dimensional movement and make spherical surface two-freedom around fixing point O to rotate.
Three described side chains comprise: two dual-rotational freedom side chains and a single rotational freedom side chain.
Described dual-rotational freedom side chain comprises: the kinematic pair of connecting successively and two bows, wherein: the two ends of the first bow are rotationally connected with one end of kinematic pair and the second bow and form revolute pair respectively, the other end of the second bow and moving platform are rotationally connected formation revolute pair, and one end of kinematic pair is connected with base runner.
Described single rotational freedom side chain comprises: the kinematic pair of connecting successively and bow, wherein: the two ends of bow be rotationally connected with kinematic pair and moving platform respectively and form revolute pair and, one end of kinematic pair is connected with base runner.
Described kinematic pair preferably adopts parallelogram motion secondary, and this kinematic pair also can replace with moving sets and realize, and described side chain is all driven by revolute pair or moving sets.
Technique effect
Compared with prior art, the present invention significantly reduces the quantity of side chain, simple and compact for structure, and easily, good rigidity, mechanism kinematic is flexible, and rotation feature and the moving characteristic of moving platform are full decoupled in assembling.
Accompanying drawing explanation
Fig. 1 is embodiment 1 structure chart;
Fig. 2 is embodiment 2 structure chart;
In figure: 1 be pedestal, 2,3,4 be straight connecting rod, 5,6 be bow, 7 moving platforms, L1 ~ L3 be side chain, Pa is that parallelogram motion is secondary, P1 ~ P3 is moving sets, R11 ~ R3 is revolute pair.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under 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.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: moving platform 7, pedestal 1 and three side chain L1 ~ L3, wherein: one end of side chain L1 ~ L3 is all flexibly connected with pedestal 1, the other end and moving platform 7 are rotationally connected, and make moving platform 7 make three-dimensional and move and do spherical surface two-freedom rotation around fixing point.
Three described side chain L1 ~ L3 comprise: two dual-rotational freedom side chain L1, L2 and single rotational freedom side chain L3.
Described dual-rotational freedom side chain L1, L2 comprise: the parallelogram motion secondary Pa connected successively and two bow 5,6, wherein: the two ends of the first bow 5 are rotationally connected with one end of parallelogram motion secondary Pa and the second bow 6 and form revolute pair R11 and R12 (or R21 and R22) respectively, the other end of the second bow 6 and moving platform 7 are rotationally connected and form revolute pair R13 (or R23), and one end of parallelogram motion secondary Pa is flexibly connected with pedestal 1.
Described single rotational freedom side chain L3 comprises: the parallelogram motion secondary Pa connected successively and the 3rd bow 8, wherein: the two ends of the 3rd bow 8 are rotationally connected with parallelogram motion secondary Pa and moving platform 7 respectively and form revolute pair R31 and R32, and one end of parallelogram motion secondary Pa is flexibly connected with pedestal 1.
Described parallelogram motion secondary Pa is rotationally connected by straight connecting rod 4 and bow and is formed revolute pair R11/R21/R31, the axis of this revolute pair and straight connecting rod 4 dead in line, the axis of the revolute pair R11 ~ R31 on described dual-rotational freedom side chain all intersects at a point O, the axis of 8 revolute pairs namely on two dual-rotational freedom side chains converges at a bit, and this point is positioned on the axis of the revolute pair R31 of single rotational freedom side chain L3.
Described side chain L1 ~ L3 is all driven by revolute pair or moving sets.
Described pedestal 1 is provided with three pairs of moving sets combinations, and the combination of this moving sets is connected with one end of side chain L1 ~ L3 thus realizes being flexibly connected.
Described moving sets combination is made up of the moving sets that two are vertically connected.
Article three, side chain is circumferentially being uniformly distributed, and each angle of axis of three moving sets is 120 degree.
In this device, the two-dimensional rotary feature of described moving platform only drives relevant with revolute pair R1, and drives irrelevant with moving sets P1; The two-dimensional movement feature of some O only drives relevant with moving sets P1, and drives irrelevant with revolute pair R1; The rotation feature of moving platform and moving characteristic have full decoupled advantage.
Embodiment 2
As shown in Figure 2, parallelogram motion pair is replaced with moving sets by the present embodiment compared with embodiment 1.
Revolute pair axis homogeneous phase in the present embodiment on first and second side chain L1, L2 meets at 1 O, and 8 revolute pairs namely on a little two side chains intersect at a point, and this point is positioned on the R1 axis of Article 3 side chain.Article three, side chain is circumferentially being uniformly distributed, and each angle of axis of three moving sets is 120 degree.This mechanism is driven by three moving sets P1 and revolute pair R1.
The technique effect that the present embodiment has compares embodiment 1: its kinematic pair is single dof mobility pair, and its structure is simple, the motion required by easily realizing.
