CN105127983A - Three-translation and one-rotation parallel mechanism manipulator - Google Patents
Three-translation and one-rotation parallel mechanism manipulator Download PDFInfo
- Publication number
- CN105127983A CN105127983A CN201510650394.XA CN201510650394A CN105127983A CN 105127983 A CN105127983 A CN 105127983A CN 201510650394 A CN201510650394 A CN 201510650394A CN 105127983 A CN105127983 A CN 105127983A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- side chain
- parallel
- axis
- 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 discloses a three-translation and one-rotation parallel mechanism manipulator, which comprises a moving platform (1), a fixed platform (10), and a branched chain I, a branched chain II, a branched chain III and a branched chain IV of four completely same branched chains, wherein the branched chain I, the branched chain II, the branched chain III and the branched chain IV are connected with the moving platform (1) and the fixed platform (10); one end of a drive rod (2) on the branched chain I is connected with the fixed platform (10) by a revolute pair I (R11); the other end of the drive rod (2) is connected with a short-edge rod I (3) of a parallelogram composed of two revolute pairs (Ra and Rb), two ball pairs (Sa and Sb) and four rods (3, 6, 4 and 5) by a revolute pair II (R12); the other short-edge rod II (6) of the parallelogram is directly connected with the moving platform (1) by a revolute pair III (R13); the axis of the revolute pair I (R11) is parallel to that of the revolute pair II (R12), but vertical to that of the revolute pair III (R13); and the axes of the four revolute pairs (R13, R23, R33 and R43) on the moving platform (1) is necessary to be parallel to one another. The manipulator has the advantages of being simple in structure, easy to manufacture, high in locating accuracy and the like.
Description
Technical field
The present invention relates to a kind of execution manipulator 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.Application for a patent for invention numbers 201510564382.5,201510567133.1,201510564195.7,201510566039.4,201510566840.9, also discloses the new architecture of a collection of three translation one rotating parallel device people.
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 manipulator 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 I side chain and silent flatform (0) are with revolute pair one (R
11) connect, the other end of drive rod (2), and by two revolute pair (R
a, R
b), two ball pair (S
a, S
b) and minor face bar one (3) revolute pair two (R of parallelogram that forms of four bars (3,6,4,5)
12) connect, another minor face bar two (6) revolute pair three (R of parallelogram
13) be directly connected with moving platform (1); Wherein, revolute pair one (R
11) and revolute pair two (R
12) axis being parallel, but with revolute pair three (R
13) axes normal; Four revolute pair (R on moving platform (1)
13, R
23, R
33, R
43) axis must be parallel;
Meanwhile, the revolute pair one (R on silent flatform (0) upper I side chain
11) axis, should with the revolute pair four (R on opposite side III side chain
31) axis being parallel; Revolute pair five (R on IIth side chain
21) axis, should with the revolute pair six (R on opposite side IV side chain
41) axis being parallel; But the revolute pair one (R on I side chain
11) axis, with the revolute pair five (R on the IIth side chain
21) axis not parallel;
Further, 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 manipulator 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 manipulator 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 manipulator 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 manipulator, 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, wherein, one end of the drive rod 2 on I side chain and silent flatform 0 are with revolute pair one R
11connect, the other end of drive rod 2, and by two revolute pair R
a, R
band two ball secondary S
a, S
bwith minor face bar 1 revolute pair two R of the parallelogram that four bars 3,6,4,5 form
12connect, another minor face bar 26 revolute pair three R of parallelogram
13directly be connected with moving platform 1; And revolute pair one R
11with revolute pair two R
12axis being parallel, but with revolute pair three R
13axes normal; Four revolute pair R on moving platform 1
13, R
23, R
33, R
43axis must be parallel;
Revolute pair one R on silent flatform 0 on I side chain
11axis, should with revolute pair four R on opposite side III side chain
31axis being parallel; Revolute pair five R on IIth side chain
21axis, should with revolute pair six R on opposite side IV side chain
41axis being parallel; But revolute pair one R on I side chain
11axis and the IIth side chain on revolute pair five R
21axes normal;
Four revolute pairs that every bar side chain connects with silent flatform 0, for drive pair, can substitute with moving sets, and when these four driving secondary motions, manipulator produces three translations one and rotates output; But 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.
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
13the one-dimensional rotation of axis exports.
Claims (3)
1. a three-translation and one-rotation parallel mechanism manipulator, 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) on I side chain and silent flatform (0) are with revolute pair one (R
11) connect, the other end of drive rod (2), and by two revolute pair (R
a, R
b), two ball pair (S
a, S
b) and minor face bar one (3) revolute pair two (R of parallelogram that forms of four bars (3,6,4,5)
12) connect, another minor face bar two (6) revolute pair three (R of parallelogram
13) be directly connected with moving platform (1); Wherein, revolute pair one (R
11) and revolute pair two (R
12) axis being parallel, but with revolute pair three (R
13) axes normal; Further, four revolute pair (R on moving platform (1)
13, R
23, R
33, R
43) axis must be parallel.
