CN105666466A - Single-input three-translation and one-rotation parallel robot platform - Google Patents
Single-input three-translation and one-rotation parallel robot platform Download PDFInfo
- Publication number
- CN105666466A CN105666466A CN201610140199.7A CN201610140199A CN105666466A CN 105666466 A CN105666466 A CN 105666466A CN 201610140199 A CN201610140199 A CN 201610140199A CN 105666466 A CN105666466 A CN 105666466A
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- China
- Prior art keywords
- revolute pair
- pair
- platform
- parallelogram
- ball
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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
Abstract
A single-input three-translation and one-rotation parallel robot platform comprises a mobile platform (1), a static platform (0), a space complex supporting chain and an oscillating bar (7), wherein the mobile platform (1) and the static platform (0) are connected through the space complex supporting chain and the oscillating bar; on a main chain of the space complex supporting chain, one end of a first drive rod (2) is connected to the static platform (0) through a first revolute pair (R11), the other end of the first drive rod (2) is fixedly connected to a first short side bar at one end of a first spherical pair parallelogram, and a second short side bar (4) at the other end of the first spherical pair parallelogram is connected to the mobile platform (1) through a second revolute pair (R12); a third short side bar (5) at one end of a second spherical pair parallelogram on an auxiliary chain is fixed to the static platform (0), the direction of the third short side bar is not parallel with the direction of the first revolute pair (R11), a fourth short side bar (6) at the other end of the second spherical pair parallelogram is connected to the second short side bar (4) at the other end of the first spherical pair parallelogram through a third revolute pair (R22), and the axis of the third revolute pair (R22) overlaps with the axis of the second revolute pair (R12). Furthermore, the two ends of the oscillating bar (7) are connected to the static platform (0) and the mobile platform (1) through a revolute pair and a spherical pair respectively. According to the platform, three-translation and one-rotation output is realized through single input.
Description
Technical field
The present invention relates to a kind of parallel robot mechanism inputting multi output less, provide a novel single input three to translate rotating parallel device people's platform for robot manipulator etc.
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 mixer, buffing machine, blender, vibrosieve etc. Applicant has invented the parallel institution of serial single-degree-of-freedom, they can produce the two of space rotate, three rotate, translation two rotation, translation three rotation, two translation two rotations, three translation two rotations, the three translation compound movements such as three rotations, 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 being used as mixer, blender originally, mixing of materials can be made uniform, mixing efficiency is high. No matter for screening or mix and blend, can save energy and reduce the cost. But simple in construction, practical single-degree-of-freedom three-translation and one-rotation parallel mechanism not yet occur at present.
The present invention provides new a kind of single-degree-of-freedom to drive but can produce space three and translate the parallel institution of a rotation, to meet the needs of various energy-saving and cost-reducing production equipment.
Summary of the invention
The invention aims to overcome the deficiencies in the prior art, and provide a kind of new single input three to translate rotating parallel device people's platform, this kind of platform has that good rigidly, structure are relatively simple, be prone to processing; The advantages such as degree of coupling k low (k=1), forward kinematics solution and Dynamic solving are easier.
A kind of single input three provided by the invention translates rotating parallel device people's platform, comprise moving platform (1), silent flatform (0), and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (7), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod one (2) and silent flatform (0) are with revolute pair one (R11) connect, one end minor face bar one of the ball pair parallelogram one that the other end of drive rod (2) is secondary with by four balls and four bars forms is fixed and is connected, the other end minor face bar two (4) of ball pair parallelogram one and moving platform (1) revolute pair two (R12) connect;Further, the spacing at two long side rods of two ball pair parallelogrames is equal to any two points part of its minor face bar, must with a connecting rod (3) band revolute pair three (Ra), revolute pair four (Rb) connect, the two revolute pair is positioned at this 2 parts; One end minor face bar three (5) of the ball pair parallelogram two being made up of with four bars four balls pairs on secondary chain is fixing with silent flatform (0) to be connected, but its direction and revolute pair one (R11) axis not parallel, one end minor face bar two (4) revolute pair three (R of the other end minor face bar of ball pair parallelogram 2 four (6) and ball pair parallelogram one22) connect, and revolute pair three (R22) and revolute pair two (R12) dead in line; Further, the two ends of fork (7) are respectively through revolute pair four (R31), the secondary (S of ball32) it is connected to silent flatform (0), moving platform (1) and revolute pair four (R31) and the secondary (S of ball32) can exchange.
