CN105965477A - Symmetrical and asymmetrical reconfigurable four-configuration parallel platform - Google Patents
Symmetrical and asymmetrical reconfigurable four-configuration parallel platform Download PDFInfo
- Publication number
- CN105965477A CN105965477A CN201610329241.XA CN201610329241A CN105965477A CN 105965477 A CN105965477 A CN 105965477A CN 201610329241 A CN201610329241 A CN 201610329241A CN 105965477 A CN105965477 A CN 105965477A
- Authority
- CN
- China
- Prior art keywords
- hooke
- hinge
- side lever
- sliding bar
- platform
- 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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
Abstract
Disclosed is a symmetrical and asymmetrical reconfigurable four-configuration parallel platform. Three branch chains of the parallel platform are of the same structure. A first hook joint, a third hook joint and a fourth hook joint are connected with a movable platform. A second hook joint, a fifth hook joint and a sixth hook joint are connected with a fixed platform. A first arc rotary plate is installed on a first side rod. A second arc rotary plate is installed on a second side rod. A third arc rotary plate is installed on a third side rod. The parallel platform can be flexibly switched between a symmetrical structure and asymmetrical 3-UPU, 2-UPU-URU, 2-URU-UPU and 3-URU configurations, work space of the parallel platform is enlarged on the basis that the advantage of high bearing capacity of the parallel platform is kept, and the parallel platform has wide prospects in engineering application.
Description
Technical field
The present invention relates to a kind of mechanical design field, a kind of symmetrical and asymmetric restructural four structure state is also
Connection platform.
Background technology
Parallel institution is the closed loop moving system being made up of multiple parallel side chains, i.e. by the one of multiple parallel side chains
Be connected the while of end composition with an end effector (moving platform).And fly at Tire testing from Steward mechanism
Successful Application on row simulator starts, and parallel institution becomes the object of many scholar's research always.Parallel machine
Structure (PM) is compared and traditional serial mechanism, has bigger rigidity, load and higher precision.But its
The little problem that works governs its development always, and Chinese patent ZL 201510977107.6 discloses a kind of novel
Having the parallel institution of restructural characteristic, this parallel connection platform can change work by the area of regulation fixed platform
Make space, improve the work space of parallel connection platform to a certain extent, but this parallel connection platform floor space
Big and work space range of accommodation is less, therefore, it is necessary to design one can keep preferable bearing capacity,
The parallel connection platform of work space can be changed again by a relatively large margin.
Have not yet to see one and can keep preferable bearing capacity, work space can have been changed again by a relatively large margin
The parallel connection platform with reconfigurable function innovation design.
Summary of the invention
It is an object of the invention to provide a kind of symmetrical and asymmetric restructural four structure state parallel connection platform, it can be protected
Hold preferable bearing capacity, work space can be changed again by a relatively large margin.
The present invention is achieved through the following technical solutions above-mentioned purpose: a kind of symmetrical and asymmetric restructural four structure state
Parallel connection platform, three side chains of this parallel connection platform have identical structure, the first side lever, the second side lever and
Three side bar arrangement are identical, and the structure of the first sliding bar, the second sliding bar and the 3rd sliding bar is identical, the first tiger
Gram hinge, the 3rd Hooke's hinge and the 4th Hooke's hinge are connected with moving platform, the second Hooke's hinge, the 5th Hooke's hinge and the
Six Hooke's hinges are connected with fixed platform, and first sliding bar one end is connected with the first Hooke's hinge, the other end and first
One end of side lever is connected, and the other end of the first side lever and the second Hooke's hinge are connected, second sliding bar one end and the
Three Hooke's hinges are connected, and one end of the other end and the second side lever is connected, the other end of the second side lever and the 5th Hooke
Hinge is connected, and the 3rd sliding bar one end is connected with the 4th Hooke's hinge, and one end of the other end and the 3rd side lever is connected,
The other end of the 3rd side lever and the 6th Hooke's hinge are connected, and the first circular arc flap is arranged on the first side lever, and second
Circular arc flap is arranged on the second side lever, and three-arc flap is arranged on the 3rd side lever.
