CN105252530A - Six-degree-of-freedom large-stroke flexible parallel platform - Google Patents
Six-degree-of-freedom large-stroke flexible parallel platform Download PDFInfo
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- CN105252530A CN105252530A CN201510853614.9A CN201510853614A CN105252530A CN 105252530 A CN105252530 A CN 105252530A CN 201510853614 A CN201510853614 A CN 201510853614A CN 105252530 A CN105252530 A CN 105252530A
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Abstract
The invention relates to flexible parallel platforms, in particular to a six-degree-of-freedom large-stroke flexible parallel platform. The six-degree-of-freedom large-stroke flexible parallel platform aims to solve the problem of the contradiction between the high precision of an existing flexible parallel platform and the working space. The six-degree-of-freedom large-stroke flexible parallel platform comprises an upper platform body, a lower platform body and six movement branched chains. The upper platform body and the lower platform body are arranged side by side from top to bottom. The lower surface of the upper platform body and the upper surface of the lower platform body are connected through the three groups of movement branched chains. The six movement branched chains are evenly arranged in the circumferential direction of the lower platform body. The six-degree-of-freedom large-stroke flexible parallel platform is applied to the robot field.
Description
Technical field
The present invention relates to a kind of flexible parallel connection platform, be specifically related to a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform, belong to robot field.
Background technology
The driving of machinery and transmission are the bases of equipment manufacture always, and modern precision Mechanical Driven and transmission especially micro-electronic manufacturing, photoelectron, Space Equipment, Ultra-precision Turning, accurate operation robot, biomedical engineering field in the urgent need to support technology.Traditional mechanism is formed by connecting with the form of kinematic pair by rigid member, inevitably there is gap and friction between the component of component movement pair, cannot meet the requirement of high speed, high-accuracy, microminiaturized contour performance.Compliant mechanism utilizes elastomeric material to be out of shape and from the characteristic of replying, eliminates the idle running in transmission process and mechanical friction, can obtain displacement resolution and the precision of superelevation.Owing to being subject to the restriction of material behavior, traditional cut type flexible hinge range of movement is little, is difficult to the occasion adapting to some large corners.Simultaneously in order to improve rigidity and the response speed of compliant mechanism, usually compliant mechanism is built into form in parallel, this just makes the working space of flexible parallel connection platform reduce further.
Summary of the invention
The present invention is the problem solving contradiction between existing flexible parallel connection platform high accuracy and working space, and then proposes a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform.
The present invention is the technical scheme taked that solves the problem: the present invention includes upper mounting plate, lower platform and six movement branched chain, upper mounting plate, lower platform are from top to bottom arranged side by side, and the lower surface of upper mounting plate is connected the circumferencial direction uniform setting of six movement branched chain along lower platform by movement branched chain assembly described in three groups with the upper surface of lower platform.
Further, each movement branched chain comprises a cylindrical pair and two flexible hook hinge, and two flexible hook hinge are connected by a cylindrical pair.
Further, each flexible hook hinge comprises core body, two supports and multiple flexible rotational joint, core body is hexahedron, the two ends of a support are connected by the side that two flexible rotational joints are relative with two, core body, the two ends of another support are connected by two two other relative sides of flexible rotational joint and core body, and two supports are that cross is arranged.
Further, each flexible rotational joint comprises the first rotation joint and second and rotates joint, and first one end and second of rotating joint is rotated one end car save and connect, and is provided with D type adagio in the first rotation saves, and is provided with I type adagio in the second rotation saves.
Further, the first rotation joint and second rotates the junction saved and leaves gap.
The invention has the beneficial effects as follows: 1. adopt the reed-type flexible rotational joint of Long Distances, zero-clearance motion can be realized within the scope of ± 30 °, kinematic accuracy and resolution ratio high; 2. adopt 4 flexible rotational joints to form flexible Hooke's hinge that two groups of orthogonal revolute pairs form Long Distances, and then build the six degree of freedom flexible parallel connection platform of 6-UCU type, the motion of high accuracy, high rigidity, high response speed can be realized in larger range of movement.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention, and Fig. 2 is the structural scheme of mechanism of movement branched chain, and Fig. 3 is the structural representation of flexible hook hinge, and Fig. 4 is the structural representation of flexible rotational joint, and Fig. 5 is the tie point distribution schematic diagram of hook hinge on upper lower platform.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 illustrates present embodiment, described in present embodiment, a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform comprises upper mounting plate 1, lower platform 2 and six movement branched chain 3, upper mounting plate 1, lower platform 2 are from top to bottom arranged side by side, and the lower surface of upper mounting plate 1 is connected the circumferencial direction uniform setting of six movement branched chain 3 along lower platform 2 by movement branched chain assembly described in three groups with the upper surface of lower platform 2.Lower platform 2 is the linkage unit of flexible parallel mechanism and pedestal, is connected with the external world by the screwed hole of bottom; Upper mounting plate 1 is the movement output end of compliant mechanism, and executing agency can be connected by the screwed hole on upper mounting plate 1, the precise motion of implementation space six degree of freedom.
