CN105196278A - Six-degree-of-freedom parallel robot with planar contact pair - Google Patents
Six-degree-of-freedom parallel robot with planar contact pair Download PDFInfo
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- CN105196278A CN105196278A CN201510763987.7A CN201510763987A CN105196278A CN 105196278 A CN105196278 A CN 105196278A CN 201510763987 A CN201510763987 A CN 201510763987A CN 105196278 A CN105196278 A CN 105196278A
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Abstract
The invention provides a six-degree-of-freedom parallel robot with a planar contact pair. The six-degree-of-freedom parallel robot comprises a fixed platform, a moving platform and six branch chains which have the same structure and are connected between the fixed platform and the moving platform, and is characterized in that the fixed platform is a six-edge table with six side surfaces; each side surface adopts a rectangular hollow structure; disk sliding blocks can be movably embedded into the rectangular hollow structures of the fixed platform through balls embedded into the edges so as to form a planar moving pair together with the fixed platform; the six branch chains comprise fixed-length rods and telescopic rods; one end of each fixed-length rod is fixedly connected with the moving platform, and the other end of each fixed-length rod is connected with one end of each telescopic rod through a hooke hinge; the other end of each telescopic rod is fixedly connected with one surface of each disk sliding block; the center axial lines of the telescopic rods are perpendicular to the moving plane of the planar moving pair consisting of the corresponding disk sliding block and the fixed platform. The six-degree-of-freedom parallel robot realizes six-degree-of-freedom motion of the moving platform by driving the six telescopic rods; meanwhile, due to the design scheme without a ball hinge, the manufacturing cost can be effectively reduced, and the rigidity and the moving precision are improved.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically relate to a kind of six-degree-of-freedom parallel robot containing planar contact pair.
Background technology
Parallel robot has the advantages such as rigidity is large, bearing capacity is high, speed is large, acceleration is large, Kinematics analysis is easy, needs high rigidity, high accuracy or large load and need not be widely applied in the field of very large working space at such as motion simulator, parallel machine etc.
Nineteen sixty-five Stewart proposes a kind of parallel institution of 6DOF, and is proposed to be used in aircraft and spaceship, can also as the design basis of novel lathe.The mechanism of this form is used for mining mechanism and offshore drilling platform by later stage J.Tindale suggestion, within 1978, Australian professor Hunt is using the manipulator of Stewart platform as robot, and the research developing into this field now becomes more deep and extensive.Such as University Of Chongqing proposes the high motor-driven high-precision practical parallel robot of a kind of six degree of freedom, and this robot adopts six linear electric motors to drive.Few branch chain six-freedom degree parallel robot that University Of Shantou proposes have employed active movement side chain in the middle of three identical side chains and, there is higher flexibility ratio, also propose a kind of few branch chain six-freedom degree parallel robot of bar combination drive of restricting simultaneously, can be used for the poses such as the automatic television camera of telecine media industry and regulate occasion.Changzhou University proposes the six degree of freedom partly decoupled parallel operation device that a kind of complete solution is analysed, and this device contains three diverse trunk side chains, by the revolute pair of six in driving mechanism, can obtain moving platform D translation and Three dimensional rotation output.
Although there are many scholar's research six-degree-of-freedom parallel robots both at home and abroad, propose various novel version, but wherein majority is that the space layout of six side chains by changing traditional Stewart parallel robot reaches different robot performance's this purpose, and adopts Novel sports secondary also relative less with the six-degree-of-freedom parallel robot of new branched acquisition.
Summary of the invention
The object of this invention is to provide a kind of six-degree-of-freedom parallel robot containing planar contact pair.Its technical scheme is:
A kind of six-degree-of-freedom parallel robot containing planar contact pair, comprise fixed platform, motion platform and be connected to the identical side chain of six structures between fixed platform with motion platform, it is characterized in that: fixed platform is six terrace with edges with six sides, each side is all containing rectangular hollow structure, disk slide block is by inside the movable rectangular hollow structure being embedded into fixed platform of the ball that is embedded in edge, jointly planar kinematic pair is formed with fixed platform, article six, side chain is all containing connecting-rods with constant lengh and expansion link, wherein one end of connecting-rods with constant lengh and motion platform affixed, the other end is connected with one end of expansion link by Hooke's hinge, the other end of expansion link and the one side of disk slide block affixed, the central axis of expansion link is vertical with the plane of movement of the planar kinematic pair that fixed platform forms with respective circular disks slide block.
Compared with prior art, its advantage is in the present invention: (1) realizes the six-freedom motion of motion platform by the length of control six expansion links, and type of drive is simple and easy to do; (2) avoid the introducing of ball pivot in robot architecture, effectively can reduce processing and manufacturing cost, improve Robot Stiffness and kinematic accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, Hooke's hinge 2, expansion link 3, disk slide block 4, ball 5, connecting-rods with constant lengh 6, fixed platform 7, motion platform.
Detailed description of the invention
Fixed platform 6 is for having six terrace with edges of six sides, each side is all containing rectangular hollow structure, disk slide block 3 is by inside the movable rectangular hollow structure being embedded into fixed platform 6 of the ball 4 that is embedded in edge, jointly planar kinematic pair is formed with fixed platform 6, article six, side chain is all containing connecting-rods with constant lengh 5 and expansion link 2, wherein one end of connecting-rods with constant lengh 5 and motion platform 7 affixed, the other end is connected with one end of expansion link 2 by Hooke's hinge 1, the other end of expansion link 2 and the one side of disk slide block 3 affixed, the central axis of expansion link 2 is vertical with the plane of movement of the planar kinematic pair that fixed platform 6 forms with respective circular disks slide block 3.
Claims (1)
1. the six-degree-of-freedom parallel robot containing planar contact pair, comprise fixed platform (6), motion platform (7) and be connected to the identical side chain of six structures between fixed platform (6) with motion platform (7), it is characterized in that: fixed platform (6) is for having six terrace with edges of six sides, each side is all containing rectangular hollow structure, disk slide block (3) is by inside the movable rectangular hollow structure being embedded into fixed platform (6) of the ball (4) that is embedded in edge, jointly planar kinematic pair is formed with fixed platform (6), article six, side chain is all containing connecting-rods with constant lengh (5) and expansion link (2), wherein one end of connecting-rods with constant lengh (5) and motion platform (7) affixed, the other end is connected with one end of expansion link (2) by Hooke's hinge (1), the other end of expansion link (2) and the one side of disk slide block (3) affixed, the central axis of expansion link (2) is vertical with the plane of movement of the planar kinematic pair that fixed platform (6) forms with respective circular disks slide block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510763987.7A CN105196278B (en) | 2015-11-11 | 2015-11-11 | Six-freedom-degree parallel robot with plane pair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510763987.7A CN105196278B (en) | 2015-11-11 | 2015-11-11 | Six-freedom-degree parallel robot with plane pair |
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| Publication Number | Publication Date |
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| CN105196278A true CN105196278A (en) | 2015-12-30 |
| CN105196278B CN105196278B (en) | 2020-03-13 |
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| CN201510763987.7A Expired - Fee Related CN105196278B (en) | 2015-11-11 | 2015-11-11 | Six-freedom-degree parallel robot with plane pair |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06170761A (en) * | 1991-10-24 | 1994-06-21 | Agency Of Ind Science & Technol | Micromanipulator |
| DE29618149U1 (en) * | 1996-10-19 | 1996-12-05 | Physik Instr Pi Gmbh & Co | Six-axis adjustment device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN1772442A (en) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
| CN103696876A (en) * | 2013-12-05 | 2014-04-02 | 中国航空工业集团公司沈阳发动机设计研究所 | Sawtoothed angle regulation mechanism for two-dimensional spray pipe |
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104476567A (en) * | 2014-11-28 | 2015-04-01 | 天津理工大学 | Six-degree-of-freedom parallel mechanism with rope-driven linear joint |
-
2015
- 2015-11-11 CN CN201510763987.7A patent/CN105196278B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06170761A (en) * | 1991-10-24 | 1994-06-21 | Agency Of Ind Science & Technol | Micromanipulator |
| DE29618149U1 (en) * | 1996-10-19 | 1996-12-05 | Physik Instr Pi Gmbh & Co | Six-axis adjustment device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN1772442A (en) * | 2005-11-11 | 2006-05-17 | 华南理工大学 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
| CN103696876A (en) * | 2013-12-05 | 2014-04-02 | 中国航空工业集团公司沈阳发动机设计研究所 | Sawtoothed angle regulation mechanism for two-dimensional spray pipe |
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104476567A (en) * | 2014-11-28 | 2015-04-01 | 天津理工大学 | Six-degree-of-freedom parallel mechanism with rope-driven linear joint |
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| CN105196278B (en) | 2020-03-13 |
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