It is welded with circular arc on described first side lever and fixes plate washer, for installing the first circular arc flap.
It is welded with moving block on described first sliding bar.
Having elongated slot on described first side lever, the first sliding bar slides in elongated slot.
In the present invention, U represents that Hooke's hinge, P represent that moving sets, R represent revolute pair, such as 3-UPU type table
Show that three side chains of parallel connection platform have identical structure, the kinematic pair of each side chain be two Hooke's hinges and
One moving sets.The rest may be inferred analogizes.2-UPU-URU type represents the motion of parallel connection platform two of which side chain
Pair is two Hooke's hinges and a moving sets, and the kinematic pair of a side chain is two Hooke's hinges and a revolute pair.
2-URU-UPU type represents that the kinematic pair of parallel connection platform two of which side chain is two Hooke's hinges and a rotation
Pair, the kinematic pair of a side chain is two Hooke's hinges and a moving sets.3-URU type represents parallel connection platform
Three side chains have identical structure, and the kinematic pair of each side chain is two Hooke's hinges and a revolute pair.
The present invention has the prominent advantages that:
1, this parallel connection platform has reconfigurable function, it is possible to according to different work requirements, 3-UPU,
Flexible conversion between 2-UPU-URU, 2-URU-UPU and 3-URU configuration, has stronger adaptability.
2, this parallel connection platform uses the form changing kinematic pair to change structure state, it is possible to large range of change work
Make space.
3, this parallel connection platform can regulate work space and carrying energy by change configuration during work
Power, has stronger motility.
Accompanying drawing explanation
Fig. 1 is structural representation during parallel connection platform 3-UPU configuration of the present invention.
Fig. 2 is structural representation during parallel connection platform 2-UPU-URU configuration of the present invention.
Fig. 3 is structural representation during parallel connection platform 2-URU-UPU configuration of the present invention.
Fig. 4 is structural representation during parallel connection platform 3-URU configuration of the present invention.
When Fig. 5 is parallel connection platform the first side lever of the present invention and the first sliding bar is connected with moving sets form
Structural representation.
When Fig. 6 is parallel connection platform the first side lever of the present invention and the first sliding bar is connected with revolute pair form
Structural representation.
Fig. 7 is parallel connection platform of the present invention first circular arc flap assembling schematic diagram on the first side lever.
Fig. 8 is the schematic diagram of parallel connection platform the first sliding bar of the present invention.
When Fig. 9 is parallel connection platform the first side lever of the present invention and the first sliding bar is connected with moving sets form
Range of movement schematic diagram.
When Figure 10 is parallel connection platform the first side lever of the present invention and the first sliding bar is connected with revolute pair form
Range of movement schematic diagram.
Figure is labeled as: moving platform the 1, first Hooke's hinge the 2, first sliding bar the 3, first circular arc flap 4,
First side lever 5, fixed platform the 6, second Hooke's hinge the 7, the 3rd Hooke's hinge the 8, second sliding bar the 9, the 4th tiger
Gram hinge 10, second circular arc flap the 11, the 3rd sliding bar the 12, second side lever 13, three-arc flap 14,
5th Hooke's hinge the 15, the 3rd side lever the 16, the 6th Hooke's hinge 17, circular arc fix plate washer 18, moving block 19.
Detailed description of the invention:
With embodiment, technical scheme is further described below in conjunction with the accompanying drawings.
As shown in Fig. 1, Fig. 7 and Fig. 8, of the present invention symmetrical and asymmetric restructural four structure state parallel connection is put down
Platform, concrete structure and annexation be:
Three side chains of this parallel connection platform have identical structure, first side lever the 5, second side lever 13 and the 3rd
Side lever 16 structure is identical, and first sliding bar the 3, second sliding bar 9 is identical with the structure of the 3rd sliding bar 12,
First Hooke's hinge the 2, the 3rd Hooke's hinge 8 is connected with moving platform 1 with the 4th Hooke's hinge 10, the second Hooke's hinge 7,
5th Hooke's hinge 15 is connected with fixed platform 6 with the 6th Hooke's hinge 17, first sliding bar 3 one end and first
Hooke's hinge 2 is connected, and one end of the other end and the first side lever 5 is connected, the other end and second of the first side lever 5
Hooke's hinge 7 is connected, and second sliding bar 9 one end is connected with the 3rd Hooke's hinge 8, the other end and the second side lever 13
One end be connected, the other end of the second side lever 13 and the 5th Hooke's hinge 15 are connected, the 3rd sliding bar 12 one end
Being connected with the 4th Hooke's hinge 10, one end of the other end and the 3rd side lever 16 is connected, another of the 3rd side lever 16
End is connected with the 6th Hooke's hinge 17, and the first circular arc flap 4 is arranged on the first side lever 5, the second circular arc flap
11 are arranged on the second side lever 13, and three-arc flap 14 is arranged on the 3rd side lever 16.
