CN105619384A - Single-input three-translation and one-rotation parallel robot manipulator - Google Patents
Single-input three-translation and one-rotation parallel robot manipulator Download PDFInfo
- Publication number
- CN105619384A CN105619384A CN201610141827.3A CN201610141827A CN105619384A CN 105619384 A CN105619384 A CN 105619384A CN 201610141827 A CN201610141827 A CN 201610141827A CN 105619384 A CN105619384 A CN 105619384A
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- rotate
- connecting rod
- axis
- parallel
- connect
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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
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
A single-input three-translation and one-rotation parallel robot manipulator comprises a moving platform (1), a fixed platform (0), a spatial complex branch chain and a swing rod (9), wherein the spatial complex branch chain and the swing rod (9) are used for connecting the moving platform (1) with the fixed platform (0); the spatial complex branch chain consists of a main chain and a secondary chain; from the fixed platform to the moving platform, first three revolute pairs on the main chain are parallel with each other in axis, and the axis of the a fourth revolute pair and the axis of a fifth revolute pair are parallel with each other, but the axis of a third revolute pair is perpendicular to that of the fourth revolute pair; first two revolute pairs on the secondary chain are parallel with each other in axis, and the axis of a third revolute pair and the axis of a fourth revolute pair are parallel with each other, but the axis of a second revolute pair is perpendicular to that of the third revolute pair, and the axis of the fourth revolute pair is superposed with that of the fifth revolute pair on the main chain; and two ends of the swing rod (9) are separately connected with the fixed platform (0) and the moving platform (1) through a revolute pair X (R31) and a sphere pair (S32). The manipulator is simple in structure and easy to manufacture, and is capable of generating three-translation and one-rotation multi-output motion.
Description
Technical field
The present invention relates to a kind of parallel robot operator inputting multi output less, for robot manipulator etc. provides a novel single input three to translate a rotation parallel operation hand.
Background technology
Industrial many occasion Structure of need are simple, single degree of freedom but the space mechanism of spatial complex motion can be produced, for mixing machine, polishing machine, stirrer, vibratory screening apparatus etc. Applicant has invented the parallel institution of serial single degree of freedom, they can produce that the two of space is rotated, three rotated, translation two rotation, translation three rotation, two translation two rotations, three translation two rotations, three complicated motions such as translation three rotations etc., these parallel institutions are used as multi-dimensional vibration sieve etc., can ensure that materials overturning is abundant, sieve aperture is not easily blocked by " sieve grain ", thus screening efficiency can be improved, alternative circular shale shaker traditional at present and linear vibrating screen; Also can be used as mixing machine, stirrer originally, mixing of materials can be made even, mixing efficiency height. No matter for screening or mix and blend, can save energy and reduce the cost. But at present the single degree of freedom three-translation and one-rotation parallel mechanism that structure is simple, practical not yet occurs.
The present invention provides the driving of new a kind of single degree of freedom but can produce the parallel institution that space three translates a rotation, to meet the needs of various energy-saving and cost-reducing production unit.
Summary of the invention
It is an object of the invention to be overcome the deficiencies in the prior art, and provide a kind of new single input three to translate rotating parallel device people's operator, this kind of mechanism have good rigidly, structure relatively simple, be easy to processing; The advantages such as degree of coupling k low (k=1), forward kinematics solution and Dynamic solving ratio are easier to.
