CN105127998A - Three-horizontal movement one-rotation parallel robot platform - Google Patents
Three-horizontal movement one-rotation parallel robot platform Download PDFInfo
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- CN105127998A CN105127998A CN201510566840.9A CN201510566840A CN105127998A CN 105127998 A CN105127998 A CN 105127998A CN 201510566840 A CN201510566840 A CN 201510566840A CN 105127998 A CN105127998 A CN 105127998A
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- side chain
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Abstract
The invention provides a three-horizontal movement one-rotation parallel robot platform which comprises a moving platform body (1), a static platform body (0), a ball pair parallelogram type branch chain I, a ball pair parallelogram type branch chain II and two constraint-free S-S-R or S-S-P or S-P-S branch chains, wherein the ball pair parallelogram type branch chain I and the ball pair parallelogram type branch chain II are the same. On the ball pair parallelogram type branch chain I or the ball pair parallelogram type branch chain II, one end of a drive rod (2) is connected with the static platform body (0) through a first rotation pair (R11), the other end of the drive rod (2) is fixedly connected with a short edge rod at one end of a ball pair parallelogram composed of four ball pairs and four rods, and the short edge rod (5) at the other end of the ball pair parallelogram is connected with the moving platform (1) through a second rotation pair (R12); but on the branch chain I and the branch chain II, the axes of the two rotation pairs connected with the moving platform body (1) must be parallel to each other; meanwhile, the moving platform body (1) is connected with the static platform body (0) through any of the two constraint-free S-S-R or S-S-P or S-P-S branch chains. The three-horizontal movement one-rotation parallel robot platform 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 parallel robot, for robot manipulator etc. provides novel three translation one rotating parallel device people platforms.
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 a kind of new three-translation and one-rotation parallel mechanism platform is provided, this 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 one rotating parallel device people platforms provided by the invention, comprise moving platform (1), silent flatform (0), and ball secondary parallelogram type I side chain, the IIth side chain that two articles identical, with two without restricted type S-S-R, S-S-P or S-P-S side chain, on the secondary parallelogram type I side chain of ball or the IIth side chain, one end of drive rod (2) and silent flatform (0) are with revolute pair one (R
11) connect, the other end of drive rod (2) is fixedly connected with one end minor face bar of the secondary parallelogram of ball be made up of four balls pairs and four bars, other end minor face bar (5) and moving platform (1) revolute pair two (R of the secondary parallelogram of ball
12) connect; Equal any two points part of its minor face bar in the spacing of two long side rods of the secondary parallelogram of two balls, must connect by a connecting rod band two revolute pairs, these two revolute pairs are positioned at this 2 parts; But on I side chain, the IIth side chain, must be parallel with the axis of two revolute pairs that moving platform (1) connects respectively; Meanwhile, moving platform (1) is connected with silent flatform (0) without restricted type S-S-R or S-S-P or S-P-S side chain with any two again; And all balls pairs on ball secondary parallelogram type I side chain, the IIth side chain, can substitute with Hooke's hinge; 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 one rotating parallel device people platforms 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 robot shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is such: a kind of three translation one rotating parallel device people platforms, comprise moving platform 1, silent flatform 0, and ball secondary parallelogram type I side chain, the IIth side chain that two articles identical, with two without restricted type S-S-R, S-S-P or S-P-S side chain, it is characterized in that: on the secondary parallelogram type I side chain of ball or the IIth side chain, one end of drive rod 2 and silent flatform 0 are with revolute pair one R
11connect, the other end of drive rod 2 is fixedly connected with one end minor face bar of the secondary parallelogram of ball be made up of four balls pairs and four bars, other end minor face bar 5 and moving platform 1 revolute pair two R of the secondary parallelogram of ball
12connect; Equal any two points part of its minor face bar in the spacing of two long side rods 3,4 of the secondary parallelogram of two balls, two revolute pair R must be with a connecting rod m
a, R
bconnect, these two revolute pairs are positioned at this 2 parts; But on I side chain, the IIth side chain, the axis R of two revolute pairs be connected respectively with moving platform 1