Detailed description of the invention two: composition graphs 2 illustrates present embodiment, described in present embodiment, a kind of each movement branched chain 3 of Six-degree-of-freedom Large Stroke flexible parallel connection platform comprises an a cylindrical pair 3-1 and two flexible hook hinge 3-2, and two flexible hook hinge 3-2 are connected by a cylindrical pair 3-1.Two flexible hook hinge 3-2 and cylindrical pair 3-1 form 6-UCU type side chains, and cylindrical pair 3-1 can allow the motion of two frees degree, namely circumference rotate and one move axially.The tie point distribution of Hooke's hinge on upper lower platform as shown in Figure 5, each minor face in Fig. 5 in hexagon A is equal respectively with long limit, wherein the half of the central angle that minor face A1A2 is corresponding is β=15 °, each minor face in hexagon B is equal respectively with long limit, and wherein the half of the central angle that minor face B1B2 is corresponding is α=15 °.The driving of platform is applied in the axially-movable in cylindrical pair 3-1, and the movement in hook hinge 3-2 on the rotation of cradle head and cylindrical pair 3-1 is passive link.Can implementation space six-freedom degree motion by the coordinated movement of various economic factors of the drive motors on six side chains.
The angle range of the flexible rotational joint adopted in the present invention is ± 30 °.Other composition and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 3 illustrates present embodiment, described in present embodiment, a kind of each flexible hook hinge 3-2 of Six-degree-of-freedom Large Stroke flexible parallel connection platform comprises core body 3-2-1, two support 3-2-2 and multiple flexible rotational joint 3-2-3, core body 3-2-1 is hexahedron, the two ends of a support 3-2-2 are connected by the side that two flexible rotational joint 3-2-3 are relative with core body 3-2-1 two, the two ends of another support 3-2-2 are connected by two two other relative sides of flexible rotational joint 3-2-3 and core body 3-2-1, two support 3-2-2 are that cross is arranged.Core body 3 also can be spherical or other structure, and its surface is provided with four installing holes, and four installing holes connect respectively by one end that a flexible rotational joint is corresponding with support 3-2-2, forms two groups of mutually orthogonal revolute pairs.Other composition and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 4 illustrates present embodiment, a kind of each flexible rotational joint 3-2-3 of Six-degree-of-freedom Large Stroke flexible parallel connection platform described in present embodiment comprises the first rotation joint 3-2-3-1 and second and rotates joint 3-2-3-2, first one end and second of rotating joint 3-2-3-1 is rotated one end car saving 3-2-3-2 and is connect, be provided with D type adagio 3-2-3-3 in first rotation joint 3-2-3-1, in the second rotation joint 3-2-3-2, be provided with I type adagio 3-2-3-4.The main body of each flexible rotational joint 3-2-3 is cylindrical, by the elastic deformation of D type adagio 3-2-3-3 arranged in a crossed manner and I type adagio 3-2-3-4, the two-way restricted rotational movement around single shaft can be realized, rotate joint 3-2-3-2 to fix second, rotate on joint 3-2-3-1 first and apply torque, can elastic deformation be there is in the I type adagio 3-2-3-4 be fixed in the second rotation joint 3-2-3-2, and then the gapless realized between the first rotation joint 3-2-3-1 and second rotation joint 3-2-3-2 is rotated, vice versa.Different corners and rotational stiffness requirement can be met by changing angle between D type adagio 3-2-3-3 and I type adagio 3-2-3-4.Other composition and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 4 illustrates present embodiment, the first rotation joint 3-2-3-1 and second of a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform described in present embodiment rotates the junction saving 3-2-3-2 and leaves gap 4.Other composition and annexation identical with detailed description of the invention four.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to technical spirit of the present invention, within the spirit and principles in the present invention, to any simple amendment that above embodiment is done, equivalent replacement and improvement etc., within the protection domain all still belonging to technical solution of the present invention.
Claims (5)
1. a Six-degree-of-freedom Large Stroke flexible parallel connection platform, it is characterized in that: described a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform comprises upper mounting plate (1), lower platform (2) and six movement branched chain (3), upper mounting plate (1), lower platform (2) are from top to bottom arranged side by side, and the lower surface of upper mounting plate (1) is connected the circumferencial direction uniform setting of six movement branched chain (3) along lower platform (2) by movement branched chain assembly described in three groups with the upper surface of lower platform (2).
