CN105856192A - Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes - Google Patents
Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes Download PDFInfo
- Publication number
- CN105856192A CN105856192A CN201610303875.8A CN201610303875A CN105856192A CN 105856192 A CN105856192 A CN 105856192A CN 201610303875 A CN201610303875 A CN 201610303875A CN 105856192 A CN105856192 A CN 105856192A
- Authority
- CN
- China
- Prior art keywords
- platform
- fixed platform
- side chain
- branch chain
- axis
- Prior art date
- 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.)
- Granted
Links
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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
A four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes comprises a fixed platform, a movable platform and four branch chains for connecting the fixed platform with the movable platform, wherein the first branch chain and the second branch chain are of the same structure; one end of each upper connection rod of the first branch chain and the second branch chain is connected with the movable platform through a sphere pair; one end of each lower connection rod of the first branch chain and the second branch chain is connected with the fixed platform through a hook joint; each upper connection rod and the corresponding lower connection rod are connected through a movable pair; the two ends of the third branch chain are connected with the movable platform and the fixed platform through a hook joint and a rotary pair correspondingly, and the axis of the rotary pair is parallel with the axis, close to the fixed platform of the hook joint; and the two ends of a connection rod of the fourth branch chain are connected with the movable platform and the fixed platform through sphere pairs. The axis, close to the fixed platform, of the hook joint of the third branch chain is connected with the center of the sphere pair of the fixed platform through the fourth branch chain, and the axis, connected with the movable platform, of the hook joint is connected with the center of the sphere pair of the movable platform through the fourth branch chain. The mechanism is provided with four supporting branches and can bear large loads, and as the two continuous rotating axes exist, the kinematic calibration and control are easy to implement.
Description
Technical field
The invention belongs to robot field, particularly to a kind of parallel institution.
Background technology
Two degrees of freedom one-rotation parallel mechanism is one important branch of minority carrier generation lifetime, and it is in a lot of occasions,
Such as boats and ships, vehicle and carry-on platform stance adjust and self-stabilization, medicine equipment, video camera and look in the distance
Mirror positions, and the field such as antenna and the tracking of solar panel orientation, has the biggest application prospect.Two
Freedom rotary parallel mechanism includes two degrees of freedom spherical mechanism and without junction point two degrees of freedom one-rotation parallel mechanism,
The two degrees of freedom sphere parallel mechanism that Chinese patent CN200510122178.4 etc. propose, it is necessary to meet revolute pair
Axis intersects at the geometry requirement of a fixed point, fabricates extremely difficult；Chinese patent CN200710061909.8
It is mostly to have a bound branch only comprising Hooke's hinge Deng the two-freedom-degree parallel mechanism of point without junction proposed, altogether
Having three to support branch, bearing capacity is the biggest.Chinese patent CN201310605981.8 propose without junction
Although some two-freedom-degree parallel mechanism is containing four branches, but there are not two continuous pivot centers in this mechanism.
Summary of the invention
It is an object of the invention to propose four of a kind of bearing capacity two continuous pivot centers of big existence
Chain two degrees of freedom one-rotation parallel mechanism.
Technical scheme is as follows:
The present invention includes fixed platform, moving platform and connects four side chains of the two platform.Described four side chains
In the first and second branched structures identical, one end of the upper connecting rod of first, second side chain is secondary and dynamic flat by ball
Platform connects, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, the other end of this lower link
It is connected with fixed platform by Hooke's hinge；One end of the connecting rod of the 3rd side chain is connected with moving platform by Hooke's hinge, should
The other end of connecting rod is connected with fixed platform by revolute pair, and wherein revolute pair axis and Hooke's hinge are near fixed platform
Axis is parallel；The two ends of the connecting rod of the 4th side chain are all connected with moving platform and fixed platform by ball pair.Above-mentioned 3rd
The Hooke's hinge of side chain passes through to connect in the 4th side chain the ball sub-center of fixed platform near the axis of fixed platform, and it connects
The axis of moving platform is by connecting the ball sub-center of moving platform in the 4th side chain.
The present invention compared with prior art has the advantage that having four supports branch, it is possible to bear big load
Lotus, and there are two continuous pivot centers, kinematics model is simple so that Kinematic Calibration and control become letter
Single.
Accompanying drawing explanation
Fig. 1 is the stereochemical structure simplified schematic diagram of the present invention.
In figure: 1, fixed platform 2, moving platform 3, ball secondary S14, upper connecting rod 5, moving sets P16, lower company
Bar 7, Hooke's hinge U18, Hooke's hinge U39, connecting rod 10, revolute pair R111, ball secondary S312, connecting rod
13, ball secondary S4
Detailed description of the invention
The four side chain two degrees of freedom one-rotation parallel mechanism signals at two the continuous pivot centers of existence shown in Fig. 1
In figure, four side chains connect fixed platform 1 and moving platform 2, the first and second branched structures in these four side chains
Identical, ball secondary S is passed through in one end of the upper connecting rod 4 of first, second side chain13 are connected with moving platform, connecting rod on this
The other end by moving sets P15 are connected with one end of lower link 6, and the other end of this lower link passes through Hooke's hinge
U17 are connected with fixed platform；Hooke's hinge U is passed through in one end of the connecting rod 9 of the 3rd side chain38 are connected with moving platform, should
The other end of connecting rod passes through revolute pair R110 are connected with fixed platform；The two ends of the connecting rod 12 of the 4th side chain are all passed through
Ball secondary S311、S413 are connected with moving platform and fixed platform respectively.Revolute pair R in above-mentioned 3rd side chain110 axis
With its Hooke's hinge U38 is parallel near the axis of fixed platform, the 3rd side chain Hooke's hinge U38 near the axis of fixed platform
The ball secondary S of fixed platform is connected by the 4th side chain413 centers, the 3rd side chain Hooke's hinge U38 axles connecting moving platform
Line connects the ball secondary S of moving platform by the 4th side chain311 centers.
