CN106426088A - Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism - Google Patents
Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism Download PDFInfo
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- CN106426088A CN106426088A CN201610819158.0A CN201610819158A CN106426088A CN 106426088 A CN106426088 A CN 106426088A CN 201610819158 A CN201610819158 A CN 201610819158A CN 106426088 A CN106426088 A CN 106426088A
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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Abstract
The invention relates to a large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism which has the advantages of being wide in movement range and high in accuracy. According to the technical scheme, the large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism comprises a rack, a movable platform and three flexible branches, wherein each flexible branch comprises a moving pair, a mounting block, a flexible rotating pair, a connecting rod and a flexible spherical pair; an axis of the moving pair of each flexible branch is vertically arranged, and the axis of each flexible rotating pair is horizontally arranged and vertical to the axis of the corresponding connecting rod; the horizontal projections of the axes of the three moving pairs are treated as three top points of an equilateral triangle, and an included angle of the horizontal projections of the axes of every two flexible rotating pairs is 60 degrees, or the horizontal projections of the axes of the three moving pairs are treated as three top points of an isosceles right triangle; the axes of the two flexible rotating pairs related to the moving pairs which form the two top points of the hypotenuses of the isosceles right triangle are parallel to each other and vertical to the axis of the third flexible rotating pair.
Description
Technical field
The present invention relates to one movement of the rotation of space two of robotics, specifically a kind of large stroke and high precision is submissive
Parallel institution.
Background technology
Compared to serial mechanism, parallel institution has the advantages that compact conformation, good rigidity, dynamicss are good, therefore by
It is widely used in the fields such as commercial production, motion simulation, medical treatment.But, due to there are many passive hinges in parallel institution, make
Its manufacture, assembly cost higher.Meanwhile, the inevitable foozle of passive hinge can reducing mechanism performance accuracy.Adopt
Replace rigid hinge solve these problems well with flexible hinge.Compliant member can integration processing feature cause machine
Structure has the advantages that performance accuracy is high, lightweight, it is little to rub, assembling is few.Therefore, compliant parallel mechanism is researched and developed.Wherein, have
The compliant parallel mechanism for having two rotation one-movement-freedom-degree of space is an important class, is widely used in microoperation, positioning etc.
Field.
Existing space two rotates movement compliant mechanism (as CN201413642Y, CN102360160A) and is driven device
Travel limit, moving platform range of movement very little, it is impossible to meet job demand, need to design some displacement equations machines in mechanism
Structure is amplifying its stroke.But can so increase the complexity of structure, and amplification effect is limited.It is therefore proposed that a kind of motion
It is necessary that scope is big, the space two of high precision, compact conformation rotates a movement compliant parallel mechanism.
Content of the invention
The purpose of the present invention is overcome the shortcomings of in above-mentioned background technology, proposes a kind of two turns of space of large stroke and high precision
Dynamic movement compliant parallel mechanism, the mechanism should, high precision, simple structure, low cost big have the advantages that range of movement.
The technical scheme is that
A kind of space two of large stroke and high precision rotates one and moves compliant parallel mechanism, including frame, moving platform and simultaneously
Connection is connected to three flexible branch between frame and moving platform；It is characterized in that：
Moving sets that each flexible branch includes to be connected in turn between frame and moving platform, mounting blocks, compliant rotational be secondary,
Connecting rod and flexible spherical pair；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational secondary axis is horizontally disposed
And perpendicular to connecting rod axis；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, two-by-two the water of compliant rotational secondary axis
The angle of flat projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle；It is straight that isosceles are wherein formed
Two related compliant rotational secondary axises of the moving sets on two summits of angle hypotenuse are parallel to each other and perpendicular to
Three compliant rotational secondary axises.
A kind of space two of large stroke and high precision rotates one and moves compliant parallel mechanism, including frame, moving platform and simultaneously
Connection is connected to three flexible branch between frame and moving platform；It is characterized in that：
Moving sets that each flexible branch described includes to be connected in turn between frame and moving platform, mounting blocks, flexible ball
Face pair, connecting rod and compliant rotational pair；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational secondary axis hangs down
The straight axis in connecting rod and parallel to moving platform plane；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, and compliant rotational secondary axis is dynamic two-by-two
The angle of platform projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle, wherein forms isosceles straight
Two related compliant rotational secondary axises of the moving sets on two summits of angle hypotenuse are parallel to each other and perpendicular to
Three compliant rotational secondary axises.
The moving sets are to be driven by servomotor and drive secondary ball screw framework as each flexible branch.
The mounting blocks are fixed on the slide unit in ball screw framework.
The invention has the beneficial effects as follows：
Compliant parallel mechanism proposed by the present invention can execute two of space and rotate and a moving movement, and structure is complete
Symmetrically, have the advantages that range of movement is big, high precision, low cost of manufacture, assemble simple, can be used for the fields such as microoperation, positioning.
Description of the drawings
Fig. 1 is the perspective view of the embodiment of the present invention one.
Fig. 2 is the perspective view of the embodiment of the present invention two.
