CN105215973A - Asymmetric two-dimensional rotary one-dimensional movement parallel institution - Google Patents
Asymmetric two-dimensional rotary one-dimensional movement parallel institution Download PDFInfo
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- CN105215973A CN105215973A CN201510636224.6A CN201510636224A CN105215973A CN 105215973 A CN105215973 A CN 105215973A CN 201510636224 A CN201510636224 A CN 201510636224A CN 105215973 A CN105215973 A CN 105215973A
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Abstract
The present invention relates to industrial robot field of mechanisms, particularly relate to a kind of asymmetric two-dimensional rotary one-dimensional movement parallel institution.In two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism of the present invention, be installed on the first moving sets on silent flatform, the second revolute pair and the 8th cylindrical pair and be chosen as driving pair.The axis of the second revolute pair and the 8th cylindrical pair is parallel to each other, and perpendicular to the first moving sets axis.7th revolute pair is connected with moving platform with the tenth Hooke's hinge, and the pivot center be installed in the tenth Hooke's hinge on moving platform and the 7th revolute pair are parallel to each other.Therefore, when in use, bidimensional can be realized and rotate one-dimensional movement output motion.Side chain of the present invention is few, motion model simple, and the input and output of moving platform are one-to-one relationship, and solve parallel institution complex structure, driving element is many, restive problem.This parallel institution can be used for the fields such as industrial robot, micro-operation hand and Medical Robot.
Description
Technical field
The present invention relates to industrial robot field of mechanisms, particularly relate to a kind of asymmetric two-dimensional rotary one-dimensional movement parallel institution.
Background technology
Parallel institution, compared with traditional serial mechanism, has the advantages such as rigidity is large, precision is high, bearing capacity is strong, motional inertia is little, fast response time.Minority carrier generation lifetime has the advantages such as structure is simple, kinematic solution simple, low cost of manufacture, control is comparatively easy, compact conformation, working space are large, is widely used in various fields in recent years.
At present, minority carrier generation lifetime is one of focus having become theory of mechanisms and robot field's research, is also more and more subject to attention and the favor of researcher.Such as publication No. is CN104218301A, date of publication moves type parallel antenna structure system for the 3-UPU disclosed in the Chinese patent application of 2014.12.17 bis-turn, publication No. is CN104227698A, date of publication for the modified gear in parallel of the two-freedom disclosed in the Chinese patent application of 2014.12.24 and publication No. be CN102909569A, date of publication a kind of 1T2R three-freedom degree spatial parallel structure disclosed in the Chinese patent of 2013.2.6 is all technology relevant with minority carrier generation lifetime.But current minority carrier generation lifetime entirety also exists complex structure, the problem that driving element is many and restive.
Summary of the invention
The object of the present invention is to provide a kind of asymmetric two-dimensional rotary one-dimensional movement parallel institution, to solve many, the restive problem of existing parallel institution complex structure, driving element.
In order to solve the problem, asymmetric two-dimensional rotary one-dimensional movement parallel institution of the present invention is by the following technical solutions: asymmetric two-dimensional rotary one-dimensional movement parallel institution, comprise silent flatform, moving platform and be connected to the Liang Ge kinematic chain branch between dynamic and static platform, one in two kinematic chain branches is combination chain, and another is single open chain, combination chain comprises the first sub-branch and the second sub-branch and the 7th revolute pair, first sub-branch comprises first moving sets and the 6th revolute pair of connecting successively from silent flatform, wherein the axes normal of the first moving sets is in the pivot center of the 6th revolute pair, first moving sets is driving pair, second sub-branch comprises second revolute pair of connecting successively from silent flatform to moving platform, 3rd Hooke's hinge, 4th revolute pair and the 5th Hooke's hinge, wherein the pivot center of the part adjacent with the 4th revolute pair of the 3rd Hooke's hinge and the 5th Hooke's hinge is parallel to the axis of the 4th revolute pair, the axes normal of a part is in the axis of the second revolute pair in addition, second revolute pair is driving pair, first sub-branch is with the second sub-branch Special composition closed-loop path in parallel and be connected with moving platform by the 7th revolute pair, the axes normal of the 6th revolute pair is in the axis of the 7th revolute pair, single open chain comprises the 8th cylindrical pair, the 9th revolute pair and the tenth Hooke's hinge of connecting successively from silent flatform to moving platform, the axis of the 8th cylindrical pair and the axis of the 9th revolute pair are parallel to each other and are parallel to the axis of the part near the 9th revolute pair of the tenth Hooke's hinge, and the 8th cylindrical pair is driving pair.
