CN105619384B - A kind of single input three translates a rotating parallel device people manipulator - Google Patents
A kind of single input three translates a rotating parallel device people manipulator Download PDFInfo
- Publication number
- CN105619384B CN105619384B CN201610141827.3A CN201610141827A CN105619384B CN 105619384 B CN105619384 B CN 105619384B CN 201610141827 A CN201610141827 A CN 201610141827A CN 105619384 B CN105619384 B CN 105619384B
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- China
- Prior art keywords
- revolute pair
- connecting rod
- axis
- pair
- connection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
A kind of single input three translates a rotating parallel device people manipulator, include moving platform (1), silent flatform (0), and connection moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (9), spatial complex side chain is made up of 1 main chain and 1 secondary chain, from silent flatform to moving platform, preceding 3 revolute pair axis on main chain, and the 4th, 5 revolute pair axis are parallel to each other, but the 3rd revolute pair is vertical with the 4th revolute pair axis；Preceding 2 revolute pair axis on secondary chain, and the 3rd, 4 revolute pair axis are parallel to each other, but the 2nd revolute pair is vertical with the 3rd revolute pair axis, and the axis of the 4th revolute pair is overlapped with the axis of the 5th revolute pair on main chain；The two ends of swing rod (9) pass through (R of revolute pair ten respectively31), ball pair (S32) it is connected to silent flatform (0), moving platform (1).This kind of manipulator have it is simple in construction, easy to manufacture, can produce three translations one rotation multiple output campaigns.
Description
Technical field
It is that robot manipulator etc. provides one the present invention relates to a kind of parallel robot manipulator for inputting multi output less
New single input three translates a rotation in-parallel operating hand.
Background technology
Industrial many occasion Structure of need are simple, single-degree-of-freedom but can produce the space mechanism of spatial complex motion,
For mixer, polishing machine, mixer, vibratory sieve etc..Applicant has invented the parallel institution of serial single-degree-of-freedom, they
Can produce space two rotate, three rotate, one translation two rotate, one translation three rotate, two translation two rotate, three translation two turns
The compound movements such as the dynamic, rotation of three translation three, these parallel institutions are used as multi-dimensional vibration sieve etc., it is ensured that material upset is abundant,
Sieve aperture is difficult to be blocked by " sieve grain ", so as to improve screening efficiency, alternative traditional at present circular shale shaker and linear vibrating screen；
Mixer, mixer sheet also are used as, can be well mixed material, mixing efficiency is high.No matter it is used to sieve or mix,
Can be energy-saving.But not yet there is simple in construction, practical single-degree-of-freedom three-translation and one-rotation parallel mechanism at present.
The present invention provides a kind of new single-degree-of-freedom driving but can produce the parallel institution that the translation of space three one is rotated, to meet
The need for various energy-saving production equipments.
The content of the invention
The invention aims to overcome the deficiencies in the prior art, and a kind of new translation of single input three one is provided and rotated simultaneously
Join robot manipulator, this kind of mechanism has the good, structure of rigidity simpler, easy to process；Degree of coupling k low (k=1), kinematics
The advantages of normal solution and Dynamic solving are easier.
A kind of single input three that the present invention is provided translates a rotating parallel device people manipulator, comprising moving platform (1), quiet flat
Platform (0), and connection moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (9), spatial complex side chain by
On 1 main chain and 1 secondary chain composition, main chain, one end and silent flatform (0) (R of revolute pair one of connecting rod two (2)11) connection, connecting rod
The other end of two (2) is with one end of connecting rod three (3) with (R of revolute pair two12) connection, the other end and the connecting rod four (4) of connecting rod three (3)
One end with the (R of revolute pair three13) connection, the other end of connecting rod four (4) is with one end of connecting rod five (5) with (R of revolute pair four14) even
Connect, the other end and moving platform (1) of connecting rod five (5) are with (the R of revolute pair five15) connection；And (the R of revolute pair one11), revolute pair two
(R12), (R of revolute pair three13) axis be parallel to each other, (the R of revolute pair four14) and (R of revolute pair five15) axis be parallel to each other, but
(the R of revolute pair three13) and (R of revolute pair four14) axis be mutually perpendicular to；On secondary chain, one end and the silent flatform (0) of connecting rod six (6) are used
(the R of revolute pair six21) connection, and (the R of revolute pair six21) axis and the (R of revolute pair one11) axis it is not parallel, connecting rod six (6)
One end of the other end and connecting rod seven (7) is with (the R of revolute pair seven22) connection, the other end of connecting rod seven (7) and one end of connecting rod eight (8)
With (the R of revolute pair eight23) connection, the other end and connecting rod five (5) of connecting rod eight (8) are with (the R of revolute pair nine24) connection, and revolute pair five
(R15) and (R of revolute pair nine24) axis overlap；Meanwhile, (the R of revolute pair six21), (R of revolute pair seven22) diameter parallel, and rotate
Eight (R of pair23) and (R of revolute pair nine24) diameter parallel, the but (R of revolute pair seven22) and (R of revolute pair eight23) axis must be vertical；
Further, the two ends of swing rod (9) pass through (R of revolute pair ten respectively31), ball pair (S32) silent flatform (0), moving platform (1) are connected to,
And (the R of revolute pair ten31) and ball pair (S32) can exchange.
Meanwhile, when one of three revolute pairs on silent flatform (0) are drive pair, moving platform (1) can produce three translations one
The spatial movement of rotation；Drive pair can also be substituted with prismatic pair.
Brief description of the drawings
Accompanying drawing 1 translates the example structure schematic diagram of a rotating parallel device people manipulator for the single input three of the present invention.
Embodiment
The technology of the present invention is given below by accompanying drawing and example and further illustrated.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, and its technical scheme is such：A kind of list is defeated
Enter the rotating parallel device people manipulator of three translation one, include moving platform 1, silent flatform 0, and connection moving platform 1, the 1 of silent flatform 0
Bar spatial complex side chain and 1 swing rod 9, spatial complex side chain are made up of 1 main chain and 1 secondary chain, on main chain, connecting rod 22
One end and the R of revolute pair one of silent flatform 011Connection, the other end of connecting rod 22 is with one end of connecting rod 33 with the R of revolute pair two12Even
Connect, the other end of connecting rod 33 is with one end of connecting rod 44 with the R of revolute pair three13Connection, the other end and the connecting rod 55 of connecting rod 44
One end is with the R of revolute pair four14Connection, the other end and moving platform 1 of connecting rod 55 are with the R of revolute pair five15Connection；And the R of revolute pair one11、
The R of revolute pair two12, the R of revolute pair three13Axis be parallel to each other, the R of revolute pair four14With the R of revolute pair five15Axis be parallel to each other, but
The R of revolute pair three13With the R of revolute pair four14Axis be mutually perpendicular to；On secondary chain, one end and the revolute pair six of silent flatform 0 of connecting rod 66
R21Connection, and the R of revolute pair six21Axis and the R of revolute pair one11Axis it is vertical, the other end of connecting rod 66 and the one of connecting rod 77
End is with the R of revolute pair seven22Connection, the other end of connecting rod 77 is with one end of connecting rod 88 with the R of revolute pair eight23Connection, connecting rod 88
The other end is with connecting rod 55 with the R of revolute pair nine24Connection, and the R of revolute pair five15With the R of revolute pair nine24Axis overlap；Meanwhile, rotate
Six R of pair21, the R of revolute pair seven22Diameter parallel, and the R of revolute pair eight23With the R of revolute pair nine24Diameter parallel, but the R of revolute pair seven22
With the R of revolute pair eight23Axis must be vertical；Further, the two ends of swing rod 9 pass through the R of revolute pair ten respectively31, ball secondary S32It is connected to
Silent flatform 0, moving platform 1, certainly, the R of revolute pair ten31With ball secondary S32It can exchange.
As the R of revolute pair one coupled with silent flatform 011During for driving, so that it may moving platform 1 is realized three translations and around moving platform
The R of revolute pair five on 115The rotation output of axis, wherein, only one motion is independent, and other motions are derivation motion.
Claims (2)
1. a kind of single input three translates a rotating parallel device people manipulator, moving platform (1), silent flatform (0), and connection are included
Moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 swing rod (9), it is characterised in that：Spatial complex side chain is by 1
On main chain and 1 secondary chain composition, main chain, one end and silent flatform (0) (R of revolute pair one of connecting rod two (2)11) connection, connecting rod two
(2) one end of the other end and connecting rod three (3) is with (the R of revolute pair two12) connection, the other end and the connecting rod four (4) of connecting rod three (3)
One end is with (the R of revolute pair three13) connection, the other end of connecting rod four (4) is with one end of connecting rod five (5) with (R of revolute pair four14) connection,
The other end of connecting rod five (5) is with moving platform (1) with (R of revolute pair five15) connection；And (the R of revolute pair one11), (R of revolute pair two12)、
(the R of revolute pair three13) axis be parallel to each other, (the R of revolute pair four14) and (R of revolute pair five15) axis be parallel to each other, but revolute pair
Three (R13) and (R of revolute pair four14) axis be mutually perpendicular to；On secondary chain, one end and the silent flatform (0) of connecting rod six (6) use revolute pair
Six (R21) connection, and (the R of revolute pair six21) axis and the (R of revolute pair one11) axis it is not parallel, the other end of connecting rod six (6)
One end with connecting rod seven (7) is with (the R of revolute pair seven22) connection, the other end of connecting rod seven (7) is with one end of connecting rod eight (8) to rotate
Eight (R of pair23) connection, the other end and connecting rod five (5) of connecting rod eight (8) are with (the R of revolute pair nine24) connection, and (the R of revolute pair five15) with
(the R of revolute pair nine24) axis overlap；Meanwhile, (the R of revolute pair six21), (R of revolute pair seven22) diameter parallel, and revolute pair eight
(R23) and (R of revolute pair nine24) diameter parallel, the but (R of revolute pair seven22) and (R of revolute pair eight23) axis must be vertical；Enter one
Step, the two ends of swing rod (9) pass through (R of revolute pair ten respectively31), ball pair (S32) silent flatform (0), moving platform (1) are connected to, and turn
Ten (R of dynamic pair31) and ball pair (S32) can exchange.
2. the single input three as described in claim 1 translates a rotating parallel device people manipulator, it is characterised in that：With silent flatform
(0) one of three revolute pairs of connection are drive pair, can be substituted with prismatic pair.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619384A CN105619384A (en) | 2016-06-01 |
| CN105619384B true CN105619384B (en) | 2017-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Country | Link |
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| CN (1) | CN105619384B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278022B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | One-dimensional moving two-dimensional rotating parallel mechanism |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CN102806557B (en) * | 2012-08-23 | 2015-03-11 | 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 |
| CN103317501B (en) * | 2013-07-01 | 2015-04-01 | 常州大学 | Single-input four-dimensional-motion-output parallel mechanism |
| CN103438169B (en) * | 2013-09-03 | 2016-01-20 | 常州大学 | Output-parallel movement means is rotated in a kind of double input two translation two |
| CN105127999B (en) * | 2015-10-09 | 2017-11-10 | 常州大学 | One kind three translates rotating parallel device people's grasping and release device |
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2016
- 2016-03-12 CN CN201610141827.3A patent/CN105619384B/en not_active Expired - Fee Related
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| CN105619384A (en) | 2016-06-01 |
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