12, R
22must be parallel; Meanwhile, moving platform 1 is connected with silent flatform 0 without restricted type S-S-R side chain with two, i.e. R end revolute pair three R of S-S-R type side chain
3be connected with silent flatform 0, the S end secondary S of ball of S-S-R type side chain
10be connected with moving platform 1, two connecting rods 10 and 11 secondary two S of ball of S-S-R type side chain
9connect, S represents that ball is secondary here, and R represents revolute pair; Meanwhile, all balls on ball secondary parallelogram type I side chain, the IIth side chain are secondary, can substitute with Hooke's hinge; 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
3, R
4during for driving, moving platform 1 just can be made to realize revolute pair two R on D translation and moving platform 1
12the 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 (3)
1. a translation one rotating parallel device people platform, comprise moving platform (1), silent flatform (0), and ball secondary parallelogram type I side chain, the IIth side chain that two articles identical, with two without restricted type S-S-R, S-S-P or S-P-S side chain, it is characterized in that: on the secondary parallelogram type I side chain of ball or the IIth side chain, one end of drive rod (2) and silent flatform (0) are with revolute pair one (R
11) connect, the other end of drive rod (2) is fixedly connected with one end minor face bar of the secondary parallelogram of ball be made up of four balls pairs and four bars, other end minor face bar (5) and moving platform (1) revolute pair two (R of the secondary parallelogram of ball
12) connect; Further, equal any two points part of its minor face bar in the spacing of two long side rods of the secondary parallelogram of two balls, must connect by a bar band two revolute pairs, these two revolute pairs are positioned at this 2 parts; But on I side chain, the IIth side chain, must be parallel with the axis of two revolute pairs that moving platform (1) connects; Meanwhile, moving platform (1) is connected with silent flatform (0) without restricted type S-S-R or S-S-P or S-P-S side chain with any two again.
2. by three translation one rotating parallel device people platforms according to claim 1, it is characterized in that: all balls on ball secondary parallelogram type I side chain, the IIth side chain are secondary, can substitute with Hooke's hinge.
3. by three translation one rotating parallel device people platforms according to claim 1, 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 |
|---|---|---|---|
| CN201510566840.9A CN105127998A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566840.9A CN105127998A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot platform |
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| Publication Number | Publication Date |
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| CN105127998A true CN105127998A (en) | 2015-12-09 |
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| CN201510566840.9A Pending CN105127998A (en) | 2015-09-08 | 2015-09-08 | Three-horizontal movement one-rotation parallel robot platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643601A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot platform of low-coupling-degree three-kinematic-pair movable platform |
| CN105922247A (en) * | 2016-06-08 | 2016-09-07 | 常州大学 | Three-translation and one-rotation parallel manipulator for robot platform |
| CN106671062A (en) * | 2016-12-15 | 2017-05-17 | 常州大学 | Three-translation one-rotation four-degree-of-freedom parallel mechanism |
| CN106984535A (en) * | 2017-03-16 | 2017-07-28 | 江苏大学 | A kind of vibratory sieve in parallel separated for maggot material |
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| 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 |
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2015
- 2015-09-08 CN CN201510566840.9A patent/CN105127998A/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 (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643601A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot platform of low-coupling-degree three-kinematic-pair movable platform |
| CN105643601B (en) * | 2016-03-12 | 2017-11-17 | 常州大学 | A kind of three one rotating parallel device people's platforms of translation of the kinematic pair moving platform of weak coupling three |
| CN105922247A (en) * | 2016-06-08 | 2016-09-07 | 常州大学 | Three-translation and one-rotation parallel manipulator for robot platform |
| CN105922247B (en) * | 2016-06-08 | 2018-06-29 | 常州大学 | One kind three translates rotating parallel device people's platform mechanical arm |
| CN106671062A (en) * | 2016-12-15 | 2017-05-17 | 常州大学 | Three-translation one-rotation four-degree-of-freedom parallel mechanism |
| CN106984535A (en) * | 2017-03-16 | 2017-07-28 | 江苏大学 | A kind of vibratory sieve in parallel separated for maggot material |
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Application publication date: 20151209 |