CN105127979A - Three-horizontal movement one-rotation parallel robot mechanism - Google Patents
Three-horizontal movement one-rotation parallel robot mechanism Download PDFInfo
- Publication number
- CN105127979A CN105127979A CN201510566039.4A CN201510566039A CN105127979A CN 105127979 A CN105127979 A CN 105127979A CN 201510566039 A CN201510566039 A CN 201510566039A CN 105127979 A CN105127979 A CN 105127979A
- Authority
- CN
- China
- Prior art keywords
- side chain
- revolute pair
- axis
- parallel
- translation
- 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
Abstract
The invention provides a three-horizontal movement one-rotation parallel robot mechanism which is composed of a moving platform (1), a static platform (0), a branch chain I, a branch chain II, a branch chain III and a branch IV for connecting the moving platform (1) and the static platform (0), wherein the branch chain I, the branch chain II, the branch chain III and the branch IV are totally the same. The three-horizontal movement one-rotation parallel robot mechanism is characterized in that one end of a drive rod (2) on each branch chain is connected with the static platform (0) through a first rotation pair (R11), the other end of each drive rod (2) is connected with a first short edge rod (3) of a parallelogram composed of four rotation pairs and four rods through a second rotation pair (R12), the second short edge rod (6) of each parallelogram is connected with one end of a connection rod (7) through a rotation pair (R13), and the other end of the connection rod (7) is connected with the moving platform (1) through a rotation pair (R14); the axes of the rotation pair set A composed of each first rotation pair (R11), the corresponding second rotation pair (R12) and the corresponding third rotation pair (R13) are parallel to one another, but the axes of the rotation pair set A are perpendicular to the axis of the rotation pair (R14). The three-horizontal movement one-rotation parallel robot mechanism has the advantages of being simple in structure, easy to manufacture, high in positioning accuracy and the like.
Description
Technical field
The present invention relates to a kind of executing agency of parallel robot, for robot mechanism etc. provides a novel three-translation and one-rotation parallel mechanism.
Background technology
The operator of parallel-connection structure obtains commercial Application, and particularly the Delta operator of implementation space three translation functions, has played good effect in the techniques such as high speed pick-and-place, orientation assemble, carrying, sorting, loading and unloading; And there is the parallel manipulator of three translation one rotating functions, and needing under the occasion adjusting workpiece posture, indispensable especially.For this reason, R.Clavel in 1988 is on the basis of three translation Delta operators, then connect a R-U-P-U-R side chain or S-P-S side chain, constitutes the series-parallel connection operator that has three translation one rotating functions; The patent 200310106012.4 of Yang Ting power in 2003 application, proposes one group of 5 three-translation and one-rotation parallel mechanism, but does not have Development Prototype; 2006 afterwards start, Pierrot etc. have invented four-degree-of-freedom SCARA type (the namely three translations one are rotated) operator of H4, I4, Par4 series in succession, and professor Huang Tian develops the Cross-IV type high speed transfer robot that four-degree-of-freedom three translation one is rotated; And patent 201210435375.1 proposes a kind of parallel institution realizing three translations one and rotate, and have developed model machine.But relative to the Delta operator of three translations, on the one hand, these mechanism structure are complicated, do not obtain good development & application, on the other hand, the new structure and the application that realize three translation one rotating functions all need development.
Therefore, the development of parallel institution that three translations one are rotated and practical, needs to create the new architecture being better than existing mechanism.
Summary of the invention
The object of the invention is will overcome the deficiencies in the prior art and the three-translation and one-rotation parallel mechanism that a class is new is provided, this kind of mechanism have good rigidly, structure comparatively simple, be easy to Precision Machining, and the advantage such as forward kinematics solution is simple.
