CN104985591A - Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving - Google Patents

Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving Download PDF

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Publication number
CN104985591A
CN104985591A CN201510387678.4A CN201510387678A CN104985591A CN 104985591 A CN104985591 A CN 104985591A CN 201510387678 A CN201510387678 A CN 201510387678A CN 104985591 A CN104985591 A CN 104985591A
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moving
freedom
degree
branched chain
dimensional
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CN201510387678.4A
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CN104985591B (en
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郭为忠
林荣富
高峰
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Abstract

A six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving comprises a moving platform, a base and three moving branch chains. One end of each moving branch chain is movably connected with the base, and the other end of each moving branch chain is connected with the moving platform in a rotating mode. The three moving branch chains are identical in structure and each comprise a one-dimensional/two-dimensional moving mechanism and a rotating mechanism. Movable connection means that the three moving branch chains are movably connected with the base in a one-dimensional or two-dimensional mode, so that the moving platform moves in a two-dimensional mode or spherically rotates around a fixed point O by three freedom degrees; the three-dimensional rotation characteristic of the moving platform is only related to driving of arc moving pairs and not related to driving of moving pairs; the three-dimensional moving characteristic of the point O is only related to driving of the moving pairs and not related to driving of the arc moving pairs; the rotating characteristic and the moving characteristic of the moving platform have the advantage of complete decoupling of rotating and moving.