Described moving platform is deck plate.
The position of described 8th cylindrical pair is higher than the first moving sets and the second revolute pair.
Described 8th cylindrical pair is located on silent flatform by a stand.
In two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism of the present invention, be installed on the first moving sets on silent flatform, the second revolute pair and the 8th cylindrical pair and be chosen as driving pair.The axis of the second revolute pair and the 8th cylindrical pair is parallel to each other, and perpendicular to the first moving sets axis.7th revolute pair is connected with moving platform with the tenth Hooke's hinge, and the pivot center be installed in the tenth Hooke's hinge on moving platform and the 7th revolute pair are parallel to each other.Therefore, when in use, bidimensional can be realized and rotate one-dimensional movement output motion.Side chain of the present invention is few, motion model simple, and the input and output of moving platform are one-to-one relationship, and solve parallel institution complex structure, driving element is many, restive problem.This parallel institution can be used for the fields such as industrial robot, micro-operation hand and Medical Robot.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that non-Symmetrical Two-dimentional rotates the embodiment of one-dimensional movement parallel institution;
Fig. 2 is the structural representation that non-Symmetrical Two-dimentional rotates the embodiment of one-dimensional movement parallel institution.
Detailed description of the invention
The embodiment of asymmetric two-dimensional rotary one-dimensional movement parallel institution, as shown in Figure 1-2, this mechanism comprises silent flatform 9, moving platform 8 and connects combination chain and the single open chain of silent flatform 9 and moving platform 8.Moving platform 8 adopts deck plate.
The 7th revolute pair R7 that combination chain comprises space closed-loop path structure and connects with it, closed-loop path, space structure comprises the first sub-branch and the second sub-branch.
First sub-branch comprises the 6th revolute pair R6 that the first moving sets P1 on silent flatform 9 is connected with the first moving sets, and they are connected by first connecting rod 1.P1 ⊥ R6 in first sub-branch, namely the first moving sets P1 is mutually vertical with the 6th revolute pair R6 axis.
Second sub-branch comprises the second revolute pair R2, the 3rd Hooke's hinge U3, the 4th revolute pair R4 and the 5th Hooke's hinge U5.Second revolute pair R2 is connected by second connecting rod 2 with the 3rd Hooke's hinge U3, and the 3rd Hooke's hinge U3 is connected by third connecting rod 3 with the 4th revolute pair R4, and the 4th revolute pair R4 is connected by double leval jib 4 with the 5th Hooke's hinge U5.In Article 2 sub-branch, pivot center adjacent with the 4th revolute pair R4 in the 3rd Hooke's hinge U3 and the 5th Hooke's hinge U5 and the 4th turns auxiliary shaft line parallel, other two pivot centers are parallel to each other and perpendicular to the second revolute pair R2 axis.First moving sets P1 and the second revolute pair R2 is respectively the driving pair of two sub-branches.
First sub-branch, the second sub-branch are connected with moving platform with the 7th revolute pair R7 by the 5th connecting rod 5, and the 6th revolute pair R6 is mutually vertical with the 7th revolute pair R7 axis.
The 8th cylindrical pair C8 that single open chain is set gradually to moving platform 8 by silent flatform 9, the 9th revolute pair R9, the tenth Hooke's hinge U10, wherein the 8th cylindrical pair C8 is connected by six-bar linkage 6 with the 9th revolute pair R9, and the 9th revolute pair R9 is connected by seven-link assembly 7 with the tenth Hooke's hinge U10.The axis of the 8th cylindrical pair C8 and the axis of the 9th revolute pair R9 are parallel to each other, and are parallel to axis adjacent with the 9th revolute pair R9 in the tenth Hooke's hinge U10.The 8th cylindrical pair C8 be connected with fixed platform 9 is driving pair, and is primary input with linear displacement; It is important to note that in the present embodiment, the 8th cylindrical pair C8 is located on silent flatform by a stand 101, can raise its position like this, shorten the length of its guide rail, ensure its reliability.