A kind of three-translation and one-rotation parallel mechanism provided by the invention, by moving platform (1), silent flatform (0) and connect moving platform (1), the I side chain of four articles of identical side chains of silent flatform (0), the IIth side chain, III side chain, IV side chain form, one end of the drive rod (2) on every bar side chain and silent flatform (0) are with revolute pair one (R
11) connect, the minor face bar one (3) of the other end of drive rod (2) and the parallelogram be made up of four revolute pairs and four bars, with revolute pair two (R
12) connect, another minor face bar two (6) revolute pair three (R of parallelogram
13) be connected with one end of connecting rod (7), and the other end of connecting rod (7) and moving platform (1) revolute pair four (R
14) connect; These three revolute pair one (R
11), revolute pair two (R
12), revolute pair three (R
13) axis of A group revolute pair that forms is parallel to each other, but with revolute pair four (R
14) axes normal;
Meanwhile, the axis of the A group revolute pair on I side chain, parallel between two with the axis of the A group revolute pair on opposite side III side chain respectively; A group revolute pair axis on IIth side chain, parallel between two with the axis of the A group revolute pair on opposite side IV side chain respectively; But the axis of the A group revolute pair on I side chain, not parallel with the axis of the A group revolute pair on the IIth side chain;
Further, in I side chain, the IIth side chain, III side chain, these four articles of side chains of IV side chain, relative wantonly two side chains can substitute without constraint S-S-R, S-S-P, S-P-S side chain with any two, and here, S represents that ball is secondary, R represents revolute pair, P represents revolute pair.
Four revolute pairs that every bar side chain connects with silent flatform (0), for drive pair, can substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Accompanying drawing explanation
Accompanying drawing 1 is the structure diagram schematic diagram of one of the embodiment of three-translation and one-rotation parallel mechanism of the present invention;
Accompanying drawing 2 is the structure diagram schematic diagram of the embodiment two of three-translation and one-rotation parallel mechanism of the present invention;
Detailed description of the invention
Give to illustrate further to technology of the present invention below by accompanying drawing and example.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is such: a kind of three-translation and one-rotation parallel mechanism, by moving platform 1, silent flatform 0 and connect moving platform 1, the I side chain of four articles of identical side chains of silent flatform 0, the IIth side chain, III side chain, IV side chain form, one end of the drive rod 2 on I side chain and silent flatform 0 are with revolute pair one R
11connect, minor face bar 1 use revolute pair two R of the other end of drive rod 2 and parallelogram be made up of four revolute pairs and four bars
12connect, another minor face bar 26 revolute pair three R of parallelogram
13be connected with one end of connecting rod 7, and the other end of connecting rod 7 and moving platform 1 revolute pair four R
14connect; These three revolute pair one R
11, revolute pair two R
12, revolute pair three R
13the axis of A group revolute pair formed is parallel to each other, but with revolute pair four R
14axes normal;
Meanwhile, the axis of the A group revolute pair on I side chain, parallel between two with the axis of the A group revolute pair on opposite side III side chain respectively; A group revolute pair axis on IIth side chain, parallel between two with the axis of the A group revolute pair on opposite side IV side chain respectively; But the axis of the A group revolute pair on I side chain, not parallel with the axis of the A group revolute pair on the IIth side chain;
Further, the revolute pair that every bar side chain connects with silent flatform 0, can substitute with moving sets.
As four the revolute pair R connected with silent flatform 0
11, R
21, R
31, R
41during for driving, moving platform 1 just can be made to realize revolute pair four R on D translation and moving platform 1
14the one-dimensional rotation of axis exports; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Parallel institution shown in accompanying drawing 2 is embodiments of the invention two, its technical scheme is such: a kind of three-translation and one-rotation parallel mechanism, comprise moving platform 1, silent flatform 0, and connect moving platform 1, the identical I side chain of structure of silent flatform 0, III side chain and two articles without restricted type S-S-R side chain, the structure of I side chain, III side chain and layout thereof, identical with the I side chain of one of embodiment, III side chain, one end of the drive rod 2 namely on side chain and silent flatform 0 are with revolute pair one R
11connect, minor face bar 1 use revolute pair two R of the other end of drive rod 2 and parallelogram be made up of four revolute pairs and four bars
12connect, another minor face bar 26 revolute pair three R of parallelogram
13be connected with one end of connecting rod 7, and the other end of connecting rod 7 and moving platform 1 revolute pair four R
14connect; These three revolute pair one R
11, revolute pair two R
12, revolute pair three R
13the axis of A group revolute pair formed is parallel to each other, but with revolute pair four R
14axes normal;
And the R end revolute pair five (R of S-S-R type side chain
1) be connected with silent flatform 0, S end secondary two S of ball of S-S-R type side chain
2be connected with moving platform 1, two connecting rods 8 and 9 secondary S of ball of S-S-R type side chain
1connect.Here, S represents that ball is secondary, R represents revolute pair.
