CN105500347B - A kind of 3-freedom parallel mechanism of achievable stable pure translational - Google Patents
A kind of 3-freedom parallel mechanism of achievable stable pure translational Download PDFInfo
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- CN105500347B CN105500347B CN201610055839.4A CN201610055839A CN105500347B CN 105500347 B CN105500347 B CN 105500347B CN 201610055839 A CN201610055839 A CN 201610055839A CN 105500347 B CN105500347 B CN 105500347B
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- revolute pair
- branch
- moving platform
- universal hinge
- axis
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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
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of 3-freedom parallel mechanism of achievable stable pure translational, its three structure identical branch for including pedestal, moving platform and connecting them, one end of lower link in branch is connected by revolute pair with pedestal, its other end universal hinge under is connected with one end of upper connecting rod, and the other end of the upper connecting rod is connected by upper universal hinge with moving platform.Two revolute pair diameter parallels that first and third branch is connected with pedestal；Revolute pair diameter parallel, the revolute pair axis that the revolute pair axis that the second branch is connected with pedestal is connected perpendicular to first and third branch with pedestal on the outside of two upper universal hinges that first and third branch is connected with moving platform；Revolute pair axis revolute pair axis on the outside of the upper universal hinge that first and third branch is connected with moving platform on the outside of the upper universal hinge that second branch is connected with moving platform.The revolute pair that the present invention can be such that each branch of mechanism is on different component is naturally parallel, realizes three stable translational motions, is not in mechanism evolution in motion process.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of 3-freedom parallel mechanism.
Background technology
Three parallel moving mechanisms are with study hotspot that its special kinetic characteristic is always theory of mechanisms.Wherein it are no lack of some famous
Three parallel moving mechanisms.1988, R.Clavel proposed Delta parallel mechanism, was a kind of 3DOF pure translational mechanism, its speed
It hurry up, registration.Tsai proposed a kind of symmetrical 3-UPU parallel moving mechanisms (Tsai L W.Kinematics of A in 1996
Three-Dof Platform with Three Extensible Limbs[M]//Recent Advances in Robot
Kinematics.Springer Netherlands,1996:401-410).For 3-RUU parallel institutions, Tsai is special in the U.S.
A kind of 3-RUU parallel institutions are proposed in profit 5656905, wherein the 3-RUU mechanisms proposed keep the condition of translation to be each RUU
The revolute pair being connected in branch with pedestal and the outside revolute pair being connected with upper mounting plate want keeping parallelism, with pedestal phase in the mechanism
Revolute pair even is each parallel to pedestal opposite side, and the outside revolute pair being connected with upper mounting plate is parallel to upper mounting plate opposite side.This arrangement
Under, the revolute pair keeping parallelism on different component is extremely difficult.When corresponding revolute pair is not parallel, mechanism is not
Possess three stable translation characteristics.The mechanism is actually a Variable Freedom Mechanism in motion process.
Some domestic scholars it is also proposed 3-RUU mechanisms, and Publication No. CN201420614274.5 Chinese patent is proposed
3-RUU type parallel institution hip joint testers, Publication No. CN201410371262.9 Chinese patent proposes one kind can
The Delta structure parallel manipulators of precision three-dimensional movement, including the kinematic chain based on 3-RUU.But these 3-RUU mechanisms do not have
There are three translational motion characteristics.
The content of the invention
It is an object of the invention to provide a kind of 3-freedom parallel mechanism of achievable stable pure translational.The mechanism passes through
The special arrangement of kinematic pair realizes the naturally parallel of the revolute pair on different component, it is ensured that the fortune of the translation of mechanism stable three
Dynamic characteristic.
Technical scheme is as follows：
The invention mainly comprises three structure identical branches of pedestal, moving platform and connection pedestal and moving platform, institute
There are two kinds of different connected modes in the three structure identical branches stated.
First way：Branch is made up of lower link and upper connecting rod, and one end of lower link is connected by revolute pair with pedestal,
The other end of the lower link universal hinge under be connected with one end of upper connecting rod, the other end of the upper connecting rod by it is upper it is universal cut with scissors and
Moving platform is connected.The revolute pair that is connected in upper universal hinge with moving platform and under the revolute pair that is connected with lower link in universal hinge be
Outside revolute pair, the upper and lower universal revolute pair being connected with upper connecting rod of cutting with scissors is inner side revolute pair, and each in universal hinge, outside turns
Dynamic secondary axis is vertical with inner side revolute pair axis.Two revolute pair diameter parallels that first and third branch is connected with pedestal；Firstth,
Revolute pair diameter parallel on the outside of two upper universal hinges that three branches are connected with moving platform.The revolute pair that second branch is connected with pedestal
The revolute pair axis that axis is connected perpendicular to first and third branch with pedestal；Outside the upper universal hinge that second branch is connected with moving platform
Side revolute pair axis revolute pair axis on the outside of the upper universal hinge that first and third branch is connected with moving platform.In three branches,
The revolute pair axis being connected with pedestal is each parallel to base plane, and revolute pair axis is equal on the outside of the upper universal hinge being connected with moving platform
Parallel to moving platform plane.In each branch, revolute pair axis is vertical with lower link axis, and the revolute pair on the outside of universal hinge with
Diameter parallel, under on the inside of universal hinge revolute pair axis it is vertical with upper connecting rod axis, and with upper universal hinge inner side revolute pair axis
It is parallel.
The second way：Branch is made up of lower link and upper connecting rod, and one end of lower link is universal under to cut with scissors and pedestal company
Connect, the other end of the lower link is connected by one end of revolute pair and upper connecting rod, and the other end of the upper connecting rod passes through upper universal hinge
It is connected with moving platform.The revolute pair being connected in upper and lower universal hinge with pedestal or moving platform be outside revolute pair, with lower link or on
The connected revolute pair of connecting rod is inner side revolute pair.Turns auxiliary shaft on the outside of universal hinge under first and third branch be connected with pedestal two
Line is parallel；Revolute pair diameter parallel on the outside of two upper universal hinges that first and third branch is connected with moving platform.Second branch and pedestal
Revolute pair axis revolute pair on the outside of universal hinge under being connected in first and third branch with pedestal on the outside of universal hinge under connected
Axis；Revolute pair axis is perpendicular to first and third branch and moving platform phase on the outside of the upper universal hinge that second branch is connected with moving platform
Revolute pair axis on the outside of upper universal hinge even.In three branches, revolute pair axis is put down on the outside of universal hinge under being connected with pedestal
The capable revolute pair axis on the outside of base plane, the upper universal hinge being connected with moving platform is each parallel to moving platform plane.In each branch,
Under on the inside of universal hinge revolute pair axis it is vertical with lower link axis, and with revolute pair diameter parallel, revolute pair axis and upper company
Rod axis are vertical, and with revolute pair diameter parallel on the inside of upper universal hinge.
The present invention has the following advantages that compared with prior art：
The arrangement of revolute pair can make the naturally parallel of revolute pair of the mechanism realization on different component, meet real
The geometrical condition of existing three translations, mechanism realizes three stable translational motions, is not in mechanism evolution during mechanism kinematic.
Brief description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2.
In figure：1-pedestal, 2-moving platform, the 3-the first branch, the 4-the second branch, the 5-the three branch, 6-lower link,
7-under universal hinge, 8-upper connecting rod, 9-upper universal hinge.
Embodiment
Embodiment 1
In the 3-freedom parallel mechanism schematic diagram of the achievable stable pure translational shown in Fig. 1, one end of lower link 6 leads to
Cross revolute pair R1 to be connected with pedestal 1, the other end of the lower link universal hinge 7 under is connected with one end of upper connecting rod 8, connect on this
The other end of bar is connected by upper universal hinge 9 with moving platform 2.The revolute pair R5 that is connected in upper universal hinge with moving platform and under it is universal
The revolute pair R2 being connected in hinge with lower link is outside revolute pair, revolute pair R3, R4 that upper and lower universal hinge is connected with upper connecting rod
It is that outside revolute pair axis is vertical with inner side revolute pair axis in inner side revolute pair, each universal hinge.First branch 3 and
Two revolute pair R1 diameter parallels that three branches 5 are connected with pedestal；Two upper universal hinges that first and third branch is connected with moving platform
Outside revolute pair diameter parallel.The revolute pair axis that second branch is connected with pedestal is connected perpendicular to first and third branch with pedestal
Revolute pair axis；On the outside of the upper universal hinge that second branch 4 is connected with moving platform revolute pair axis perpendicular to first and third branch with
Revolute pair axis on the outside of the connected upper universal hinge of moving platform.In three branches, the revolute pair axis being connected with pedestal each parallel to
Revolute pair axis is each parallel to moving platform plane on the outside of base plane, the upper universal hinge being connected with moving platform.In each branch, rotate
Secondary axis is vertical with lower link axis, and the revolute pair diameter parallel on the outside of universal hinge with, under turns auxiliary shaft on the inside of universal hinge
Line is vertical with upper connecting rod axis, and with revolute pair diameter parallel on the inside of upper universal hinge.
Embodiment 2
As shown in Fig. 2 one end of lower link 6 universal hinge 7 under is connected with pedestal 1, the other end of the lower link passes through
Revolute pair R3 is connected with one end of upper connecting rod 8, and the other end of the upper connecting rod is connected by upper universal hinge 9 with moving platform 2.It is upper and lower
Revolute pair R1, R5 being connected in universal hinge with pedestal or moving platform is outside revolute pair, and what is be connected with lower link or upper connecting rod turns
Dynamic secondary R3, R4 are inner side revolute pair.Revolute pair on the outside of universal hinge under first branch 3 and the 3rd branch 5 be connected with pedestal two
R1 diameter parallels；Revolute pair R5 diameter parallels on the outside of two upper universal hinges that first and third branch is connected with moving platform.Second branch
4 be connected with pedestal under universal hinge under revolute pair R1 axis are connected in first and third branch with pedestal on the outside of universal hinge
Outside revolute pair axis；Revolute pair axis is perpendicular to first and third branch on the outside of the upper universal hinge that second branch is connected with moving platform
Revolute pair axis on the outside of the upper universal hinge being connected with moving platform.In three branches, rotated under being connected with pedestal on the outside of universal hinge
Secondary axis is each parallel to base plane, and revolute pair axis is flat each parallel to moving platform on the outside of the upper universal hinge being connected with moving platform
Face.In each branch, under on the inside of universal hinge revolute pair axis it is vertical with lower link axis, and with revolute pair diameter parallel, rotation
Secondary axis is vertical with upper connecting rod axis, and with revolute pair diameter parallel on the inside of upper universal hinge.
Claims (2)
1. a kind of 3-freedom parallel mechanism of achievable stable pure translational, it include pedestal, moving platform and connection pedestal with
Three structure identical branches of moving platform, it is characterised in that：The branch is made up of lower link and upper connecting rod, and the one of lower link
End is connected by revolute pair with pedestal, and the other end of the lower link universal cut with scissors under is connected with one end of upper connecting rod, is connected on this
The other end of bar is connected by upper universal hinge with moving platform；The revolute pair that is connected in upper universal hinge with moving platform and under in universal hinge
The revolute pair being connected with lower link is outside revolute pair, on the inside of revolute pair be connected with upper connecting rod in upper and lower universal hinge is
In revolute pair, each universal hinge, outside revolute pair axis is vertical with inner side revolute pair axis；First and third branch is connected with pedestal
Two revolute pair diameter parallels；Revolute pair diameter parallel on the outside of two upper universal hinges that first and third branch is connected with moving platform；
The revolute pair axis that the revolute pair axis that second branch is connected with pedestal is connected perpendicular to first and third branch with pedestal；Second point
The upper universal hinge that revolute pair axis is connected perpendicular to first and third branch with moving platform on the outside of the upper universal hinge that branch is connected with moving platform
Outside revolute pair axis；In three branches, the revolute pair axis being connected with pedestal is connected each parallel to base plane with moving platform
Upper universal hinge on the outside of revolute pair axis each parallel to moving platform plane；In each branch, revolute pair axis hangs down with lower link axis
Directly, the revolute pair diameter parallel on the outside of universal hinge and with, under on the inside of universal hinge revolute pair axis it is vertical with upper connecting rod axis, and
And with revolute pair diameter parallel on the inside of upper universal hinge.
2. a kind of 3-freedom parallel mechanism of achievable stable pure translational, it include pedestal, moving platform and connection pedestal with
Three structure identical branches of moving platform, it is characterised in that：The branch is made up of lower link and upper connecting rod, and the one of lower link
End universal hinge under is connected with pedestal, and the other end of the lower link connects by one end connection of revolute pair and upper connecting rod, on this
The other end of bar is connected by upper universal hinge with moving platform；The revolute pair being connected in upper and lower universal hinge with pedestal or moving platform is
Outside revolute pair, the revolute pair being connected with lower link or upper connecting rod is inner side revolute pair；First and third branch be connected with pedestal two
Revolute pair diameter parallel on the outside of universal hinge under individual；Revolute pair on the outside of two upper universal hinges that first and third branch is connected with moving platform
Diameter parallel；Second branch under being connected with pedestal on the outside of universal hinge revolute pair axis in first and third branch with pedestal
Revolute pair axis on the outside of universal hinge under connected；Revolute pair axis is vertical on the outside of the upper universal hinge that second branch is connected with moving platform
The revolute pair axis on the outside of the upper universal hinge that first and third branch is connected with moving platform；In three branches, lower ten thousand be connected with pedestal
To hinge outside revolute pair axis each parallel to base plane, revolute pair axis is parallel on the outside of the upper universal hinge being connected with moving platform
In moving platform plane；In each branch, under on the inside of universal hinge revolute pair axis it is vertical with lower link axis, and with revolute pair axis
Parallel, revolute pair axis is vertical with upper connecting rod axis, and with revolute pair diameter parallel on the inside of upper universal hinge.
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| CN201610055839.4A CN105500347B (en) | 2016-01-27 | 2016-01-27 | A kind of 3-freedom parallel mechanism of achievable stable pure translational |
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| CN201610055839.4A CN105500347B (en) | 2016-01-27 | 2016-01-27 | A kind of 3-freedom parallel mechanism of achievable stable pure translational |
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| CN105500347A CN105500347A (en) | 2016-04-20 |
| CN105500347B true CN105500347B (en) | 2017-08-04 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856197B (en) * | 2016-05-20 | 2018-12-28 | 燕山大学 | Pure translational 3-UPU parallel institution without undesirable rotation |
| CN105818116A (en) * | 2016-05-25 | 2016-08-03 | 唐姗姗 | Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation |
| CN106041893A (en) * | 2016-07-18 | 2016-10-26 | 燕山大学 | Symmetrical two-rotation-freedom-degree and one-movement-freedom-degree parallel mechanism with multiple continuous rotating shafts |
| CN107618023B (en) * | 2017-09-26 | 2020-11-24 | 上海大学 | Light three-degree-of-freedom parallel mechanism for translational motion |
| CN107855791B (en) * | 2017-11-16 | 2019-05-31 | 中国矿业大学 | A kind of multi-parallel flexible cable formula optical fabrication device |
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN109531543B (en) * | 2018-12-21 | 2022-08-30 | 清华大学 | Four-freedom parallel robot with double-acting platform structure |
| CN111496766B (en) * | 2020-04-28 | 2021-07-27 | 清华大学 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
| CN112621730B (en) * | 2021-01-10 | 2022-08-26 | 于江涛 | Three-degree-of-freedom decoupling parallel translation mechanism |
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Effective date of registration: 20201230 Address after: 226001 Room 301, building 11, Xingfu new town, Xingfu street, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Nantong Aoyu Technology Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |
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