CN105345809A - Six-degree-of-freedom serial-parallel mechanism - Google Patents
Six-degree-of-freedom serial-parallel mechanism Download PDFInfo
- Publication number
- CN105345809A CN105345809A CN201510927533.9A CN201510927533A CN105345809A CN 105345809 A CN105345809 A CN 105345809A CN 201510927533 A CN201510927533 A CN 201510927533A CN 105345809 A CN105345809 A CN 105345809A
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- China
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- motion platform
- connecting rod
- slide block
- guide rail
- branched chain
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a six-degree-of-freedom serial-parallel mechanism which comprises a base, a first motion platform, a second motion platform, three first motion branch chains and three second motion branch chains, wherein the three first motion branch chains are connected between the base and the first motion platform respectively to form a first parallel mechanism; and the three second motion branch chains are connected between the first motion platform and the second motion platform respectively to form a second parallel mechanism. According to the six-degree-of-freedom serial-parallel mechanism, the structure is symmetrical, and the assembly is convenient and accurate; the first parallel mechanism and the second parallel mechanism share the first motion platform to form the serial-parallel mechanism, and the defect that the work space of the parallel mechanisms is small is supplemented through a serial mechanism; the second motion platform has six degrees of freedom relative to the base, and the six-degree-of-freedom serial-parallel mechanism is applicable to the working conditions such as manufacturing, assembly and material picking.
Description
Technical field
The invention belongs to series-parallel robot field, particularly one is applied to the operating modes such as manufacture, assembling and material pickup and can realizes six degree of freedom serial parallel mechanism.
Background technology
Parallel institution is by multiple movement branched chain connection pedestal and motion platform and forms the mechanism of many closed loops.Relative to serial mechanism, parallel institution has the advantage that precision is high, bearing capacity is large, rigidity is high.But the working space of parallel institution is little.In conjunction with the advantage of parallel institution and serial mechanism, serial parallel mechanism can improve working space, is promoted in operating modes such as manufacture, assembling and material pickups.Existing serial parallel mechanism great majority install parallel institution additional by serial mechanism end to form, and kinematic accuracy is lower; Or be made up of the movement branched chain of assembly structure complexity, control complicated.
Harbin Engineering University proposes a kind of six degree of freedom series-parallel robot (publication number is CN103624774A), the four-freedom parallel mechanism comprising laterial translation mechanism, be arranged on the longitudinal translation mechanism on laterial translation mechanism and be arranged in longitudinal translation mechanism.Laterial translation mechanism and longitudinal translation mechanism form serial mechanism, and the kinematic accuracy of serial mechanism affects the kinematic accuracy of end parallel institution.
University On The Mountain Of Swallows proposes the space serial parallel mechanism (publication number is CN103770105A) that a kind of three move a rotation, comprises motion platform and pedestal that left movement side chain is connected with right movement branched chain, and connects the intermediary movements side chain of side-to-side movement side chain.Intermediary movements side chain is that the revolute pair be parallel to each other by three axis is formed, and assembly structure is complicated.
Summary of the invention
The object of the invention is to overcome above-mentioned shortcoming, propose a kind of six degree of freedom serial parallel mechanism.
Six degree of freedom serial parallel mechanism of the present invention, comprises pedestal, the first motion platform, the second motion platform, three the first movement branched chain and three the second movement branched chain; Described three the first movement branched chain are connected between pedestal and the first motion platform, form the first parallel institution; Described three the second movement branched chain are connected between the first motion platform and the second motion platform, form the second parallel institution; The first described parallel institution and the second parallel institution share the first motion platform, form serial parallel mechanism.
Described first movement branched chain, to comprise on the first guide rail, the first slide block, first connecting rod and the first lower link in connecting rod, first; First guide rail is fixedly connected with pedestal, first guide rail and the first slide block mobile link, on first slide block and first, one end of connecting rod is rotationally connected, on first connecting rod the other end and first in one end of connecting rod be rotationally connected, in first, the other end of connecting rod and one end of the first lower link are rotationally connected, and the other end and first motion platform of the first lower link are rotationally connected.
Described second movement branched chain comprises the second guide rail, the second slide block and second connecting rod; Second guide rail is fixedly connected with the first motion platform, the second guide rail and the second slide block mobile link, and one end of the second slide block and second connecting rod is rotationally connected, and the other end and second motion platform of second connecting rod are rotationally connected.
In described first movement branched chain, in the movement of the first slide block on the first guide rail and the second movement branched chain, the movement of the second slide block on the second guide rail drives input.Article three, when the first slide block in the first movement branched chain moves respectively on the first guide rail, drive the first motion platform along moving perpendicular to base bottom surface direction and rotating around the both direction being parallel to base bottom surface, article three, when the second slide block in the second movement branched chain moves respectively on the second guide rail, drive the second motion platform to move along the both direction being parallel to the first motion platform plane and rotate around the direction perpendicular to the first motion platform plane, thus make the second motion platform have six-freedom degree relative to pedestal.