Description

Six degree of freedom rotates and mobile full decoupled parallel institution
Technical field
What the present invention relates to is the technology of a kind of robot field, and specifically a kind of six degree of freedom rotates and 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 six-degree-of-freedom parallel connection mechanism does not have decoupling zero feature, controls comparatively complicated, more difficultly meets practical implementation requirement; Current most of six-degree-of-freedom parallel connection mechanism all has 6 chains, and this not only limit the working space of moving platform, and increases material, makes structure more complicated.
Through finding the retrieval of prior art, Chinese patent literature CN104626099A, open (bulletin) day 2015.05.20, disclose a kind of three full decoupled rotations three and move six degree of freedom hybrid mechanism, connected by the branch that three structures are identical between its support with halfpace one, this branch is made up of four kinematic pairs, is linear drives moving sets respectively, revolute pair, the secondary or revolute pair of rectilinear movement and universal hinge or revolute pair.Be connected by a revolute pair between halfpace one with halfpace two, halfpace two is connected by RPS branch, PSPR branch, PS branch and SPS branch with between moving platform.But the side chain of the prior art, moving link and kinematic pair are more and have three platforms, this makes complex structure.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of six degree of freedom to rotate and mobile full decoupled parallel institution, 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 movement branched chain, wherein: one end of movement branched chain is all connected with base runner, the other end and moving platform are rotationally connected, and make moving platform make two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
Three described movement branched chain structures are identical, include: an one dimension or two-dimensional motion mechanism and a rotating mechanism, wherein: the two ends of rotating mechanism are rotationally connected with moving platform and one dimension or two-dimensional motion mechanism and form two revolute pairs respectively, and the other end of one dimension or two-dimensional motion mechanism is connected with base runner.
Described rotating mechanism adopts arc moving sets or two bows be rotationally connected to realize, and this rotating mechanism itself forms a moving sets or a revolute pair.
Described one dimension or two-dimensional motion mechanism are realized by rectilinear movement pair, straight connecting rod, the secondary or pure flat dynamic universal hinge of parallelogram motion.
Described flexible connection refers to:
A) three movement branched chain are all flexibly connected with pedestal one dimension, or
B) three movement branched chain are all connected with pedestal two-dimensional active.
Described movement branched chain is all driven by arc moving sets or revolute pair.
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;
Fig. 3 is embodiment 3 structure chart;
Fig. 4 is embodiment 4 structure chart;
In figure: 1 be pedestal, 2,3,4 be straight connecting rod, 5 arc lower bars, 6 are upper bow, 7 for moving platform, L1 ~ L3 be movement branched chain, PR is arc moving sets, P1 ~ P3 is for rectilinear movement is secondary, R11 ~ R31 is revolute pair, the pure flat dynamic universal hinge of U*.
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 movement branched chain L1 ~ L3, wherein: one end of movement branched 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 two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
In the present embodiment, three movement branched chain are all connected with pedestal 1 two-dimensional active, these three movement branched chain L1 ~ L3 include: an one dimension or two-dimensional motion mechanism and a rotating mechanism, wherein: the two ends of rotating mechanism are rotationally connected with moving platform 7 and one dimension or two-dimensional motion mechanism and form two revolute pair R1, R2 respectively, and the other end of one dimension or two-dimensional motion mechanism is flexibly connected with pedestal 1.
Rotating mechanism in the present embodiment adopts arc moving sets PR to realize, and described movement branched chain L1 ~ L3 is all driven by arc moving sets or revolute pair.
Described arc moving sets PR comprises: the arc lower bar 5 be mutually flexibly connected and upper bow 6, and wherein: one end and the moving platform 7 of arc lower bar 5 are rotationally connected, one end of upper bow 6 and one dimension or two-dimensional motion mechanism are rotationally connected.
In the present embodiment, one dimension or two-dimensional motion mechanism are realized by rectilinear movement secondary P3.
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 movement branched chain L1 ~ L3 thus realizes two-dimensional active and is connected.
Described moving sets combination is made up of the moving sets that two are vertically connected.
Revolute pair axis homogeneous phase in each movement branched chain meets at 1 O, and the axis of 6 revolute pairs namely on three movement branched chain L1 ~ L3 converges at a bit.
In this device, the Three dimensional rotation feature of described moving platform only drives relevant with arc moving sets PR, and drives irrelevant with moving sets P1; The three-dimensional moving characteristic of some O only drives relevant with moving sets P1, and drives irrelevant with arc moving sets PR; The rotation feature of moving platform and moving characteristic have and rotate and mobile full decoupled advantage.
Embodiment 2
As shown in Figure 2, the present embodiment is compared with embodiment 1, described rotating mechanism adopts two bows be rotationally connected 5,6 to realize, this is rotationally connected itself and forms a revolute pair R2, rotating mechanism and moving platform 7 are rotationally connected and form revolute pair R3, and rotating mechanism is rotationally connected with rectilinear movement secondary P3 and forms revolute pair R1.
The technique effect that the present embodiment has compares embodiment 1: its rigidity is larger, is easier to control.
Embodiment 3
As shown in Figure 3, the present embodiment is compared with embodiment 2, and the one dimension in described movement branched chain or two-dimensional motion mechanism are realized by parallelogram motion secondary Pa.
The technique effect that the present embodiment has compares embodiment 2: because of the motion adopting parallelogram motion secondary Pa to realize P pair, this makes its structure more stable, and rigidity is larger.
Embodiment 4
As shown in Figure 4, the present embodiment is compared with embodiment 3, and the one dimension in described movement branched chain or two-dimensional motion mechanism are realized by pure flat dynamic universal hinge U*, and described movement branched chain is one dimension with pedestal 1 is flexibly connected.
Described one dimension is flexibly connected, and realized by the moving sets be vertically installed on pedestal 1, this moving sets is connected with described movement branched chain.
The technique effect that the present embodiment has compares embodiment 3: because adopting pure flat dynamic universal hinge U* to realize two-dimensional movement motion, this makes its structure more stable, and rigidity is larger.