2., by three-translation and one-rotation parallel mechanism manipulator according to claim 1, it is characterized in that: the revolute pair one (R on silent flatform (0) upper I side chain
11) axis, should with the revolute pair four (R on opposite side III side chain
31) axis being parallel; Revolute pair five (R on upper IIth side chain of silent flatform (0)
21) axis, should with the revolute pair six (R on opposite side IV side chain
41) axis being parallel; But the revolute pair one (R on I side chain
11) axis, with the revolute pair five (R on the IIth side chain
21) axis not parallel.
3. by the three-translation and one-rotation parallel mechanism manipulator described in claim 1 or 2, 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 |
|---|---|---|---|
| CN201510650394.XA CN105127983A (en) | 2015-10-09 | 2015-10-09 | Three-translation and one-rotation parallel mechanism manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650394.XA CN105127983A (en) | 2015-10-09 | 2015-10-09 | Three-translation and one-rotation parallel mechanism manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105127983A true CN105127983A (en) | 2015-12-09 |
Family
ID=54713727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510650394.XA Pending CN105127983A (en) | 2015-10-09 | 2015-10-09 | Three-translation and one-rotation parallel mechanism manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105127983A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105619386A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot device with low-coupling-degree three-movement-pair movable platform |
| 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 |
| 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 |
| CN105643603A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot manipulator of low-coupling-degree three-kinematic-pair movable platform |
| CN105666466A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Single-input three-translation and one-rotation parallel robot platform |
| CN108748098A (en) * | 2018-06-15 | 2018-11-06 | 常州大学 | A kind of parallel manipulator of three translations, one rotation |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1857875A (en) * | 2006-06-09 | 2006-11-08 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| EP2614933A1 (en) * | 2012-01-13 | 2013-07-17 | Penta Robotics Patents B.V. | Fast pick-and-place parallel robot with compact travelling plate |
| EP2732928A1 (en) * | 2012-11-16 | 2014-05-21 | CVUT V Praze, Fakulta Strojní | Redundant Delta manipulator |
-
2015
- 2015-10-09 CN CN201510650394.XA patent/CN105127983A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1857875A (en) * | 2006-06-09 | 2006-11-08 | 北京工业大学 | Three-translation and one-rotation parallel mechanism |
| CN101863024A (en) * | 2010-06-29 | 2010-10-20 | 天津大学 | Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement |
| CN103052475A (en) * | 2010-08-02 | 2013-04-17 | 株式会社安川电机 | Parallel mechanism |
| EP2614933A1 (en) * | 2012-01-13 | 2013-07-17 | Penta Robotics Patents B.V. | Fast pick-and-place parallel robot with compact travelling plate |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| EP2732928A1 (en) * | 2012-11-16 | 2014-05-21 | CVUT V Praze, Fakulta Strojní | Redundant Delta manipulator |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105619386A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot device with low-coupling-degree three-movement-pair movable platform |
| 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 |
| 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 |
| CN105643603A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot manipulator of low-coupling-degree three-kinematic-pair movable platform |
| CN105666466A (en) * | 2016-03-12 | 2016-06-15 | 常州大学 | Single-input three-translation and one-rotation parallel robot platform |
| CN105619386B (en) * | 2016-03-12 | 2017-09-08 | 常州大学 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling three |
| CN108748098A (en) * | 2018-06-15 | 2018-11-06 | 常州大学 | A kind of parallel manipulator of three translations, one rotation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105127983A (en) | Three-translation and one-rotation parallel mechanism manipulator | |
| CN105127999A (en) | Three-translation one-rotation parallel robot catcher | |
| CN105127979A (en) | Three-horizontal movement one-rotation parallel robot mechanism | |
| CN105643600B (en) | A kind of three one rotating parallel robot mechanisms of translation of the kinematic pair moving platform of weak coupling three | |
| CN105127978A (en) | Three-horizontal movement one-rotation parallel robot | |
| CN107020615B (en) | A kind of Three Degree Of Freedom two translation-rotary parallel connection mechanism of mobile decoupling | |
| 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 | |
| CN105127977A (en) | Manipulator of three-horizontal movement one-rotation parallel robot | |
| CN105291096B (en) | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom | |
| CN108748098A (en) | A kind of parallel manipulator of three translations, one rotation | |
| CN105234933B (en) | Dual-translation dual-rotation parallel-connection robot device | |
| CN106002936B (en) | One kind three translates a rotating parallel device people platform manipulator | |
| CN105234922B (en) | Three-degree of freedom (DOF) translational and one-DOF rotational parallel robot device | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| CN105127980A (en) | Three-horizontal movement one-rotation parallel robot device | |
| 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 | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN206170068U (en) | Parallel robot device with two kinds of mode of operations | |
| 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 | |
| CN103846911A (en) | High-speed parallel manipulator with six degrees of freedom | |
| CN203460171U (en) | Parallel mechanism capable of achieving three-dimensional translation and two-dimensional rotation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151209 |