Further, the revolute pair one (R on silent flatform (0)11) for driving secondary time, moving platform (1) just can produce the space motion that three translations one rotate, and driving 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 platform.
Detailed description of the invention
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 that a kind of single input three and translates rotating parallel device people's platform, comprise moving platform 1, silent flatform 0, and connect moving platform 1,1 spatial complex side chain of silent flatform 0 and 1 fork 7, spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod 1 and silent flatform 0 are with revolute pair one R11Connecting, one end minor face bar one of the ball pair parallelogram one that the other end of drive rod 2 is secondary with by four balls and four bars form is fixed and is connected, the other end minor face bar 24 of ball pair parallelogram one and moving platform 1 revolute pair two R12Connect; Further, the spacing at two long side rods of two ball pair parallelogrames is equal to any two points part of its minor face bar, must with connecting rod 3 band revolute pair three Ra, revolute pair four RbConnecting, the two revolute pair is positioned at this 2 parts; One end minor face bar 35 of the ball pair parallelogram two being made up of with four bars four balls pairs on secondary chain is fixing with silent flatform 0 to be connected, but its direction and revolute pair one R11Axis not parallel, one end minor face bar 24 revolute pair three R of the other end minor face bar of ball pair parallelogram 246 and ball pair parallelogram one22Connect, and revolute pair three R22With revolute pair two R12Dead in line; Further, the two ends of fork 7 are respectively through revolute pair four R31, ball secondary S32It is connected to silent flatform 0, moving platform 1 and revolute pair four R31With ball secondary S32Can exchange.
Meanwhile, as revolute pair one R coupled with silent flatform 011For drive time, so that it may make moving platform 1 realize three translations and on moving platform 1 revolute pair two R12The rotation output of axis, but wherein only have 1 for self-movement, other are for deriving from movement output.
Claims (2)
1. a single input three translates rotating parallel device people's platform, comprise moving platform (1), silent flatform (0), and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (7), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod one (2) and silent flatform (0) are with revolute pair one (R11) connect, one end minor face bar one of the ball pair parallelogram one that the other end of drive rod (2) is secondary with by four balls and four bars forms is fixed and is connected, the other end minor face bar two (4) of ball pair parallelogram one and moving platform (1) revolute pair two (R12) connect;Further, the spacing at two long side rods of two ball pair parallelogrames is equal to any two points part of its minor face bar, must with a connecting rod (3) band revolute pair three (Ra), revolute pair four (Rb) connect, the two revolute pair is positioned at this 2 parts; One end minor face bar three (5) of the ball pair parallelogram two being made up of with four bars four balls pairs on secondary chain is fixing with silent flatform (0) to be connected, but its direction and revolute pair one (R11) axis not parallel, one end minor face bar two (4) revolute pair three (R of the other end minor face bar of ball pair parallelogram 2 four (6) and ball pair parallelogram one22) connect, and revolute pair three (R22) and revolute pair two (R12) dead in line; Further, the two ends of fork (7) are respectively through revolute pair four (R31), the secondary (S of ball32) it is connected to silent flatform (0), moving platform (1) and revolute pair four (R31) and the secondary (S of ball32) can exchange.
2. translate rotating parallel device people's platform by the single input three described in claim 1, it is characterised in that: the revolute pair one (R coupled with silent flatform (0)11) for driving pair, it is possible to substitute with moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140199.7A CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140199.7A CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666466A true CN105666466A (en) | 2016-06-15 |
| CN105666466B CN105666466B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610140199.7A Expired - Fee Related CN105666466B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates rotating parallel device people's platform |
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| CN (1) | CN105666466B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901026A (en) * | 2017-11-07 | 2018-04-13 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism based on the output of few input array |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
-
2016
- 2016-03-12 CN CN201610140199.7A patent/CN105666466B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 杨廷力: "《机器人机构拓扑结构学》", 31 March 2004 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107901026A (en) * | 2017-11-07 | 2018-04-13 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism based on the output of few input array |
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| CN105666466B (en) | 2017-10-20 |
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