The operation principle of the present invention is:
Owing to three side chains of this symmetrical and asymmetric restructural four structure state parallel connection platform have identical structure,
Therefore, the operation principle of its three side chains is identical, and side chain one is by first side lever the 5, first sliding bar 3 and first
Circular arc flap 4 is constituted, and side chain two is made up of second side lever the 13, second sliding bar 9 and the second circular arc flap 11,
Side chain three is made up of the 3rd side lever the 16, the 3rd sliding bar 12 and three-arc flap 14.Side chain introduced below
The operation principle of one, when the first sliding bar 3 moves in the elongated slot kind of the first side lever 5, the first sliding bar 3
Being that moving sets connects with the connected mode of the first side lever 5, now the variable-length of side chain one is the first side lever 5
The length of upper elongated slot, the length of elongated slot is less than or equal to the length of the first sliding bar 3, as shown in Figure 9；First
Circular arc flap 4 is arranged on circular arc and fixes on plate washer 18, and can fix plate washer 18 around circular arc and rotate, when first
When sliding bar 3 moves to the top of the first side lever 5, the circular arc on the first side lever 5 is fixed plate washer 18 grades and is lived the
Moving block 19 on one sliding bar 3 so that the first sliding bar 3 cannot continue to move along, now the first circle
Arc flap 4 rotates 180 ° and arrives below just, is encased by the moving block 19 on the first sliding bar 3, now, the
The connected mode of one sliding bar 3 and the first side lever 5 is that revolute pair connects, the now rotation of the first sliding bar 3
Scope is close to 0～180 °, and its variable-length is almost the length of the first sliding bar 3 of twice, such as Figure 10 institute
Show.Now, the length excursion of the first side chain is greatly increased, and the work space of parallel connection platform is greatly increased.
The operation principle of the second side chain and the 3rd side chain is identical with the first side chain, and three side chains are separate.When three
When individual side chain is all moving sets connection, parallel connection platform is in 3-UPU type, it may be assumed that 3-UPU type represents in parallel flat
Three side chains of platform have identical structure, and the kinematic pair of each side chain is two Hooke's hinges and a movement
Pair, U represents that Hooke's hinge, P represent moving sets.Now bearing capacity is the strongest, but work space is minimum；When
When one of them side chain is transformed into revolute pair by moving sets, parallel connection platform is in 2-UPU-URU type, it may be assumed that and
The kinematic pair of connection platform two of which side chain is two Hooke's hinges and a moving sets, the kinematic pair of a side chain
Being two Hooke's hinges and a revolute pair, R represents revolute pair.Now parallel connection platform bearing capacity somewhat declines,
But the work space on that chain direction of kinematic pair change is greatly increased；When two of which side chain by
When moving sets is transformed into revolute pair, parallel connection platform is in 2-URU-UPU type, it may be assumed that parallel connection platform two of which
The kinematic pair of side chain is two Hooke's hinges and a revolute pair, the kinematic pair of a side chain be two Hooke's hinges and
One moving sets.Now parallel connection platform bearing capacity has declined, but at two side chains of kinematic pair change
Direction on work space be greatly increased；When three side chains are all transformed into revolute pair by moving sets, in parallel
Platform is in 3-URU type, it may be assumed that three side chains of parallel connection platform have identical structure, the fortune of each side chain
Dynamic pair is all two Hooke's hinges and a revolute pair.Now parallel connection platform bearing capacity is more weak, but it is respectively
The most large range of increase of work space on direction.Structure state can be varied as desired at work.
