CN104985590B - Six degree of freedom partly decoupled parallel institution - Google Patents

Six degree of freedom partly decoupled parallel institution Download PDF

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Publication number
CN104985590B
CN104985590B CN201510387642.6A CN201510387642A CN104985590B CN 104985590 B CN104985590 B CN 104985590B CN 201510387642 A CN201510387642 A CN 201510387642A CN 104985590 B CN104985590 B CN 104985590B
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moving
moving platform
degree
chain
arc
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CN201510387642.6A
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CN104985590A (en
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郭为忠
林荣富
高峰
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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Abstract

A kind of six degree of freedom partly decoupled parallel institution, including:Moving platform, pedestal and three side chains, wherein:One end of side chain is all connected with base runner, and the other end is rotated with moving platform and is connected, and three described branched structures are identical, all include:One motion and a rotating mechanism, described flexible connection refers to:Article three, side chain is all connected with pedestal by universal hinge or cylindrical movement pair, so that moving platform is made three-dimensional mobile or made spherical three-degree-of-freedom rotation around fixing point O;The Three dimensional rotation feature of described moving platform is mainly relevant with arc moving sets PR driving;The three-dimensional moving characteristic of point O is only relevant with moving sets P driving, and unrelated with arc moving sets PR driving;The rotation feature of moving platform and moving characteristic have the advantages that partly decoupled.