Claims (2)
1. there are four side chain two degrees of freedom one-rotation parallel mechanisms of two continuous pivot centers, it includes fixed
Platform, moving platform and four side chains of connection the two platform, it is characterised in that: in described four side chains
The first and second branched structures identical, one end of the upper connecting rod of first, second side chain is secondary and dynamic flat by ball
Platform connects, and on this, the other end of connecting rod is connected with one end of lower link by moving sets, another of this lower link
End is connected with fixed platform by Hooke's hinge；One end of the connecting rod of the 3rd side chain is connected with moving platform by Hooke's hinge,
The other end of this connecting rod is connected with fixed platform by revolute pair；The two ends of the connecting rod of the 4th side chain are all secondary by ball
It is connected with moving platform and fixed platform.
Four side chain two degrees of freedom of two continuous pivot centers of existence the most according to claim 1 rotate also
Online structure, it is characterised in that: described 3rd side chain revolute pair axis is put down near the axis of fixed platform with Hooke's hinge
OK, the 3rd side chain Hooke's hinge near fixed platform axis by the 4th side chain connect fixed platform ball sub-center,
3rd side chain Hooke's hinge is connected the axis of moving platform and is connected the ball sub-center of moving platform by the 4th side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610303875.8A CN105856192B (en) | 2016-05-10 | 2016-05-10 | In the presence of four side chain two degrees of freedom one-rotation parallel mechanisms of two continuous pivot centers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610303875.8A CN105856192B (en) | 2016-05-10 | 2016-05-10 | In the presence of four side chain two degrees of freedom one-rotation parallel mechanisms of two continuous pivot centers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105856192A true CN105856192A (en) | 2016-08-17 |
| CN105856192B CN105856192B (en) | 2018-04-03 |
Family
ID=56630600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610303875.8A Active CN105856192B (en) | 2016-05-10 | 2016-05-10 | In the presence of four side chain two degrees of freedom one-rotation parallel mechanisms of two continuous pivot centers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856192B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585480A (en) * | 2016-12-30 | 2017-04-26 | 大连大学 | Balance self-stabilization device of intelligent vehicle carrier and verification method |
Citations (7)
| 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 |
| CN101508110A (en) * | 2009-03-19 | 2009-08-19 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| CN201380496Y (en) * | 2009-03-19 | 2010-01-13 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| EP2614933A1 (en) * | 2012-01-13 | 2013-07-17 | Penta Robotics Patents B.V. | Fast pick-and-place parallel robot with compact travelling plate |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
-
2016
- 2016-05-10 CN CN201610303875.8A patent/CN105856192B/en active Active
Patent Citations (7)
| 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 |
| CN101508110A (en) * | 2009-03-19 | 2009-08-19 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| CN201380496Y (en) * | 2009-03-19 | 2010-01-13 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| EP2614933A1 (en) * | 2012-01-13 | 2013-07-17 | Penta Robotics Patents B.V. | Fast pick-and-place parallel robot with compact travelling plate |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585480A (en) * | 2016-12-30 | 2017-04-26 | 大连大学 | Balance self-stabilization device of intelligent vehicle carrier and verification method |
| CN106585480B (en) * | 2016-12-30 | 2019-10-08 | 大连大学 | A kind of intelligent vehicle carrier balance autostabiliazer unit and verification method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105856192B (en) | 2018-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856193A (en) | Two-degree-of-freedom rotational parallel mechanism with two continuous rotating axes | |
| CN103586862B (en) | Three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot | |
| CN201808063U (en) | Six-degrees-of-freedom parallel robot device | |
| CN105619388B (en) | A kind of freedom degree parallel connection rotatable platform mechanism for driving decoupling to arrange | |
| CN103042521A (en) | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning | |
| CN100553898C (en) | A kind of two freedom space parallel mechanism | |
| CN204525441U (en) | A kind of Three Degree Of Freedom tilter based on parallel institution | |
| CN208557482U (en) | The parallel institution of 2T1R with spherical rotation freedom degree | |
| CN104626122A (en) | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN202428447U (en) | Two-freedom-degree robot neck joint | |
| CN202162805U (en) | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling | |
| CN105856192A (en) | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes | |
| CN102962836B (en) | Symmetric two-rotation one-movement parallel mechanism | |
| CN102962840B (en) | Parallel mechanism with symmetric structure and without associated movement | |
| CN203595614U (en) | Multiple-degree-of-freedom direction change nacelle based on centrifuge platform | |
| CN105666467B (en) | A kind of Three-freedom-degree hybrid rotatable platform mechanism of the branch containing revolution driving | |
| CN108933332A (en) | A kind of symmetrical four-freedom hybrid formula antenna structure system | |
| CN107511817A (en) | A kind of two turn one is moved asymmetric coupling mechanism | |
| CN204938708U (en) | A kind of hoisting and overturning girder construction for large pressurized vessel | |
| CN205394469U (en) | Novel load -bearing platform of gesture adjustable | |
| CN107127737B (en) | Few-joint two-rotational-freedom-degree parallel mechanism | |
| CN206194936U (en) | Big working space variably drives parallel antenna pedestal mechanism | |
| CN205614652U (en) | Many centers of rotation of no accompanying movement two are changeed one and are moved parallel mechanism | |
| CN103600348B (en) | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism | |
| CN205466315U (en) | Arm booster unit of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |