CN105710867A - Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom - Google Patents
Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom Download PDFInfo
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- CN105710867A CN105710867A CN201610257218.4A CN201610257218A CN105710867A CN 105710867 A CN105710867 A CN 105710867A CN 201610257218 A CN201610257218 A CN 201610257218A CN 105710867 A CN105710867 A CN 105710867A
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- axis
- revolute pair
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- rotating pair
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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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- Design And Manufacture Of Integrated Circuits (AREA)
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Abstract
The invention discloses a parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom. The parallel mechanism comprises a fixed platform, a moving platform and three movable branches which have completely the same structure and connect the two platforms, wherein each movable branch is formed through sequentially connecting a moving pair P1, a rotating pair R1, a rotating pair R2, a rotating pair R3 and a rotating pair R4; the axis of each rotating pair R1 is mutually parallel to the axis of the corresponding moving pair P1; the axis of each rotating pair R2 is mutually vertical to the axis of the corresponding rotating pair R1; the axis of each rotating pair R3 is mutually parallel to the axis of the corresponding rotating pair R2; the axis of each rotating pair R4 is mutually vertical to the axis of the corresponding rotating pair R3; the moving pairs P1 and the rotating pairs R4 are obliquely connected with the fixed platform and the moving platform respectively, and the inclination angles are equal; and the axis of each rotating pair R1 and the axis of the corresponding rotating pair R4 interact at one point in the space. The parallel mechanism has two rotational degrees of freedom and one moving degree of freedom, can continuously rotate around an arbitrary point in certain range in the space, and has wide application prospect.
Description
Technical field
The present invention relates to robot field, particularly to a kind of parallel institution.
Background technology
The parallel institution with two rotational freedoms and an one-movement-freedom-degree has a wide range of applications in mechanical industry field.
Moving in parallel institution at traditional two turn one, the moving platform of mechanism does not have an one-movement-freedom-degree of horizontal direction, but the central point of moving platform can the movement in occurred level direction.This movement on non-free degree direction in mechanism is called " associated movement " by scholars.The existence of associated movement can the track of mechanism be demarcated and trajectory planning is made troubles, and increases the complexity of control.Therefore, reduce or the associated movement of eliminating machine is the problem needing when carrying out mechanism's design to solve by reasonably designing.
A lot of scholars once carried out particular study for two turn of one associated movement problem moved in parallel institution, and designed some parallel institutions (CN101518898A, CN101497167A) being not accompanied by motion.But each branch of these mechanisms is incomplete same, processing and the maintenance cost of mechanism are higher；And the moving platform of mechanism can only realize the rotation around certain point, bring very big inconvenience to the motor control of mechanism.
Summary of the invention
It is an object of the invention to provide a kind of manufacture and move parallel institution with maintenance cost is relatively low, can realize two turn one that multiple points are freely rotatable around space.
Main contents of the present invention include three completely identical in structure active branch of fixed platform, moving platform and connection the two platform, one end of first connecting rod in each active branch is connected with fixed platform by moving sets P1, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair R1, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair R2, the other end of this third connecting rod is connected with one end of fourth link by revolute pair R3, and the other end of this fourth link is connected with moving platform by R4；Above-mentioned moving sets P1, revolute pair R4 are in tilted layout with fixed platform, moving platform respectively, and angle of inclination is equal；The axis of the axis of revolute pair R1 and moving sets P1 is parallel to each other；The axis of revolute pair R2 and the axis of revolute pair R1 are mutually perpendicular to；The axis of revolute pair R3 and the axis of revolute pair R2 are parallel to each other；The axis of revolute pair R4 and the axis of revolute pair R3 are mutually perpendicular to；The axis of revolute pair R1 and the axes intersect of revolute pair R4 are in space a bit.In branch, two axis orthogonal revolute pair R1 and revolute pair R2 could alternatively be a universal coupling；In branch, two axis orthogonal revolute pair R3 and revolute pair R4 could alternatively be a universal coupling；Revolute pair R1 and moving sets P1 that branch axis is parallel to each other could alternatively be a cylindrical pair.
The present invention compared with prior art has the advantage that
1, the present invention has two rotational freedoms and an one-movement-freedom-degree, it is possible to achieve the continuous rotation of arbitrfary point in the certain limit of space, can be effectively prevented from the generation of associated movement.
2, three branches are identical, it is easy to manufacture and assembling, and maintenance cost is relatively low.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2
Fig. 3 is the schematic perspective view of the embodiment of the present invention 3
Detailed description of the invention
Embodiment 1
Move in parallel institution schematic perspective view the many centers of rotation shown in Fig. 1 two turn, article three, completely identical in structure active branch connects fixed platform 1 and moving platform 2, one end of first connecting rod 3 in active branch is connected with fixed platform 1 by moving sets P1, the other end of this first connecting rod 3 is connected with one end of second connecting rod 4 by revolute pair R1, the other end of this second connecting rod 4 is connected with one end of third connecting rod 5 by revolute pair R2, the other end of this third connecting rod 5 is connected with one end of fourth link 6 by revolute pair R3, the other end of this fourth link 6 is connected with moving platform 2 by R4；Wherein, moving sets P1, revolute pair R4 are in tilted layout with fixed platform 1, moving platform 2 respectively, and angle of inclination is equal；The axis of the axis of revolute pair R1 and moving sets P1 is parallel to each other；The axis of revolute pair R2 and the axis of revolute pair R1 are mutually perpendicular to；The axis of revolute pair R3 and the axis of revolute pair R2 are parallel to each other；The axis of revolute pair R4 and the axis of revolute pair R3 are mutually perpendicular to；The axis of revolute pair R1 and the axes intersect of revolute pair R4 are in space a bit.
Embodiment 2
As shown in Figure 2, article three, completely identical in structure active branch connects fixed platform 1 and moving platform 2, one end of first connecting rod 3 in active branch is connected with fixed platform 1 by moving sets P1, the other end of this first connecting rod 3 is connected with one end of third connecting rod 5 by universal coupling U1, and the other end of this third connecting rod 5 is connected with moving platform 2 by universal coupling U2；The revolute pair that universal coupling U1 is intersected vertically by two axis is constituted, and the revolute pair that universal coupling U2 is intersected vertically by two axis is constituted；The axis of the revolute pair being connected with first connecting rod 3 in universal coupling U1 is parallel with the axis of moving sets P1, and the axis of the revolute pair being connected with third connecting rod 5 in universal coupling U2 is parallel with the axis of the revolute pair that third connecting rod 5 is connected with universal coupling U1；The revolute pair being connected with moving platform 2 in moving sets P1, universal coupling U2 is in tilted layout with fixed platform 1, moving platform 2 respectively, and angle of inclination is equal；The axes intersect of the axis of the revolute pair being connected with first connecting rod 3 in universal coupling U1 and the revolute pair being connected with moving platform 2 in universal coupling U2 is in space a bit.
Embodiment 3
As shown in Figure 3, article three, completely identical in structure active branch connects fixed platform 1 and moving platform 2, one end of second connecting rod 4 in active branch is connected with fixed platform 1 by cylindrical pair C1, the other end of this second connecting rod 4 is connected with one end of third connecting rod 5 by revolute pair R2, and the other end of this third connecting rod 5 is connected with moving platform 2 by universal coupling U2；The revolute pair that universal coupling U2 is intersected vertically by two axis is constituted；The axis of the axis of revolute pair R2 and cylindrical pair C1 is mutually perpendicular to, and the axis of revolute pair being connected with third connecting rod 5 in universal coupling U2 and the axis of revolute pair R2 are parallel to each other；The revolute pair being connected with moving platform 2 in cylindrical pair C1, universal coupling U2 is in tilted layout with fixed platform 1, moving platform 2 respectively, and angle of inclination is equal；The axis of the revolute pair being connected with moving platform 2 in universal coupling U2 and the axes intersect of cylindrical pair C1 are in space a bit.