A kind of single input three provided by the invention translates rotating parallel device people's operator, comprise moving platform (1), silent flatform (0), and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (9), spatial complex side chain is made up of 1 main chain and 1 secondary chain, on main chain, one end of connecting rod two (2) and silent flatform (0) are with rotating a secondary (R11) connect, the other end of connecting rod two (2) and one end of connecting rod three (3) are to rotate secondary two (R12) connect, the other end of connecting rod three (3) and one end of connecting rod four (4) are to rotate secondary three (R13) connect, the other end of connecting rod four (4) and one end of connecting rod five (5) are to rotate secondary four (R14) connect, the other end of connecting rod five (5) and moving platform (1) are to rotate secondary five (R15) connect; And rotate a secondary (R11), rotate secondary two (R12), rotate secondary three (R13) axis be parallel to each other, rotate secondary four (R14) five (Rs secondary with rotation15) axis be parallel to each other, but rotate secondary three (R13) four (Rs secondary with rotation14) axis mutually vertical; On secondary chain, one end of connecting rod six (6) and silent flatform (0) are with rotating secondary six (R21) connect, and rotate secondary six (R21) axis with rotate a secondary (R11) axis not parallel, the other end of connecting rod six (6) and one end of connecting rod seven (7) are to rotate secondary seven (R22) connect, the other end of connecting rod seven (7) and one end of connecting rod eight (8) are to rotate secondary eight (R23) connect, the other end of connecting rod eight (8) and connecting rod five (5) are to rotate secondary nine (R24) connect, and rotate secondary five (R15) nine (Rs secondary with rotation24) axis overlap; Meanwhile, secondary six (R are rotated21), rotate secondary seven (R22) axis being parallel, and rotate secondary eight (R23) nine (Rs secondary with rotation24) axis being parallel, but rotate secondary seven (R22) eight (Rs secondary with rotation23) axis must be vertical; Further, the two ends of fork (9) are respectively by rotating secondary ten (R31), ball pair (S32) it is connected to silent flatform (0), moving platform (1), and rotate secondary ten (R31) and ball pair (S32) can exchange.
Meanwhile, when three on silent flatform (0) rotate one of pair for driving secondary, moving platform (1) just can produce the space motion that three translations one are rotated; Drive pair can also substitute with moving sets.
Accompanying drawing explanation
Accompanying drawing 1 is the example structure schematic diagram that the single input three of the present invention translates rotating parallel device people's operator.
Embodiment
Give to illustrate further to the technology of the present invention below by accompanying drawing and example.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is such: a kind of single input three translates rotating parallel device people's operator, comprise moving platform 1, silent flatform 0, and connect moving platform 1,1 spatial complex side chain of silent flatform 0 and 1 fork 9, spatial complex side chain is made up of 1 main chain and 1 secondary chain, on main chain, one end of connecting rod 22 and silent flatform 0 are with rotating a secondary R11Connecting, the other end of connecting rod 22 and one end of connecting rod 33 are to rotate secondary two R12Connecting, the other end of connecting rod 33 and one end of connecting rod 44 are to rotate secondary three R13Connecting, the other end of connecting rod 44 and one end of connecting rod 55 are to rotate secondary four R14Connecting, the other end of connecting rod 55 and moving platform 1 are to rotate secondary five R15Connect; And rotate a secondary R11, rotate secondary two R12, rotate secondary three R13Axis be parallel to each other, rotate secondary four R14With secondary five R of rotation15Axis be parallel to each other, but rotate secondary three R13With secondary four R of rotation14Axis mutually vertical; On secondary chain, one end of connecting rod 66 and silent flatform 0 are with rotating secondary six R21Connect, and rotate secondary six R21Axis with rotate a secondary R11Axes normal, the other end of connecting rod 66 and one end of connecting rod 77 are to rotate secondary seven R22Connecting, the other end of connecting rod 77 and one end of connecting rod 88 are to rotate secondary eight R23Connecting, the other end of connecting rod 88 and connecting rod 55 are to rotate secondary nine R24Connect, and rotate secondary five R15With secondary nine R of rotation24Axis overlap; Meanwhile, secondary six R are rotated21, rotate secondary seven R22Axis being parallel, and rotate secondary eight R23With secondary nine R of rotation24Axis being parallel, but rotate secondary seven R22With secondary eight R of rotation23Axis must be vertical; Further, the two ends of fork 9 are respectively by rotating secondary ten R31, ball secondary S32It is connected to silent flatform 0, moving platform 1, certainly, rotates secondary ten R31With ball secondary S32Can exchange.
As the secondary R of the rotation connected with silent flatform 011During for driving, so that it may make moving platform 1 realize three translations and moving platform 1 rotate secondary five R15The rotation of axis exports, and wherein, only has a motion for independent, and other motion is for deriving from motion.
Claims (2)
1. a single input three translates rotating parallel device people's operator, comprise moving platform (1), silent flatform (0), and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (9), it is characterized in that: spatial complex side chain is made up of 1 main chain and 1 secondary chain, on main chain, one end of connecting rod two (2) and silent flatform (0) are with rotating a secondary (R11) connect, the other end of connecting rod two (2) and one end of connecting rod three (3) are to rotate secondary two (R12) connect, the other end of connecting rod three (3) and one end of connecting rod four (4) are to rotate secondary three (R13) connect, the other end of connecting rod four (4) and one end of connecting rod five (5) are to rotate secondary four (R14) connect, the other end of connecting rod five (5) and moving platform (1) are to rotate secondary five (R15) connect; And rotate a secondary (R11), rotate secondary two (R12), rotate secondary three (R13) axis be parallel to each other, rotate secondary four (R14) five (Rs secondary with rotation15) axis be parallel to each other, but rotate secondary three (R13) four (Rs secondary with rotation14) axis mutually vertical; On secondary chain, one end of connecting rod six (6) and silent flatform (0) are with rotating secondary six (R21) connect, and rotate secondary six (R21) axis with rotate a secondary (R11) axis not parallel, the other end of connecting rod six (6) and one end of connecting rod seven (7) are to rotate secondary seven (R22) connect, the other end of connecting rod seven (7) and one end of connecting rod eight (8) are to rotate secondary eight (R23) connect, the other end of connecting rod eight (8) and connecting rod five (5) are to rotate secondary nine (R24) connect, and rotate secondary five (R15) nine (Rs secondary with rotation24) axis overlap; Meanwhile, secondary six (R are rotated21), rotate secondary seven (R22) axis being parallel, and rotate secondary eight (R23) nine (Rs secondary with rotation24) axis being parallel, but rotate secondary seven (R22) eight (Rs secondary with rotation23) axis must be vertical; Further, the two ends of fork (9) are respectively by rotating secondary ten (R31), ball pair (S32) it is connected to silent flatform (0), moving platform (1), and rotate secondary ten (R31) and ball pair (S32) can exchange.
2. translate rotating parallel device people's operator by single input three according to claim 1, it is characterised in that: it is secondary for driving that three connected with silent flatform (0) rotate one of pair, it is possible to substitutes with moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141827.3A CN105619384B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel device people manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610141827.3A CN105619384B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel device people manipulator |
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| Publication Number | Publication Date |
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| CN105619384A true CN105619384A (en) | 2016-06-01 |
| CN105619384B CN105619384B (en) | 2017-09-08 |
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| CN201610141827.3A Expired - Fee Related CN105619384B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel device people manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278022A (en) * | 2018-10-26 | 2019-01-29 | 昆明理工大学 | A kind of parallel institution being moved one-dimensionally two-dimensional rotary |
| CN109848970A (en) * | 2019-03-15 | 2019-06-07 | 上海工程技术大学 | A kind of spatially decoupled mechanism of three-rotational-freedom for virtual axis machine and robot |
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| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
| CN103317501A (en) * | 2013-07-01 | 2013-09-25 | 常州大学 | Single-input four-dimensional-motion-output parallel mechanism |
| CN103438169A (en) * | 2013-09-03 | 2013-12-11 | 常州大学 | Double-input double-translation double-rotation output-parallel motion device |
| JP2014217913A (en) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | Operation teaching method of parallel link robot and parallel link robot |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
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2016
- 2016-03-12 CN CN201610141827.3A patent/CN105619384B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN102806557A (en) * | 2012-08-23 | 2012-12-05 | 常州大学 | Single-degree-of-freedom three-dimensional movement mechanism |
| JP2014217913A (en) * | 2013-05-08 | 2014-11-20 | パナソニック株式会社 | Operation teaching method of parallel link robot and parallel link robot |
| CN103317501A (en) * | 2013-07-01 | 2013-09-25 | 常州大学 | Single-input four-dimensional-motion-output parallel mechanism |
| CN103438169A (en) * | 2013-09-03 | 2013-12-11 | 常州大学 | Double-input double-translation double-rotation output-parallel motion device |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278022A (en) * | 2018-10-26 | 2019-01-29 | 昆明理工大学 | A kind of parallel institution being moved one-dimensionally two-dimensional rotary |
| CN109278022B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | One-dimensional moving two-dimensional rotating parallel mechanism |
| CN109848970A (en) * | 2019-03-15 | 2019-06-07 | 上海工程技术大学 | A kind of spatially decoupled mechanism of three-rotational-freedom for virtual axis machine and robot |
| CN109848970B (en) * | 2019-03-15 | 2021-09-10 | 上海工程技术大学 | Three-rotational-freedom-degree spatial decoupling mechanism for virtual-axis machine tool and robot |
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| CN105619384B (en) | 2017-09-08 |
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