2. a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform according to claim 1, it is characterized in that: each movement branched chain (3) comprises a cylindrical pair (3-1) and two flexible hook hinge (3-2), two flexible hook hinge (3-2) are connected by a cylindrical pair (3-1).
3. a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform according to claim 2, it is characterized in that: each flexible hook hinge (3-2) comprises core body (3-2-1), two supports (3-2-2) and multiple flexible rotational joint (3-2-3), core body (3-2-1) is hexahedron, the two ends of a support (3-2-2) are connected by the side that two flexible rotational joints (3-2-3) are relative with two, core body (3-2-1), the two ends of another support (3-2-2) are connected with two other relative side of core body (3-2-1) by two flexible rotational joints (3-2-3), two supports (3-2-2) are arranged in cross.
4. a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform according to claim 3, it is characterized in that: each flexible rotational joint (3-2-3) comprises the first rotation joint (3-2-3-1) and second and rotates joint (3-2-3-2), first one end and second of rotating joint (3-2-3-1) is rotated one end car saving (3-2-3-2) and is connect, be provided with D type adagio (3-2-3-3) in first rotation joint (3-2-3-1), in the second rotation joint (3-2-3-2), be provided with I type adagio (3-2-3-4).
5. a kind of Six-degree-of-freedom Large Stroke flexible parallel connection platform according to claim 4, is characterized in that: first rotates joint (3-2-3-1) and second rotates the junction saving (3-2-3-2) and leave gap (4).
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| CN201510853614.9A CN105252530A (en) | 2015-11-27 | 2015-11-27 | Six-degree-of-freedom large-stroke flexible parallel platform |
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| CN201510853614.9A CN105252530A (en) | 2015-11-27 | 2015-11-27 | Six-degree-of-freedom large-stroke flexible parallel platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN106556347A (en) * | 2016-11-10 | 2017-04-05 | 中南大学 | A kind of optoelectronic packaging flexible parallel connection platform end pose detecting system and method |
| CN106842546A (en) * | 2017-03-06 | 2017-06-13 | 中国科学院长春光学精密机械与物理研究所 | One kind is pointed to and vibration isolation integration multidimensional parallel connection platform and system |
| CN107314091A (en) * | 2017-07-26 | 2017-11-03 | 哈尔滨工业大学 | A kind of electronic 6-dof motion platform based on planetary roller screw |
| CN107773998A (en) * | 2016-08-31 | 2018-03-09 | 江苏金刚文化科技集团股份有限公司 | A kind of new Six-freedom dynamic viewing platform |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
| CN112904551A (en) * | 2021-01-14 | 2021-06-04 | 中国科学院光电技术研究所 | Three-degree-of-freedom high-precision movement mechanism based on macro and micro movement mode |
| CN114211475A (en) * | 2021-12-31 | 2022-03-22 | 上海交通大学 | Rope and elastic rod piece hybrid-driven parallel robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| CN105953039A (en) * | 2016-07-14 | 2016-09-21 | 佛山科学技术学院 | Novel large-stroke compliant parallel micro positioning platform |
| CN105953039B (en) * | 2016-07-14 | 2018-08-24 | 佛山科学技术学院 | A kind of submissive mini positioning platform in parallel of Novel long-stroke |
| CN107773998A (en) * | 2016-08-31 | 2018-03-09 | 江苏金刚文化科技集团股份有限公司 | A kind of new Six-freedom dynamic viewing platform |
| CN106556347A (en) * | 2016-11-10 | 2017-04-05 | 中南大学 | A kind of optoelectronic packaging flexible parallel connection platform end pose detecting system and method |
| CN106842546A (en) * | 2017-03-06 | 2017-06-13 | 中国科学院长春光学精密机械与物理研究所 | One kind is pointed to and vibration isolation integration multidimensional parallel connection platform and system |
| CN107314091A (en) * | 2017-07-26 | 2017-11-03 | 哈尔滨工业大学 | A kind of electronic 6-dof motion platform based on planetary roller screw |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
| CN112904551A (en) * | 2021-01-14 | 2021-06-04 | 中国科学院光电技术研究所 | Three-degree-of-freedom high-precision movement mechanism based on macro and micro movement mode |
| CN114211475A (en) * | 2021-12-31 | 2022-03-22 | 上海交通大学 | Rope and elastic rod piece hybrid-driven parallel robot |
| CN114211475B (en) * | 2021-12-31 | 2023-10-20 | 上海交通大学 | Rope and elastic rod piece hybrid drive parallel robot |
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Application publication date: 20160120 |