Claims (4)
1. center of rotation more than a kind two turn moves parallel institution, it includes fixed platform, three completely identical in structure active branch of moving platform and connection the two platform, it is characterized in that: one end of the first connecting rod in described each active branch is connected with fixed platform by moving sets P1, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair R1, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair R2, the other end of this third connecting rod is connected with one end of fourth link by revolute pair R3, the other end of this fourth link is connected with moving platform by R4；Above-mentioned moving sets P1, revolute pair R4 are in tilted layout with fixed platform, moving platform respectively, and angle of inclination is equal；The axis of the axis of revolute pair R1 and moving sets P1 is parallel to each other；The axis of revolute pair R2 and the axis of revolute pair R1 are mutually perpendicular to；The axis of revolute pair R3 and the axis of revolute pair R2 are parallel to each other；The axis of revolute pair R4 and the axis of revolute pair R3 are mutually perpendicular to；The axis of revolute pair R1 and the axes intersect of revolute pair R4 are in space a bit.
2. many centers of rotation according to claim 1 two turn move parallel institution, it is characterised in that: in described each active branch, two axis orthogonal revolute pair R1 and revolute pair R2 replace with a universal coupling.
3. many centers of rotation according to claim 1 two turn move parallel institution, it is characterised in that: in described each active branch, two axis orthogonal revolute pair R3 and revolute pair R4 replace with a universal coupling.
4. many centers of rotation according to claim 1 two turn move parallel institution, it is characterised in that: revolute pair R1 and moving sets P1 that described each active branch axis is parallel to each other replace with a cylindrical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610257218.4A CN105710867B (en) | 2016-04-22 | 2016-04-22 | A kind of two turn of one shifting parallel institution of more centers of rotation |
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| CN201610257218.4A CN105710867B (en) | 2016-04-22 | 2016-04-22 | A kind of two turn of one shifting parallel institution of more centers of rotation |
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| CN105710867A true CN105710867A (en) | 2016-06-29 |
| CN105710867B CN105710867B (en) | 2018-01-23 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112973A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of symmetry two turn with rotation continuously moves parallel institution |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN113747998A (en) * | 2019-04-29 | 2021-12-03 | 物理仪器(Pi)两合有限公司 | Positioning device |
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| WO1997040966A1 (en) * | 1996-05-01 | 1997-11-06 | Virginia Tech Intellectual Properties, Inc. | A spatial, parallel-architecture, robotic carpal wrist |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102626921A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains |
| CN102962835A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetrical two-rotation one-movement parallel mechanism free from associated movement |
| CN205614651U (en) * | 2016-04-22 | 2016-10-05 | 燕山大学 | Many centers of rotation two are changeed one and are moved parallel mechanism |
-
2016
- 2016-04-22 CN CN201610257218.4A patent/CN105710867B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997040966A1 (en) * | 1996-05-01 | 1997-11-06 | Virginia Tech Intellectual Properties, Inc. | A spatial, parallel-architecture, robotic carpal wrist |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102626921A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains |
| CN102962835A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetrical two-rotation one-movement parallel mechanism free from associated movement |
| CN205614651U (en) * | 2016-04-22 | 2016-10-05 | 燕山大学 | Many centers of rotation two are changeed one and are moved parallel mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112973A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of symmetry two turn with rotation continuously moves parallel institution |
| CN113747998A (en) * | 2019-04-29 | 2021-12-03 | 物理仪器(Pi)两合有限公司 | Positioning device |
| US11717957B2 (en) | 2019-04-29 | 2023-08-08 | Physik Instrumente (Pi) Gmbh & Co. Kg | Positioning device |
| CN112693540A (en) * | 2020-12-29 | 2021-04-23 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
| CN112693540B (en) * | 2020-12-29 | 2022-03-15 | 燕山大学 | Parallel driving mechanism for crawling mechanical legs |
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| CN105710867B (en) | 2018-01-23 |
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