Claims (4)
1. a symmetrical and asymmetric restructural four structure state parallel connection platform, it is characterised in that this parallel connection platform
Three side chains have identical structure, and the first side lever, the second side lever and the 3rd side bar arrangement are identical, and first is sliding
The structure of lever, the second sliding bar and the 3rd sliding bar is identical, the first Hooke's hinge, the 3rd Hooke's hinge and the 4th
Hooke's hinge is connected with moving platform, and the second Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge are connected with fixed platform,
First sliding bar one end is connected with the first Hooke's hinge, and one end of the other end and the first side lever is connected, the first side lever
The other end and the second Hooke's hinge be connected, second sliding bar one end is connected with the 3rd Hooke's hinge, the other end and the
One end of two side levers is connected, and the other end of the second side lever and the 5th Hooke's hinge are connected, the 3rd sliding bar one end with
4th Hooke's hinge is connected, and one end of the other end and the 3rd side lever is connected, the other end of the 3rd side lever and the 6th tiger
Gram hinge be connected, the first circular arc flap is arranged on the first side lever, and the second circular arc flap is arranged on the second side lever,
Three-arc flap is arranged on the 3rd side lever.
The most according to claim 1 symmetrical and asymmetric restructural four structure state parallel connection platform, its feature exists
In, described first side lever is welded with circular arc and fixes plate washer, for installing the first circular arc flap.
The most according to claim 1 symmetrical and asymmetric restructural four structure state parallel connection platform, its feature exists
In: it is welded with moving block on described first sliding bar.
The most according to claim 1 symmetrical and asymmetric restructural four structure state parallel connection platform, its feature exists
In: having elongated slot on described first side lever, the first sliding bar slides in elongated slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610329241.XA CN105965477B (en) | 2016-05-17 | 2016-05-17 | The symmetrical and asymmetric structure state parallel connection platform of restructural four |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610329241.XA CN105965477B (en) | 2016-05-17 | 2016-05-17 | The symmetrical and asymmetric structure state parallel connection platform of restructural four |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105965477A true CN105965477A (en) | 2016-09-28 |
| CN105965477B CN105965477B (en) | 2018-01-05 |
Family
ID=56956914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610329241.XA Active CN105965477B (en) | 2016-05-17 | 2016-05-17 | The symmetrical and asymmetric structure state parallel connection platform of restructural four |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965477B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297731A (en) * | 2017-07-03 | 2017-10-27 | 北华航天工业学院 | A kind of restructural parallel institution |
| CN107657864A (en) * | 2017-11-07 | 2018-02-02 | 广西大学 | A kind of six degree of freedom large space via Self-reconfiguration parallel connection flight training simulator |
| CN107695580A (en) * | 2017-11-07 | 2018-02-16 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration becomes cell type parallel connection welding robot |
| CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
| CN107942294A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of ships radar steady rest |
| CN108748166A (en) * | 2018-09-03 | 2018-11-06 | 柳州铁道职业技术学院 | A kind of restructural parallel connection platform of few branch |
| CN108971839A (en) * | 2018-09-03 | 2018-12-11 | 柳州铁道职业技术学院 | A kind of welding robot |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN111716333A (en) * | 2020-07-03 | 2020-09-29 | 刘青苇 | Base suitable for artificial intelligence arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| DE202013002572U1 (en) * | 2013-03-15 | 2013-10-01 | Sabanci Universitesi | Reconfigurable ankle exoskeleton device |
| CN105437216A (en) * | 2015-12-23 | 2016-03-30 | 北京交通大学 | Novel parallel mechanism having reconfigurable characteristic |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| CN205588293U (en) * | 2016-05-17 | 2016-09-21 | 广西大学 | Symmetrical and asymmetric restructural no. 4 constructs parallelly connected platform of attitude |
-
2016