The one asymmetric two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism that the present invention proposes in the course of the work, as driving first moving sets P1, the second revolute pair R2 and the 8th cylindrical pair C8, described moving platform can rotate one-dimensional movement output by implementation space bidimensional.Side chain of the present invention is few, motion model simple, and the input and output of moving platform are one-to-one relationship, and solve parallel institution complex structure, driving element is many, restive problem.This parallel institution can be used for the fields such as industrial robot, micro-operation hand and Medical Robot.
Claims (4)
1. asymmetric two-dimensional rotary one-dimensional movement parallel institution, comprise silent flatform, moving platform and be connected to the Liang Ge kinematic chain branch between dynamic and static platform, it is characterized in that, one in two kinematic chain branches is combination chain, and another is single open chain, combination chain comprises the first sub-branch and the second sub-branch and the 7th revolute pair, first sub-branch comprises first moving sets and the 6th revolute pair of connecting successively from silent flatform, wherein the axes normal of the first moving sets is in the pivot center of the 6th revolute pair, first moving sets is driving pair, second sub-branch comprises second revolute pair of connecting successively from silent flatform to moving platform, 3rd Hooke's hinge, 4th revolute pair and the 5th Hooke's hinge, wherein the pivot center of the part adjacent with the 4th revolute pair of the 3rd Hooke's hinge and the 5th Hooke's hinge is parallel to the axis of the 4th revolute pair, the axes normal of a part is in the axis of the second revolute pair in addition, second revolute pair is driving pair, first sub-branch is with the second sub-branch Special composition closed-loop path in parallel and be connected with moving platform by the 7th revolute pair, the axes normal of the 6th revolute pair is in the axis of the 7th revolute pair, single open chain comprises the 8th cylindrical pair, the 9th revolute pair and the tenth Hooke's hinge of connecting successively from silent flatform to moving platform, the axis of the 8th cylindrical pair and the axis of the 9th revolute pair are parallel to each other and are parallel to the axis of the part near the 9th revolute pair of the tenth Hooke's hinge, and the 8th cylindrical pair is driving pair.
2. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 1, it is characterized in that, described moving platform is deck plate.
3. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 1 and 2, is characterized in that, the position of described 8th cylindrical pair is higher than the first moving sets and the second revolute pair.
4. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 3, is characterized in that, described 8th cylindrical pair is located on silent flatform by a stand.
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| CN201510636224.6A CN105215973B (en) | 2015-09-30 | 2015-09-30 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
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| CN201510636224.6A CN105215973B (en) | 2015-09-30 | 2015-09-30 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
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| CN105215973B CN105215973B (en) | 2017-09-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352625A (en) * | 2018-10-26 | 2019-02-19 | 昆明理工大学 | A kind of one-dimensional translation two-dimensional rotary parallel institution manipulator |
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| WO1995011780A1 (en) * | 1993-10-26 | 1995-05-04 | Vincent Hayward | Mechanisms for orienting and placing articles |
| CN101143446A (en) * | 2007-07-27 | 2008-03-19 | 河南科技大学 | Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN205033196U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric two dimension is rotated one -dimensional and is removed parallel mechanism |
-
2015
- 2015-09-30 CN CN201510636224.6A patent/CN105215973B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995011780A1 (en) * | 1993-10-26 | 1995-05-04 | Vincent Hayward | Mechanisms for orienting and placing articles |
| CN101143446A (en) * | 2007-07-27 | 2008-03-19 | 河南科技大学 | Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN205033196U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric two dimension is rotated one -dimensional and is removed parallel mechanism |
Non-Patent Citations (1)
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| 张彦斌: "少自由度无奇异完全各向同性并联机构型综合理论研究", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352625A (en) * | 2018-10-26 | 2019-02-19 | 昆明理工大学 | A kind of one-dimensional translation two-dimensional rotary parallel institution manipulator |
| CN109352625B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | One-dimensional translation two-dimensional rotation parallel mechanism manipulator |
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