Further, the revolute pair that every bar side chain connects with silent flatform 0, can substitute with moving sets.
As four the revolute pair (R connected with silent flatform 0
11, R
2, R
1, R
31) for drive time, moving platform 1 just can be made to realize revolute pair four R on D translation and moving platform 1
14the one-dimensional rotation of axis exports; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Claims (4)
1. a three-translation and one-rotation parallel mechanism, by moving platform (1), silent flatform (0) and connect moving platform (1), the I side chain of four articles of identical side chains of silent flatform (0), the IIth side chain, III side chain, IV side chain form, it is characterized in that: one end of the drive rod (2) often on bar side chain and silent flatform (0) are with revolute pair one (R
11) connect, minor face bar one (3) the use revolute pair two (R of the other end of drive rod (2) and parallelogram be made up of four revolute pairs and four bars
12) connect, another minor face bar two (6) revolute pair three (R of parallelogram
13) be connected with one end of connecting rod (7), and the other end of connecting rod (7) and moving platform (1) revolute pair four (R
14) connect; These three revolute pair one (R
11), revolute pair two (R
12), revolute pair three (R
13) axis of A group revolute pair that forms is parallel to each other, but with revolute pair four (R
14) axes normal.
2., by three-translation and one-rotation parallel mechanism according to claim 1, it is characterized in that: the axis of the A group revolute pair on I side chain, parallel between two with the axis of the A group revolute pair on opposite side III side chain respectively; A group revolute pair axis on IIth side chain, parallel between two with the axis of the A group revolute pair on opposite side IV side chain respectively; But the axis of the A group revolute pair on I side chain, not parallel with the axis of the A group revolute pair on the IIth side chain.
3. by the three-translation and one-rotation parallel mechanism described in claim 1 or 2, it is characterized in that: in I side chain, the IIth side chain, III side chain, these four articles of side chains of IV side chain, relative wantonly two side chains can substitute without restricted type S-S-R, S-S-P, S-P-S side chain with any two.
4. by claim 1 or the three-translation and one-rotation parallel mechanism described in 2 or 3, it is characterized in that: four revolute pairs that every bar side chain connects with silent flatform (0), for drive pair, can substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, and it independently exports motion number is three, two, one, other motion is for deriving from motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566039.4A CN105127979A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566039.4A CN105127979A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105127979A true CN105127979A (en) | 2015-12-09 |
Family
ID=54713723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510566039.4A Pending CN105127979A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105127979A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105619385A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform |
| CN105619383A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform |
| CN105643600A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot mechanism of low-coupling-degree three-kinematic-pair movable platform |
| CN105643599A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Single-input three-translation one-rotation parallel robot mechanism |
| CN105643602A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot device of low-coupling-degree two-kinematic-pair movable platform |
| CN105666465A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Low-coupling degree three-translation one-rotation parallel robot manipulator with two-kinematic pair mobile platform |
| CN105666466A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Single-input three-translation and one-rotation parallel robot platform |
| CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
| CN106514624A (en) * | 2016-12-15 | 2017-03-22 | 常州大学 | Reconfigurable four-degree-of-freedom parallel manipulator |
| CN108942891A (en) * | 2018-08-31 | 2018-12-07 | 昆明理工大学 | It is a kind of to have the dynamic parallel institution of five maintenance and operations |
| CN113043228A (en) * | 2021-03-22 | 2021-06-29 | 江苏宏达数控科技股份有限公司 | Multi-station power tool rest posture adjusting detection platform and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| EP2221153A1 (en) * | 2007-10-24 | 2010-08-25 | Universidad Del Pais Vasco-Euskal Herriko Unibersitatea | Parallel robot with four degrees of free movement |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
-
2015
- 2015-09-08 CN CN201510566039.4A patent/CN105127979A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| EP2221153A1 (en) * | 2007-10-24 | 2010-08-25 | Universidad Del Pais Vasco-Euskal Herriko Unibersitatea | Parallel robot with four degrees of free movement |
| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 罗玉峰等: ""三平移一转动并联机构型综合及分类"", 《机械设计与研究》 * |
| 金琼等: ""基于单开链单元的三平移一转动并联机器人机构型综合及分类"", 《中国机械工程》 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522570B (en) * | 2016-02-25 | 2017-07-07 | 北京交通大学 | A kind of quick crawl robot with all-round motion |
| CN105522570A (en) * | 2016-02-25 | 2016-04-27 | 北京交通大学 | Rapid grabbing robot capable of performing whole circle movement |
| CN105619385A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform |
| CN105619383A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform |
| CN105643600A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot mechanism of low-coupling-degree three-kinematic-pair movable platform |
| CN105643599A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Single-input three-translation one-rotation parallel robot mechanism |
| CN105643602A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot device of low-coupling-degree two-kinematic-pair movable platform |
| CN105666465A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Low-coupling degree three-translation one-rotation parallel robot manipulator with two-kinematic pair mobile platform |
| CN105666466A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Single-input three-translation and one-rotation parallel robot platform |
| CN106514616A (en) * | 2016-10-11 | 2017-03-22 | 江苏大学 | Multi-purpose multiple-series transplanting robot |
| CN106514616B (en) * | 2016-10-11 | 2019-11-05 | 江苏大学 | A kind of multipurpose mixed connection transplant robot |
| CN106514624A (en) * | 2016-12-15 | 2017-03-22 | 常州大学 | Reconfigurable four-degree-of-freedom parallel manipulator |
| CN106514624B (en) * | 2016-12-15 | 2018-10-16 | 常州大学 | A kind of restructural four-degree-of-freedparallel parallel manipulator |
| CN108942891A (en) * | 2018-08-31 | 2018-12-07 | 昆明理工大学 | It is a kind of to have the dynamic parallel institution of five maintenance and operations |
| CN108942891B (en) * | 2018-08-31 | 2023-09-15 | 昆明理工大学 | Parallel mechanism with five-dimensional motion |
| CN113043228A (en) * | 2021-03-22 | 2021-06-29 | 江苏宏达数控科技股份有限公司 | Multi-station power tool rest posture adjusting detection platform and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105127979A (en) | Three-horizontal movement one-rotation parallel robot mechanism | |
| CN105127999A (en) | Three-translation one-rotation parallel robot catcher | |
| CN105643600B (en) | A kind of three one rotating parallel robot mechanisms of translation of the kinematic pair moving platform of weak coupling three | |
| CN105127983A (en) | Three-translation and one-rotation parallel mechanism manipulator | |
| CN105127978A (en) | Three-horizontal movement one-rotation parallel robot | |
| CN105127977A (en) | Manipulator of three-horizontal movement one-rotation parallel robot | |
| CN105666465B (en) | A kind of three one rotating parallel device people manipulators of translation of the kinematic pair moving platform of weak coupling two | |
| CN105619385B (en) | A kind of three one rotating parallel robot mechanisms of translation of the kinematic pair moving platform of weak coupling two | |
| CN105643603B (en) | A kind of three one rotating parallel device people manipulators of translation of the kinematic pair moving platform of weak coupling three | |
| CN105291096B (en) | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom | |
| CN105234922A (en) | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device | |
| CN107020615B (en) | A kind of Three Degree Of Freedom two translation-rotary parallel connection mechanism of mobile decoupling | |
| CN105234933B (en) | Dual-translation dual-rotation parallel-connection robot device | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN105127980A (en) | Three-horizontal movement one-rotation parallel robot device | |
| CN105729450A (en) | Four-degree-of-freedom parallel mechanism | |
| CN106002936B (en) | One kind three translates a rotating parallel device people platform manipulator | |
| CN108748098A (en) | A kind of parallel manipulator of three translations, one rotation | |
| CN105127998A (en) | Three-horizontal movement one-rotation parallel robot platform | |
| CN105619386B (en) | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling three | |
| CN105643601B (en) | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling three | |
| CN105619383B (en) | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling two | |
| CN106363608B (en) | There are two types of the parallel robot devices of operation mode for tool | |
| CN106041885B (en) | One kind three translates rotating parallel device people's stage apparatus | |
| CN105922247B (en) | One kind three translates rotating parallel device people's platform 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: 20151209 |
|
| WD01 | Invention patent application deemed withdrawn after publication |