Description

Six degree of freedom partly decoupled parallel institution
Technical field
The present invention relates to a kind of technology of robot field, specifically a kind of six degree of freedom partly decoupled parallel machine Structure.
Background technology
Parallel institution generally passes through a plurality of side chain connection by moving platform and fixed platform and forms, and compared with serial mechanism, has knot The advantages of structure is compact, rigidity, bearing capacity are strong, cumulative error is little, therefore obtain in extensive practical implementation.
Existing most of six-degree-of-freedom parallel connection mechanism does not have decoupling feature, controls complex it is more difficult to meet engineering in fact Border application requirement;Most of six-degree-of-freedom parallel connection mechanisms are respectively provided with 6 chains at present, and the work that this not only limit moving platform is empty Between, and increase material, make structure increasingly complex.
Find through the retrieval to prior art, Chinese patent literature CN104626099A, open (bulletin) day 2015.05.20, a kind of full decoupled mobile six degree of freedom hybrid mechanism of three rotation three, its support and halfpace are disclosed Connected by three structure identical branches between one, this branch is made up of four kinematic pairs, is linear drives moving sets respectively, turn Dynamic pair, rectilinear movement is secondary or rotates secondary and universal hinge or rotates secondary.Rotated secondary between halfpace one and halfpace two by one Connect, halfpace two is connected by RPS branch, PSPR branch, PS branch and SPS branch between moving platform.But this technology Chain, moving link and kinematic pair are more and have three platforms, and this makes complex structure.
Content of the invention
The present invention is directed to deficiencies of the prior art, proposes a kind of six degree of freedom partly decoupled parallel institution, its The rotation feature of moving platform and moving characteristic have the characteristics that to rotate movement full decoupled, and the present invention few, the knot that has a side chain , simply it is easy to assembling, mechanism performance height is it is easy to control for structure.
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, separately One end is rotated with moving platform and is connected so that moving platform is made three-dimensional mobile or made spherical three-degree-of-freedom rotation around fixing point O.
Described flexible connection refers to:Article three, side chain is all connected with pedestal by universal hinge or cylindrical movement pair.
Three described branched structures are identical, all include:One motion and a rotating mechanism, wherein:Rotate The two ends of mechanism are rotated with moving platform and motion respectively and are connected and constitute two rotation pairs, the other end of motion and base Seat is flexibly connected.
Described rotating mechanism adopts arc moving sets or two bows rotating connection to realize, this rotating mechanism itself Constitute moving sets or a rotation is secondary.
Described motion passes through to move linearly secondary, single straight connecting rod or rotate the straight connecting rod connecting to realize.
Described side chain is all driven by moving sets.
Technique effect
Compared with prior art, the present invention is greatly reduced the quantity of side chain, simple and compact for structure, and assembling is easy, rigidity Good, flexibly, the rotation feature of moving platform is full decoupled with moving characteristic for mechanism kinematic.
Brief description
Fig. 1 is embodiment 1 structure chart;
Fig. 2 is embodiment 2 structure chart;
Fig. 3 is embodiment 3 structure chart;
Fig. 4 is embodiment 4 structure chart;
Fig. 5 is embodiment 5 structure chart;
In figure:1 be pedestal, 2,3 be straight connecting rod, 4 arc lower bars, 5 be upper bow, 6 be moving platform, L1~L3 be Chain, PR are arc moving sets, P1~P3 is rectilinear movement pair, R11~R31 is to rotate pair, the universal hinge of U, C cylindrical movement pair.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements Example.
Embodiment 1
As shown in figure 1, the present embodiment includes:Moving platform 6, pedestal 1 and three side chain L1~L3, wherein:Side chain L1~ One end of L3 is all flexibly connected with pedestal 1, and the other end is rotated with moving platform 6 and is connected so that moving platform 6 makees two-dimensional movement or around solid Fixed point O makees spherical three-degree-of-freedom and rotates.
In the present embodiment, three side chain L1~L3 all include:Secondary P1 and cylindrical movement secondary PR of one rectilinear movement, Wherein:The two ends of rotating mechanism are rotated with moving platform 6 and motion respectively and are connected and constitute two rotation secondary R1, R2, straight line The other end of moving sets P1 is rotated by cylindrical movement secondary C with pedestal 1 and is connected.
Described side chain L1~L3 is all driven by the secondary P1 or cylindrical movement secondary PR that moves linearly.
Described arc moving sets PR includes:The arc lower bar 5 being mutually flexibly connected and upper bow 6, wherein:Arc lower One end of bar 5 is rotated with moving platform 6 and is connected, and one end of upper bow 6 is rotated with motion and is connected.
Turns auxiliary shaft line on each side chain all intersects at a point O, and that is, 6 rotations on three side chain L1~L3 are secondary Axis converges at a bit.
In this device, the Three dimensional rotation feature of described moving platform is mainly relevant with arc moving sets PR driving;The three of point O Dimension moving characteristic is only relevant with moving sets P driving, and unrelated with arc moving sets PR driving;The rotation feature of moving platform and movement Feature has the advantages that partly decoupled.
Embodiment 2
As shown in Fig. 2 the present embodiment is compared with Example 1, described rectilinear movement secondary P1 replaces with the straight of two sockets Connecting rod, this straight connecting rod itself constitutes a moving sets P;And described cylindrical movement secondary PR replaces with two and rotates the arc connecting Bar 4,5, this rotation connection itself constitutes a moving sets R2, and bow two ends are rotated with moving platform 6 respectively and connect and compose rotation Secondary R3 and moving sets P rotates and connects and composes rotation secondary R1.
The technique effect that the present embodiment has compares embodiment 1:Its rigidity is more greatly it is easier to control.
Embodiment 3
As shown in figure 3, the present embodiment is compared with Example 2, described moving sets P replaces with two and rotates the direct-connected of connection Bar, this rotation connection itself constitutes a rotation secondary R1.
The technique effect that the present embodiment has compares embodiment 2:Because rotating secondary relatively moving sets it is easier to manufacture, therefore This mechanism is easier to realize its motion;
Embodiment 4
As shown in figure 4, the present embodiment is compared with Example 2, described moving sets P replaces with a straight connecting rod, and this is direct-connected The two ends of bar are rotated with described bow respectively and connect and compose rotation secondary R2, pass through universal hinge U rotation with pedestal 1 and are connected and structure Become to rotate secondary R1.
The technique effect that the present embodiment has compares embodiment 2:Because universal hinge relatively cylindrical pair, more compact structure, more Easily fabricated, so mechanism structure is more compact, it is more easy to realize its motion;
Embodiment 5
As shown in figure 5, the present embodiment is compared with Example 2, described cylindrical movement secondary C replaces with moving sets P1, three One end of side chain is rotated with corresponding moving sets P1 and connects and constitute rotation secondary R1.
The technique effect that the present embodiment has compares embodiment 2:Its kinematic pair is single dof mobility pair, structure letter Single, the required motion of convenient realization.