- 2016-05-17 CN CN201610329241.XA patent/CN105965477B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| DE202013002572U1 (en) * | 2013-03-15 | 2013-10-01 | Sabanci Universitesi | Reconfigurable ankle exoskeleton device |
| CN105437216A (en) * | 2015-12-23 | 2016-03-30 | 北京交通大学 | Novel parallel mechanism having reconfigurable characteristic |
| CN105538296A (en) * | 2016-02-03 | 2016-05-04 | 中北大学 | Reconfigurable spherical parallel robot |
| CN205588293U (en) * | 2016-05-17 | 2016-09-21 | 广西大学 | Symmetrical and asymmetric restructural no. 4 constructs parallelly connected platform of attitude |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297731A (en) * | 2017-07-03 | 2017-10-27 | 北华航天工业学院 | A kind of restructural parallel institution |
| CN107657864B (en) * | 2017-11-07 | 2019-06-14 | 广西大学 | A kind of six degree of freedom large space via Self-reconfiguration parallel connection flight training simulator |
| CN107932476A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration parallel connection spray robot |
| CN107942294A (en) * | 2017-11-07 | 2018-04-20 | 广西大学 | A kind of ships radar steady rest |
| CN107695580A (en) * | 2017-11-07 | 2018-02-16 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration becomes cell type parallel connection welding robot |
| CN107657864A (en) * | 2017-11-07 | 2018-02-02 | 广西大学 | A kind of six degree of freedom large space via Self-reconfiguration parallel connection flight training simulator |
| CN107695580B (en) * | 2017-11-07 | 2019-06-28 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration change cell type parallel connection welding robot |
| CN108748166B (en) * | 2018-09-03 | 2023-05-23 | 柳州铁道职业技术学院 | Few-branched-chain reconfigurable parallel platform |
| CN108748166A (en) * | 2018-09-03 | 2018-11-06 | 柳州铁道职业技术学院 | A kind of restructural parallel connection platform of few branch |
| CN108971839A (en) * | 2018-09-03 | 2018-12-11 | 柳州铁道职业技术学院 | A kind of welding robot |
| CN108971839B (en) * | 2018-09-03 | 2023-06-23 | 柳州铁道职业技术学院 | Welding robot |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| CN109746896B (en) * | 2018-12-11 | 2022-02-18 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
| CN111716333A (en) * | 2020-07-03 | 2020-09-29 | 刘青苇 | Base suitable for artificial intelligence arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105965477B (en) | 2018-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105965477A (en) | Symmetrical and asymmetrical reconfigurable four-configuration parallel platform | |
| CN205588293U (en) | Symmetrical and asymmetric restructural no. 4 constructs parallelly connected platform of attitude | |
| CN103737581B (en) | The many bars six degree of freedom welding robot containing parallel closed loop subchain that space is controlled | |
| CN103737578B (en) | A kind of space multi-freedom-degreecontrollable controllable mechanism type fine setting welding robot | |
| CN105397800B (en) | Asymmetric two-freedom moves multi-ring coupling mechanism | |
| CN104985590B (en) | Six degree of freedom partly decoupled parallel institution | |
| CN103552058B (en) | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation | |
| CN104002298A (en) | Two-moving and one-rotating decoupling parallel robot mechanism | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN102490179A (en) | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom | |
| CN104942796B (en) | Three move two rotation five degree of freedom rotates mobile full decoupled parallel institution | |
| CN104985587B (en) | The four-degree-of-freedom with arc moving sets rotates mobile full decoupled parallel institution | |
| CN104985589B (en) | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs | |
| CN102490178A (en) | Spatial three-rotation one-translation parallel manipulator | |
| NL2009200C2 (en) | Grasper embodied with a bi-stable element. | |
| CN105437214B (en) | Multi-closed-loop three-rotation catching and releasing mechanism | |
| CN104942800B (en) | Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism | |
| NL2009202C2 (en) | Grasper embodied with a bi-stable element. | |
| CN203003886U (en) | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain | |
| CN105459092A (en) | Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism | |
| CN105215973B (en) | Asymmetric two-dimensional rotary one-dimensional movement parallel institution | |
| CN102990648A (en) | Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain | |
| CN104985588B (en) | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving | |
| CN102990654A (en) | Parallel mechanism containing two pprrr closed-loop sub-chains |
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 |