The present invention compared with prior art, its difference is: three the first movement branched chain are connected between pedestal and the first motion platform and form the first parallel institution, article three, the second movement branched chain is connected between the first motion platform and the second motion platform and forms the second parallel institution, symmetrical configuration, accurately easy to assembly; First parallel institution and the second parallel institution share the first motion platform and form serial parallel mechanism, give full play to the advantage of parallel institution high rigidity, high accuracy, large load, make up the little shortcoming of parallel institution working space with serial mechanism.
Accompanying drawing explanation
Fig. 1 is the structural representation of six degree of freedom serial parallel mechanism of the present invention.
Fig. 2 is the structural representation of the first movement branched chain.
Fig. 3 is that the first lower link two ends are rotationally connected spatial relation schematic diagram.
Fig. 4 is the structural representation of the second movement branched chain.
Description of symbols in figure: 1-pedestal, the 2-the first movement branched chain, the 3-the first motion platform, 4-the second motion platform, 5-the second movement branched chain, 2-1-the first guide rail, 2-2-the first slide block, connecting rod on 2-3-the first, connecting rod in 2-4-the first, 2-5-the first lower link, 5-1-the second guide rail, 5-2-the second slide block, 5-3-second connecting rod.
Detailed description of the invention
Composition graphs 1 to Fig. 4 further illustrates the present invention.
Shown in Fig. 1, six degree of freedom serial parallel mechanism of the present invention, comprises pedestal 1, three first movement branched chain 2, first motion platform 3, second motion platforms 4 and three the second movement branched chain 5.Described three the first movement branched chain 2 are connected between pedestal 1 and the first motion platform 3, form the first parallel institution.Described three the second movement branched chain 5 are connected between the first motion platform 3 and the second motion platform 4, form the second parallel institution.The first described parallel institution and the second parallel institution share the first motion platform 3, form serial parallel mechanism.
First movement branched chain shown in Fig. 2, to comprise on the first guide rail 2-1, the first slide block 2-2, first connecting rod 2-4 and the first lower link 2-5 in connecting rod 2-3, first.The first described guide rail 2-1 is fixedly connected with pedestal 1, first guide rail 2-1 and the first slide block 2-2 mobile link, on first slide block 2-2 and first, one end of connecting rod 2-3 is rotationally connected, on first connecting rod 2-3 the other end and first in one end of connecting rod 2-4 be rotationally connected, in first, the other end of connecting rod 2-4 and one end of the first lower link 2-5 are rotationally connected, and the other end and first motion platform 3 of the first lower link 2-5 are rotationally connected.The moving direction of the first slide block 2-2 on the first guide rail 2-1 and the plane perpendicular of pedestal 1, the moving direction of the first slide block 2-2 on the first guide rail 2-1 and the first slide block 2-2 relative to first on the axis direction that rotates of connecting rod 2-3 vertical, the axis direction that on first, connecting rod 2-3 rotates relative to the first slide block 2-2 and connecting rod 2-3 on first relative to first in the axis direction that rotates of connecting rod 2-4 parallel, in first connecting rod 2-4 relative to first on connecting rod 2-3 rotate axis direction vertical with the axis direction that connecting rod 2-4 in first rotates relative to the first lower link 2-5, first lower link 2-5 relative to first in the axis that rotates of connecting rod 2-4 and the first lower link 2-5 axes intersect of rotating relative to the first motion platform 3 in some (see figure 3)s, the plane oblique of the axis direction that the first lower link 2-5 rotates relative to the first motion platform 3 and the first motion platform 3.
Second movement branched chain shown in Fig. 4, comprises the second guide rail 5-1, the second slide block 5-2 and second connecting rod 5-3.The second described guide rail 5-1 is fixedly connected with the first motion platform 3, the second guide rail 5-1 and the second slide block 5-2 mobile link, and one end of the second slide block 5-2 and second connecting rod 5-3 is rotationally connected, and the other end and second motion platform 4 of second connecting rod 5-3 are rotationally connected.The moving direction of the second slide block 5-2 on the second guide rail 5-1 is parallel with the plane of the first motion platform 3, the moving direction of the second slide block 5-2 on the second guide rail 5-1 is vertical with the axis direction that the second slide block 5-2 rotates relative to second connecting rod 5-3, the axis direction that second connecting rod 5-3 rotates relative to the second slide block 5-2 is parallel with the axis direction that second connecting rod 5-3 rotates relative to the second motion platform 4, the plane orthogonal of the axis direction that second connecting rod 5-3 rotates relative to the second motion platform 4 and the second motion platform 4.