Claims (10)
1. one kind two is moved the mobile full decoupled parallel institution of two rotation four-degree-of-freedoms rotations, it is characterized in that, comprise: moving platform, pedestal and three side chains, wherein: one end of side chain is all connected with base runner, the other end and moving platform are rotationally connected, three described side chains comprise: two dual-rotational freedom side chains and a single rotational freedom side chain, make moving platform make two-dimensional movement and make spherical surface two-freedom around fixing point O to rotate.
2. four-degree-of-freedom according to claim 1 rotates mobile full decoupled parallel institution, it is characterized in that, described dual-rotational freedom side chain comprises: the kinematic pair of connecting successively and two bows, wherein: the two ends of the first bow are rotationally connected with one end of kinematic pair and the second bow and form revolute pair respectively, the other end of the second bow and moving platform are rotationally connected formation revolute pair, and one end of kinematic pair is connected with base runner.
3. four-degree-of-freedom according to claim 1 rotates mobile full decoupled parallel institution, it is characterized in that, described single rotational freedom side chain comprises: the kinematic pair of connecting successively and bow, wherein: the two ends of bow be rotationally connected with kinematic pair and moving platform respectively and form revolute pair and, one end of kinematic pair is connected with base runner.
4. the four-degree-of-freedom according to Claims 2 or 3 rotates mobile full decoupled parallel institution, it is characterized in that, described kinematic pair adopts parallelogram motion secondary.
5. four-degree-of-freedom according to claim 1 rotates mobile full decoupled parallel institution, it is characterized in that, described dual-rotational freedom side chain comprises: the moving sets of connecting successively and two bows, wherein: the two ends of the first bow are rotationally connected with one end of moving sets and the second bow and form revolute pair respectively, the other end of the second bow and moving platform are rotationally connected formation revolute pair, and one end of moving sets is connected with base runner.
6. four-degree-of-freedom according to claim 1 rotates mobile full decoupled parallel institution, it is characterized in that, described single rotational freedom side chain comprises: the moving sets of connecting successively and bow, wherein: the two ends of bow be rotationally connected with moving sets and moving platform respectively and form revolute pair and, one end of moving sets is connected with base runner.
7. four-degree-of-freedom according to Claims 2 or 3 or 5 or 6 rotates mobile full decoupled parallel institution, it is characterized in that, described side chain is all by revolute pair and revolute pair or moving sets driving.
8. the four-degree-of-freedom according to above-mentioned arbitrary claim rotates mobile full decoupled parallel institution, it is characterized in that, described pedestal is provided with three pairs of moving sets combinations, and the combination of this moving sets is connected with one end of side chain thus realizes being flexibly connected.
9. four-degree-of-freedom according to claim 8 rotates mobile full decoupled parallel institution, it is characterized in that, described moving sets combination is made up of the moving sets that two are vertically connected.
10. the four-degree-of-freedom according to Claims 2 or 3 rotates mobile full decoupled parallel institution, it is characterized in that, described kinematic pair is rotationally connected by straight connecting rod and bow and forms revolute pair, the axis of this revolute pair and the dead in line of straight connecting rod, the axis of the revolute pair on described dual-rotational freedom side chain all intersects at a point O, the axis of 8 revolute pairs namely on two dual-rotational freedom side chains converges at a bit, and this point is positioned on the axis of the revolute pair of single rotational freedom side chain.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510387578.1A CN104985588B (en) | 2015-07-02 | 2015-07-02 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
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| CN201510387578.1A CN104985588B (en) | 2015-07-02 | 2015-07-02 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
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| CN104985588B CN104985588B (en) | 2017-01-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171648A (en) * | 2020-10-30 | 2021-01-05 | 燕山大学 | Two-degree-of-freedom spherical motion parallel mechanism |
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| EP0494565A1 (en) * | 1991-01-11 | 1992-07-15 | Ecole Centrale Des Arts Et Manufactures | Device for moving an object in a translational way in space, especially for a mechanical robot |
| WO2002096605A1 (en) * | 2001-05-31 | 2002-12-05 | UNIVERSITé LAVAL | Cartesian parallel manipulators |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN201824355U (en) * | 2010-09-07 | 2011-05-11 | 上海工程技术大学 | Parallel mechanism of rotating with three degrees of freedom |
| CN103072132A (en) * | 2013-01-14 | 2013-05-01 | 燕山大学 | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure |
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
-
2015
- 2015-07-02 CN CN201510387578.1A patent/CN104985588B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0494565A1 (en) * | 1991-01-11 | 1992-07-15 | Ecole Centrale Des Arts Et Manufactures | Device for moving an object in a translational way in space, especially for a mechanical robot |
| WO2002096605A1 (en) * | 2001-05-31 | 2002-12-05 | UNIVERSITé LAVAL | Cartesian parallel manipulators |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN201824355U (en) * | 2010-09-07 | 2011-05-11 | 上海工程技术大学 | Parallel mechanism of rotating with three degrees of freedom |
| CN103072132A (en) * | 2013-01-14 | 2013-05-01 | 燕山大学 | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure |
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112171648A (en) * | 2020-10-30 | 2021-01-05 | 燕山大学 | Two-degree-of-freedom spherical motion parallel mechanism |
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