CN105291091A - Three-translation and one-rotation parallel robot with plane pair - Google Patents
Three-translation and one-rotation parallel robot with plane pair Download PDFInfo
- Publication number
- CN105291091A CN105291091A CN201510764004.1A CN201510764004A CN105291091A CN 105291091 A CN105291091 A CN 105291091A CN 201510764004 A CN201510764004 A CN 201510764004A CN 105291091 A CN105291091 A CN 105291091A
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- China
- Prior art keywords
- platform
- movable platform
- rotation
- parallel robot
- telescopic rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention provides a three-translation and one-rotation parallel robot with a plane pair. The parallel robot comprises a fixed platform, a movable platform and four branch chains which are connected between the fixed platform and the movable platform and are the same in structure. The parallel robot is characterized in that the movable platform is a quadrangular frustum pyramid with four side faces, each side face is provided with a rectangular hollow structure, disc sliding blocks can be movably embedded in the rectangular hollow structures of the movable platform through balls embedded in the edges, and the plane moving pair is formed by the disc sliding blocks and the movable platform; and the four branch chains are all provided with telescopic rods, one ends of the telescopic rods are connected with the fixed platform through rotation pairs, the other ends of the telescopic rods are fixedly connected with one faces of the disc sliding blocks, the four rotation pairs are parallel to one another, and the center axes of the four telescopic rods are crossed at one point. The movable platform can obtain three translation freedom degrees and one rotation freedom degree through driving of the rotation pairs on the branch chains, the branch chain structure is simplified by introducing the plane pairs, and by means of the short branch chain structure form, the rigidity and moving precision of the robot can be effectively improved.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically relate to a kind of three-translating and one-rotating parallel device people containing planar contact pair.
Background technology
Parallel robot and serial manipulator are in duality relation in stuctures and properties feature, and compared with traditional serial manipulator, it is large that parallel robot has the rigidity of structure, bearing capacity is high, and inertia is little, fast response time, precision advantages of higher, is widely used in the association areas such as machine-building.
Limited-DOF Parallel Robot has attracted domestic and international large quantities of scholar to study with the features and application potentiality of himself.Pierrot etc. propose the H4 type parallel robot with four side chains and two moving platform architectural feature, achieve three-dimensional translating and the one-dimensional rotation in space, this robot has good compliance in horizontal plane, ensure that higher rigidity perpendicular on horizontal plane direction.The people such as Liu Xin army of Tsing-Hua University have developed a kind of four-degree-of-freedom single action platform parallel mechanism realizing three translations one and rotate, this mechanism mainly comprises the moving platform and fixed platform of installing actuator, between connection moving platform and fixed platform is have mutually isostructural four side chains, this parallel institution has the architectural feature of single platform, simple for structure, kinematics is simple, is conducive to realizing high-speed motion.The people such as University Of Tianjin Tian Yanling have developed a kind of Long Distances two translation one and rotate precisely locating platform, be made up of pedestal and the moving platform be provided at its inner portion, have simple and compact for structure, output displacement is larger, axial rigidity high, can be used as the auxiliary positioning platform of nanometer micro OS, there is microfeed and precision positioning function.The people such as the Ding Huafeng of Beijing University of Technology have developed a kind of two turn of one asymmetric parallel robot mechanism of the Three Degree Of Freedom moved, and this mechanism comprises three branches of moving platform, frame and connection.Once the people such as good fortune that reach of University On The Mountain Of Swallows have developed a kind of two and move a rotating decoupling parallel robot mechanism, comprise fixed platform, moving platform and connect their three branches, the identical Liang Ge branch of structure is by a cylindrical pair and two revolute pairs and two the connecting rod compositions being connected them, and another branch is made up of with three connecting rods being connected them four revolute pairs.
Relate to dissimilar Limited-DOF Parallel Robot in above-mentioned achievement in research, but the parallel robot kind with three translational degree of freedom and a rotational freedom still needs to expand, structure still needs further simplification.
Summary of the invention
The object of this invention is to provide a kind of structure simply containing the three-translating and one-rotating parallel device people of planar contact pair.Its technical scheme is:
A kind of three-translating and one-rotating parallel device people containing planar contact pair, comprise fixed platform, motion platform and be connected to the identical side chain of four structures between fixed platform with motion platform, it is characterized in that: motion platform is the truncated rectangular pyramids with four sides, each side is all containing rectangular hollow structure, disk slide block is by inside the movable rectangular hollow structure being embedded into motion platform of the ball that is embedded in edge, jointly planar kinematic pair is formed with motion platform, article four, side chain is all containing expansion link, one end of expansion link is connected with fixed platform by revolute pair, the one side of the other end and disk slide block is affixed, four revolute pairs are parallel to each other, the central axis of four expansion links meets at a bit.