Operation principle: the movement of the first slide block 2-2 on the first guide rail 2-1 in described first movement branched chain 2, and in the second movement branched chain 5, the movement of the second slide block 5-2 on the second guide rail 5-1 drives input.Article three, when the first slide block 2-2 in the first movement branched chain 2 moves respectively on the first guide rail 2-1, drive the first motion platform 3 to move along the direction perpendicular to pedestal 1 bottom surface and rotate around the both direction being parallel to pedestal 1 bottom surface.Article three, when the second slide block 5-2 in the second movement branched chain 5 moves respectively on the second guide rail 5-1, drive the second motion platform 4 move along the both direction being parallel to the first motion platform 3 plane and rotate around the direction perpendicular to the first motion platform 3 plane.Described first motion platform 3 has one-dimensional movement relative to pedestal 1 and bidimensional rotates, the second motion platform 4 has two-dimensional movement and one-dimensional rotation relative to the first motion platform 3, thus makes the second motion platform 4 have six-freedom degree relative to pedestal 1.
Claims (3)
1. six degree of freedom serial parallel mechanism, is characterized in that: this mechanism comprises pedestal, the first motion platform, the second motion platform, three the first movement branched chain and three the second movement branched chain; Described three the first movement branched chain are connected between pedestal and the first motion platform, form the first parallel institution; Described three the second movement branched chain are connected between the first motion platform and the second motion platform, form the second parallel institution; The first described parallel institution and the second parallel institution share the first motion platform, form serial parallel mechanism.
2. six degree of freedom serial parallel mechanism according to claim 1, is characterized in that: described first movement branched chain, to comprise on the first guide rail, the first slide block, first connecting rod and the first lower link in connecting rod, first; First guide rail is fixedly connected with pedestal, first guide rail and the first slide block mobile link, on first slide block and first, one end of connecting rod is rotationally connected, on first connecting rod the other end and first in one end of connecting rod be rotationally connected, in first, the other end of connecting rod and one end of the first lower link are rotationally connected, and the other end and first motion platform of the first lower link are rotationally connected; Described second movement branched chain comprises the second guide rail, the second slide block and second connecting rod; Second guide rail is fixedly connected with the first motion platform, the second guide rail and the second slide block mobile link, and one end of the second slide block and second connecting rod is rotationally connected, and the other end and second motion platform of second connecting rod are rotationally connected.
3. six degree of freedom serial parallel mechanism according to claim 1 and 2, it is characterized in that: in the first described movement branched chain, the moving direction of the first slide block on the first guide rail and the plane perpendicular of pedestal, the moving direction of the first slide block on the first guide rail and the first slide block relative to first on the axis direction of link rotatable vertical, the axis direction that on first, connecting rod rotates relative to the first slide block and connecting rod on first relative to first in the axis direction of link rotatable parallel, in first connecting rod relative to first on the axis direction of link rotatable vertical with the axis direction that connecting rod in first rotates relative to the first lower link, first lower link relative to first in the axis of link rotatable and the first lower link axes intersect of rotating relative to the first motion platform in a bit, the plane oblique of the axis direction that the first lower link rotates relative to the first motion platform and the first motion platform, in the second described movement branched chain, the moving direction of the second slide block on the second guide rail is parallel with the plane of the first motion platform, the moving direction of the second slide block on the second guide rail is vertical with the axis direction that the second slide block rotates relative to second connecting rod, the axis direction that second connecting rod rotates relative to the second slide block is parallel with the axis direction that second connecting rod rotates relative to the second motion platform, the plane orthogonal of the axis direction that second connecting rod rotates relative to the second motion platform and the second motion platform, in described three the first movement branched chain, the first slide block moves respectively on the first guide rail, the first motion platform is driven to have one-dimensional movement and bidimensional to rotation relative to pedestal, article three, in the second movement branched chain, the second slide block moves respectively on the second guide rail, drive the second motion platform to have two-dimensional movement and one-dimensional rotation relative to the first motion platform, thus make the second motion platform have six-freedom degree relative to pedestal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510927533.9A CN105345809A (en) | 2015-12-14 | 2015-12-14 | Six-degree-of-freedom serial-parallel mechanism |
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| CN201510927533.9A CN105345809A (en) | 2015-12-14 | 2015-12-14 | Six-degree-of-freedom serial-parallel mechanism |
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| CN105345809A true CN105345809A (en) | 2016-02-24 |
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| CN201510927533.9A Pending CN105345809A (en) | 2015-12-14 | 2015-12-14 | Six-degree-of-freedom serial-parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856183A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Lifting platform for maintenance of power equipment |
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN115816434A (en) * | 2022-11-23 | 2023-03-21 | 南开大学 | Series-parallel robot and surgical equipment |
-
2015
- 2015-12-14 CN CN201510927533.9A patent/CN105345809A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856183A (en) * | 2016-05-16 | 2016-08-17 | 安庆米锐智能科技有限公司 | Lifting platform for maintenance of power equipment |
| CN107497706A (en) * | 2017-08-07 | 2017-12-22 | 华中农业大学 | A kind of Chinese chestnut sorting unit and method |
| CN107497706B (en) * | 2017-08-07 | 2023-11-07 | 华中农业大学 | Chinese chestnut sorting device and method |
| CN115816434A (en) * | 2022-11-23 | 2023-03-21 | 南开大学 | Series-parallel robot and surgical equipment |
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Application publication date: 20160224 |
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