CN105538290B - A kind of symmetrical coupled mechanism with an one-movement-freedom-degree - Google Patents
A kind of symmetrical coupled mechanism with an one-movement-freedom-degree Download PDFInfo
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- CN105538290B CN105538290B CN201510927565.9A CN201510927565A CN105538290B CN 105538290 B CN105538290 B CN 105538290B CN 201510927565 A CN201510927565 A CN 201510927565A CN 105538290 B CN105538290 B CN 105538290B
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Abstract
A kind of symmetrical coupled mechanism with an one-movement-freedom-degree, the mechanism includes moving platform, frame, parallel branch mechanism, coupling branch, moving platform couples branch by four identical parallel branch mechanisms and four identicals with frame and is connected, and full symmetric.Four axis in first parallel branch revolute pair connection frame and moving platform parallel to each other；Coupled chain is connected by intermediate connecting rod with the 3rd revolute pair of the second parallel branch, and the axis of the revolute pair of coupled chain and the axis of the 3rd revolute pair are orthogonal；The axis of the revolute pair of first parallel branch and the axis of the revolute pair of the second parallel branch are orthogonal.Rigidly good, precision is high, bearing capacity is strong, working space is big, stability is good for the mechanism, process and assemble is simple, has a good application prospect.
Description
Technical field
The present invention relates to a kind of symmetrical coupled mechanism gone out based on truncated cube structure composition, belong to applied mechanism skill
Art field.
Background technology
In decades since being born from robot, robot obtains rapid development.It is fast in connection in series-parallel connection robot
While speed development, there has been proposed the concept of the robot with Space Coupling mechanism.Compared with series-parallel robot, coupling
High accuracy, high bearing capacity and high stability, the accumulated error of parallel institution are small, be easy in real time while compatibility has for robot of mechanism
Control is with the advantages of serial mechanism working space is big, control is flexible, having a good application prospect.
Polycyclic coupling mechanism is increasingly becoming one of new study hotspot in recent years.Trace it to its cause is in practical application
In, the serial or parallel connection mechanism of single can not often meet the job requirement in reality.It is used as the coupling mechanism of new things
It is continuous with what is recognized coupling mechanism with the characteristics of its own and application potential has attracted substantial amounts of mechanism scholar to be studied
The extension goed deep into and applied, still has many potential type coupling mechanisms to have to be developed.Existing theory focuses primarily upon string, simultaneously
Online structure and better simply hybrid mechanism, lack systematic research for polycyclic coupling mechanism.Mechanism is rule-based multiaspect
A kind of symmetrical coupled mechanism that body structure composition goes out.
The content of the invention
Object of the present invention is to provide a kind of based on truncated cube structure composition and with freedom of movement
The symmetrical coupled mechanism of degree, is that domestic enterprise and research institution provide patent information and technical support.
To achieve the above object, the technical solution adopted by the present invention is a kind of symmetrical coupled with an one-movement-freedom-degree
Mechanism, the mechanism includes moving platform (P), frame (M), parallel branch mechanism, coupling branch, moving platform (P) and frame (M)
Branch is coupled by four identical parallel branch mechanisms and four identicals to connect, and it is full symmetric.
First parallel branch mechanism (1) includes the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair
(R13), the 4th revolute pair (R14), and the axis of four revolute pairs is parallel to each other；Second parallel branch mechanism (2), the 3rd are simultaneously
It is identical that connection branch (3), the 4th parallel branch mechanism (4) constitute structure with the first parallel branch mechanism (1).
Second parallel branch mechanism (2) includes the 5th revolute pair (R21), the 6th revolute pair (R22), the 7th revolute pair
(R23), the 8th revolute pair (R24).
Branch is coupled by the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain
Revolute pair (RO3) is constituted, and coupling branch has four groups, and each group branch sets adjacent between parallel branch, respectively
The axis for coupling branch is parallel to each other.
The first revolute pair (R11) in first parallel branch is connected with frame (M), the 4th revolute pair (R14) and moving platform
(P) connect, the second revolute pair (R12) and the 3rd revolute pair are passed through between the first revolute pair (R11) and the 4th revolute pair (R14)
(R13) connect, wherein the axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13).
The second revolute pair (R12) of first parallel branch mechanism (1), the 3rd revolute pair (R13) are with coupling branch
First coupled chain revolute pair (RO1) is connected by the T-shaped connecting rod in the middle of parallel branch mechanism, and their axis hangs down mutually
Directly.
The 6th revolute pair (R22), the 7th revolute pair (R23) of second parallel branch mechanism (1) turn with the 3rd coupled chain
Dynamic pair (RO3) is connected by the T-shaped connecting rod in the middle of parallel branch mechanism, and their axis is orthogonal.
The revolute pair axis of first parallel branch mechanism (1) and the revolute pair axis of the second parallel branch mechanism (2) are mutual
Vertically；It is adjacent between second branch (2), the 3rd branch (3), the 4th branch (4) and the first branch (1)
The revolute pair axis of branch is orthogonal.
Compared with prior art, the present invention has the advantages that：
1st, the mechanism branched structure is simple, and process and assemble is simple.
2nd, rigidly good, precision is high, bearing capacity is strong, working space is big, stability is good for the mechanism, has been widely used in bionical
The field such as robot and Aero-Space.
Brief description of the drawings
Fig. 1 is structure diagram of the invention.
Fig. 2 is the symmetrical coupled mechanism signal with an one-movement-freedom-degree gone out based on truncated cube structure composition
Figure.
In figure：P, moving platform, M, frame, R11, the first revolute pair, R12, the second revolute pair, R13, the 3rd revolute pair,
R14, the 4th revolute pair, RO1, the first coupled chain revolute pair, RO2, the second coupled chain revolute pair, RO3, the 3rd coupled chain revolute pair
Axle, R21, the 5th revolute pair, R22, the 6th revolute pair, R23, the 7th revolute pair, R24, the 8th revolute pair.
Embodiment
As shown in figure 1, the symmetrical coupled mechanism gone out based on truncated cube structure composition, the mechanism include moving platform (P),
Frame (M), parallel branch mechanism, coupling branch, moving platform couple branch with frame by four parallel branch and four
Mechanism is connected, and full symmetric.
First parallel branch includes the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair (R13), the 4th
Revolute pair (R14), and the axis of four revolute pairs is parallel to each other；Second branch, the 3rd branch, the 4th branch's machine
Structure is identical with first branch's composition；
First coupled chain is turned by the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain
Dynamic pair (RO3) composition, and their axis is parallel to each other；
The T for the intermediate connecting rod that second revolute pair of the first parallel branch and the first revolute pair of coupled chain pass through parallel branch
Type bar is connected, and their axis is orthogonal；
The 3rd revolute pair of the revolute pair of 3rd coupled chain and the second parallel branch is connected, and their axis is mutual
It is perpendicular；
The axis of the revolute pair of first parallel branch and the axis of the revolute pair of the second parallel branch are orthogonal；Similarly may be used
Know that the revolute pair axis of contiguous branch between the second branch, the 3rd branch, the 4th branch and the first branch is orthogonal.
Specifically, wherein the first revolute pair (R11) in the first parallel branch is connected with frame (M), the 4th revolute pair
(R14) be connected with moving platform P, between the first revolute pair (R11) and the 4th revolute pair (R14) by the second revolute pair (R12) and
3rd revolute pair (R13) is connected, wherein the axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13)；
Because each branch is full symmetric, then remaining branched structure is identical with the first branch.
Claims (1)
1. a kind of symmetrical coupled mechanism with an one-movement-freedom-degree, it is characterised in that：The mechanism includes moving platform (P), machine
Frame (M), parallel branch mechanism, coupling branch, moving platform (P) pass through four identical parallel branch mechanisms with frame (M)
Connected with four identical coupling branches, and it is full symmetric；
First parallel branch mechanism (1) includes the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair (R13), the
Four revolute pairs (R14), and the axis of four revolute pairs is parallel to each other；Second parallel branch mechanism (2), the 3rd parallel branch machine
It is identical that structure (3), the 4th parallel branch mechanism (4) constitute structure with the first parallel branch mechanism (1)；
Second parallel branch mechanism (2) includes the 5th revolute pair (R21), the 6th revolute pair (R22), the 7th revolute pair (R23), the
Eight revolute pairs (R24)；
Branch is coupled to be rotated by the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain
Secondary (RO3) composition, coupling branch has four groups, each group coupling branch be arranged on adjacent parallel branch mechanism it
Between, the axis of each coupling branch is parallel to each other；
The first revolute pair (R11) in first parallel branch mechanism (1) is connected with frame (M), and the 4th revolute pair (R14) is put down with dynamic
Platform (P) is connected, and the second revolute pair (R12) and the 3rd revolute pair are passed through between the first revolute pair (R11) and the 4th revolute pair (R14)
(R13) connect, wherein the axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13)；
The second revolute pair (R12) of first parallel branch mechanism (1), the 3rd revolute pair (R13) are with coupling the first of branch
Coupled chain revolute pair (RO1) is connected by the T-shaped connecting rod in the middle of parallel branch mechanism, and their axis is orthogonal；
The 6th revolute pair (R22), the 7th revolute pair (R23) and the 3rd coupled chain revolute pair of second parallel branch mechanism (2)
(RO3) it is connected by the T-shaped connecting rod in the middle of parallel branch mechanism, and their axis is orthogonal；
The revolute pair axis of first parallel branch mechanism (1) and the revolute pair axis of the second parallel branch mechanism (2) are orthogonal；
Second parallel branch mechanism (2), the 3rd parallel branch mechanism (3), the 4th parallel branch mechanism (4) and the first parallel branch mechanism
(1) the revolute pair axis of contiguous branch is orthogonal between.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510927565.9A CN105538290B (en) | 2015-12-14 | 2015-12-14 | A kind of symmetrical coupled mechanism with an one-movement-freedom-degree |
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| CN201510927565.9A CN105538290B (en) | 2015-12-14 | 2015-12-14 | A kind of symmetrical coupled mechanism with an one-movement-freedom-degree |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105798889B (en) * | 2016-05-24 | 2018-03-16 | 北京工业大学 | Five jiaos of double centrum symmetrical coupled mechanisms with single-degree-of-freedom movement |
| CN105881509B (en) * | 2016-05-24 | 2018-12-07 | 北京工业大学 | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom |
| JP2018004005A (en) * | 2016-07-06 | 2018-01-11 | ソニー株式会社 | Expansion mechanism and tetrapodal robot |
| CN106313016B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of symmetrical Three Degree Of Freedom movement coupling mechanism |
| CN106346493B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of space of granatohedron can open up coupling mechanism |
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| CN1190297C (en) * | 2002-12-24 | 2005-02-23 | 北京交通大学 | Four-freedom parallel robot mechanism having two motions and one rotation |
| FR2896847B3 (en) * | 2006-02-02 | 2008-05-09 | Conseil Et Tech Sarl | ARTICULATED STRUCTURE |
| JP6289973B2 (en) * | 2014-03-31 | 2018-03-07 | Ntn株式会社 | Parallel link mechanism and link actuator |
| CN104015185B (en) * | 2014-06-12 | 2015-10-21 | 常州大学 | A kind of weak coupling three transfer parallel robot mechanism |
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