Claims (3)

1. a kind of six degree of freedom partly decoupled parallel institution is it is characterised in that include:Moving platform, pedestal and three side chains, its In:One end of side chain is all connected with base runner, and the other end is rotated with moving platform and is connected, and three described branched structures are identical, All include:One motion and a rotating mechanism, described flexible connection refers to:Article three, side chain all by universal hinge or Cylindrical movement pair is connected with pedestal, so that moving platform is made three-dimensional mobile or made spherical three-degree-of-freedom rotation around fixing point O;
The two ends of described rotating mechanism are rotated with moving platform and motion respectively and are connected and constitute two rotation pairs, fitness machine The other end of structure is connected with base runner;
Described rotating mechanism adopts arc moving sets or two bows rotating connection to realize, wherein:Arc moving sets bag Include:The arc lower bar being mutually flexibly connected and upper bow, wherein:One end of arc lower bar is rotated with moving platform and is connected, upper arc One end of shape bar is rotated with motion and is connected;
Described rotating mechanism itself constitutes moving sets or a rotation is secondary;
Turns auxiliary shaft line on each side chain all intersects at a point, and that is, 6 secondary axis of rotation on three side chains converge at A bit.
2. six degree of freedom partly decoupled parallel institution according to claim 1, is characterized in that, described motion passes through Move linearly secondary, single straight connecting rod or the straight connecting rod realization rotating connection.
3. six degree of freedom partly decoupled parallel institution according to claim 1 and 2, is characterized in that, described side chain is all logical Cross moving sets to drive.
CN201510387642.6A 2015-07-02 2015-07-02 Six degree of freedom partly decoupled parallel institution Expired - Fee Related CN104985590B (en)

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CN105619398A (en) * 2016-03-24 2016-06-01 褚宏鹏 Branched-chain coupling two-rotation parallel mechanism
CN106166739B (en) * 2016-09-23 2018-11-09 江苏哈工海渡工业机器人有限公司 A kind of linear type parallel robot
CN106627287A (en) * 2016-11-02 2017-05-10 江苏大学镇江流体工程装备技术研究院 Magneto-rheological six-degree-of-freedom parallel vibration reduction platform for vehicle seat
CN106697330B (en) * 2016-12-14 2019-06-11 哈尔滨工业大学 A kind of hard and soft dynamics uncoupling device of space six degree of freedom
CN106671067B (en) * 2017-03-13 2018-09-18 河北工业大学 A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair
CN106903671B (en) * 2017-03-21 2019-12-24 中国科学院深圳先进技术研究院 Three-degree-of-freedom parallel mechanism with arc-shaped moving pair
CN106903673B (en) * 2017-03-29 2019-06-28 中国科学院深圳先进技术研究院 A kind of three-branch chain six-freedom degree parallel mechanism with arc prismatic pair
US10864626B2 (en) * 2017-03-29 2020-12-15 Shenzhen Institutes Of Advanced Technology Chinese Academy Of Sciences Parallel mechanism with six degrees of freedom having arc-shaped prismatic pairs in three branches
CN107598902A (en) * 2017-10-30 2018-01-19 天津工业大学 A kind of six-degree-of-freedom parallel connection mechanism
CN108790963B (en) * 2018-06-12 2021-04-09 蚌埠学院 Vehicle and ship seat with flexible buffer mechanism

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