Claims (9)

1. a six degree of freedom rotates and mobile full decoupled parallel institution, it is characterized in that, comprise: moving platform, pedestal and three movement branched chain, wherein: one end of movement branched chain is all connected with base runner, the other end and moving platform are rotationally connected, three described movement branched chain structures are identical, include: an one dimension or two-dimensional motion mechanism and a rotating mechanism, described flexible connection refers to: three movement branched chain are all connected with pedestal one dimension or two-dimensional active, thus makes moving platform make two-dimensional movement or make spherical three-degree-of-freedom around fixing point O to rotate.
2. six degree of freedom according to claim 1 rotates and mobile full decoupled parallel institution, it is characterized in that, the two ends of described rotating mechanism are rotationally connected with moving platform and one dimension or two-dimensional motion mechanism and form two revolute pairs respectively, and the other end of one dimension or two-dimensional motion mechanism is connected with base runner.
3. six degree of freedom according to claim 1 rotates and mobile full decoupled parallel institution, it is characterized in that, described rotating mechanism adopts arc moving sets or two bows be rotationally connected to realize, and this rotating mechanism itself forms a moving sets or a revolute pair.
4. six degree of freedom according to claim 1 rotates and mobile full decoupled parallel institution, it is characterized in that, described one dimension or two-dimensional motion mechanism are realized by rectilinear movement pair, straight connecting rod, the secondary or pure flat dynamic universal hinge of parallelogram motion.
5. six degree of freedom according to claim 3 rotates and mobile full decoupled parallel institution, it is characterized in that, described movement branched chain is all driven by arc moving sets or revolute pair.
6. five degree of freedom according to above-mentioned arbitrary claim rotates mobile full decoupled parallel institution, it is characterized in that, described two-dimensional active connects, and to be connected to be achieved by being arranged at moving sets combination on pedestal with one end of movement branched chain.
7. five degree of freedom according to claim 6 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.
8. rotate mobile full decoupled parallel institution according to described five degree of freedom arbitrary in Claims 1 to 5, it is characterized in that, described one dimension is flexibly connected, and to be connected to be achieved by being vertically installed in the moving sets on pedestal with one end of movement branched chain.
9. five degree of freedom according to claim 1 rotates mobile full decoupled parallel institution, and it is characterized in that, the revolute pair axis homogeneous phase in each movement branched chain meets at a bit, and the axis of 6 revolute pairs namely in three movement branched chain converges at a bit.
CN201510387678.4A 2015-07-02 2015-07-02 Six degree of freedom rotates and mobile full decoupled parallel institution Expired - Fee Related CN104985591B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN107351059A (en) * 2017-06-09 2017-11-17 深圳先进技术研究院 A kind of parallel institution of two-free-degree decoupling
CN111502213A (en) * 2020-04-28 2020-08-07 清华大学 Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same

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US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
WO2012017722A1 (en) * 2010-08-02 2012-02-09 株式会社安川電機 Parallel mechanism
CN103586862A (en) * 2013-10-22 2014-02-19 上海交通大学 Novel three-branched-chain six-degree-of-freedom robot
CN104029197A (en) * 2014-06-26 2014-09-10 山东大学(威海) Vector propulsion mechanism of underwater robot
CN104308835A (en) * 2014-10-24 2015-01-28 天津大学 Plane-symmetry three-rotating parallel connection mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
CN1631612A (en) * 2005-01-04 2005-06-29 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
WO2012017722A1 (en) * 2010-08-02 2012-02-09 株式会社安川電機 Parallel mechanism
CN103586862A (en) * 2013-10-22 2014-02-19 上海交通大学 Novel three-branched-chain six-degree-of-freedom robot
CN104029197A (en) * 2014-06-26 2014-09-10 山东大学(威海) Vector propulsion mechanism of underwater robot
CN104308835A (en) * 2014-10-24 2015-01-28 天津大学 Plane-symmetry three-rotating parallel connection mechanism

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN105291094B (en) * 2015-11-27 2017-02-01 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism
CN107351059A (en) * 2017-06-09 2017-11-17 深圳先进技术研究院 A kind of parallel institution of two-free-degree decoupling
CN111502213A (en) * 2020-04-28 2020-08-07 清华大学 Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same
CN111502213B (en) * 2020-04-28 2021-07-13 清华大学 Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same

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