Compared with prior art, its advantage is in the present invention: (1), by introducing planar contact pair, simplify branched structure, the version of this short-chain branch effectively can improve rigidity and the kinematic accuracy of robot; (2) by driving the revolute pair on every bar side chain, motion platform can obtain three translational degree of freedom and a rotational freedom, because motor can be installed on the stationary platform, ensure that robot has good dynamic characteristic.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, fixed platform 2, motion platform 3, revolute pair 4, expansion link 5, disk slide block 6, ball.
Detailed description of the invention
Motion platform 2 is for having the truncated rectangular pyramids of four sides, each side is all containing rectangular hollow structure, disk slide block 5 is by inside the movable rectangular hollow structure being embedded into motion platform 2 of the ball 6 that is embedded in edge, jointly planar kinematic pair is formed with motion platform 2, article four, side chain is all containing expansion link 4, one end of expansion link 4 is connected with fixed platform 1 by revolute pair 3, the one side of the other end and disk slide block 5 is affixed, four revolute pairs 3 are parallel to each other, and the central axis of four expansion links 4 meets at a bit.
Claims (1)
1. the three-translating and one-rotating parallel device people containing planar contact pair, comprise fixed platform (1), motion platform (2) and be connected to the identical side chain of four structures between fixed platform (1) with motion platform (2), it is characterized in that: motion platform (2) is for having the truncated rectangular pyramids of four sides, each side is all containing rectangular hollow structure, disk slide block (5) is by inside the movable rectangular hollow structure being embedded into motion platform (2) of the ball (6) that is embedded in edge, jointly planar kinematic pair is formed with motion platform (2), article four, side chain is all containing expansion link (4), one end of expansion link (4) is connected with fixed platform (1) by revolute pair (3), the one side of the other end and disk slide block (5) is affixed, four revolute pairs (3) are parallel to each other, the central axis of four expansion links (4) meets at a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764004.1A CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764004.1A CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105291091A true CN105291091A (en) | 2016-02-03 |
| CN105291091B CN105291091B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510764004.1A Expired - Fee Related CN105291091B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation parallel robot with plane pair |
Country Status (1)
| Country | Link |
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| CN (1) | CN105291091B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234317A (en) * | 2017-08-14 | 2017-10-10 | 北京工业大学 | A kind of automatic welding main body mechanism for building and its welding system |
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN111331581A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN113119072A (en) * | 2021-04-12 | 2021-07-16 | 福州大学 | Symmetrical redundant driving parallel operation head comprising double-acting platform |
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| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| KR20150094801A (en) * | 2014-02-10 | 2015-08-20 | 순천대학교 산학협력단 | Delta robot |
-
2015
- 2015-11-11 CN CN201510764004.1A patent/CN105291091B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19930287A1 (en) * | 1999-07-03 | 2001-01-04 | Klaus Dagefoerde | Joint arm machining center, with fast-moving work platform and slow moving joint arm device |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN102058465A (en) * | 2011-02-22 | 2011-05-18 | 福州大学 | Ankle rehabilitation training device with single degree of freedom |
| KR20150094801A (en) * | 2014-02-10 | 2015-08-20 | 순천대학교 산학협력단 | Delta robot |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234317A (en) * | 2017-08-14 | 2017-10-10 | 北京工业大学 | A kind of automatic welding main body mechanism for building and its welding system |
| CN107856025A (en) * | 2017-12-20 | 2018-03-30 | 歌尔科技有限公司 | Robot and its angle adjusting mechanism |
| CN107856025B (en) * | 2017-12-20 | 2023-12-26 | 歌尔科技有限公司 | Robot and angle adjusting mechanism thereof |
| CN111331581A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN111331581B (en) * | 2020-03-17 | 2022-07-01 | 中国民航大学 | Partially-decoupled crossed four-degree-of-freedom parallel mechanism |
| CN113119072A (en) * | 2021-04-12 | 2021-07-16 | 福州大学 | Symmetrical redundant driving parallel operation head comprising double-acting platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105291091B (en) | 2020-04-21 |
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