Fig. 3 is the perspective view of the embodiment of the present invention three.
Fig. 4 is the perspective view of the embodiment of the present invention four.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following examples.
Embodiment one
As shown in figure 1, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism, including frame 1, move
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes that the moving sets 10 being connected in turn between frame and moving platform, mounting blocks 14, flexibility turn
Dynamic secondary 13, connecting rod 11 and flexible spherical pair 12；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational pair
Axis horizontal is arranged and perpendicular to connecting rod axis；The floor projection of described three mobile secondary axises is three of equilateral triangle
Summit, and the angle of the floor projection of compliant rotational secondary axis is 60 degree two-by-two.
The moving sets are the ball screw framework (including leading screw, slide unit 15, servomotor) that fixes with frame, ball wire
The leading screw axis vertical arrangement of thick stick mechanism, the slide unit of ball screw framework is fixed with mounting blocks；The top of the connecting rod is by soft
Property rotate pair be connected with mounting blocks and connecting rod bottom pass through flexibility spherical pair be connected with moving platform.
In the case of undeformed：Three flexible branch are rotationally symmetrical with regard to moving platform, and center of rotational symmetry is
The center of platform and the anglec of rotation are 120 degree, and the center of rotation of three flexible spherical pairs is pushed up for three of equilateral triangle
Point, three compliant rotational secondary axises are three sides of equilateral triangle；In each flexible branch, connecting rod axis and ball-screw machine
The angle that the lead screw shaft line of structure is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Embodiment two
As shown in Fig. 2 a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism, including frame 1, move
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes moving sets 10, the mounting blocks 14, flexible ball being connected in turn between frame and moving platform
Face pair 12, connecting rod 11 and compliant rotational pair 13；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational pair
Axis is perpendicular to connecting rod axis and parallel to moving platform plane；The floor projection of described three mobile secondary axises is equilateral triangle
Three summits, and two-by-two compliant rotational secondary axis moving platform projection angle be 60 degree
The moving sets are the ball screw framework (including leading screw, slide unit 15, servomotor) that fixes with frame, ball wire
The leading screw axis vertical arrangement of thick stick mechanism, the slide unit of ball screw framework is fixed with mounting blocks；The top of the connecting rod is by soft
Property spherical pair be connected with mounting blocks and connecting rod bottom by compliant rotational pair be connected with moving platform.
In the case of undeformed：Three flexible branch are rotationally symmetrical with regard to moving platform, and center of rotational symmetry is
The center of platform and the anglec of rotation are 120 degree, and the center of rotation of three flexible spherical pairs is pushed up for three of equilateral triangle
Point, three compliant rotational secondary axises are three sides of equilateral triangle；In each flexible branch, connecting rod axis and ball-screw machine
The angle that the lead screw shaft line of structure is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Embodiment three
As shown in figure 3, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism, including frame 1, move
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes that the moving sets 10 being connected in turn between frame and moving platform, mounting blocks 14, flexibility turn
Dynamic secondary 13, connecting rod 11 and flexible spherical pair 12；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational pair
Axis horizontal is arranged and perpendicular to connecting rod axis；In three flexible branch：The floor projection of three mobile secondary axises is
Three summits of isosceles right triangle, two of which moving sets (moving sets on the moving sets in left side and right side in Fig. 3) are related
Summit line for isosceles right triangle hypotenuse, two related compliant rotational secondary axises of the two moving sets are mutually equal
Go and perpendicular to the 3rd compliant rotational secondary axis.
The moving sets are the ball screw framework (including leading screw, slide unit 15, servomotor) that fixes with frame, ball wire
The leading screw axis vertical arrangement of thick stick mechanism, the slide unit of ball screw framework is fixed with mounting blocks；The top of the connecting rod is by soft
Property rotate pair be connected with mounting blocks and connecting rod bottom pass through flexibility spherical pair be connected with moving platform.
In the case of undeformed：Two flexible branch therein (in Fig. 3, divide by the flexible branch in left side and the flexibility on right side
) symmetrical with regard to the 3rd flexible branch, and the center of rotation of three flexible spherical pairs is three of isosceles right triangle
Summit, three compliant rotational secondary axis centers are three summits of isosceles triangle；In each flexible branch, connecting rod axis and rolling
The angle that the lead screw shaft line of screw mechanism is formed is acute angle (connecting rod axis is not orthogonal to leading screw axis).
Example IV
As shown in figure 4, a kind of space two of large stroke and high precision rotates one moves compliant parallel mechanism, including frame 1, move
Platform 2 and three flexible branch being connected in parallel between frame and moving platform.
Each flexible branch includes moving sets 10, the mounting blocks 14, flexible ball being connected in turn between frame and moving platform
Face pair 12, connecting rod 11 and compliant rotational pair 13；In each flexible branch described, moving sets axis vertical is arranged, compliant rotational pair
Axis perpendicular to connecting rod axis and parallel to moving platform plane；In three flexible branch：The water of three mobile secondary axises
Flat three summits for being projected as isosceles right triangle, (the movement on the moving sets in left side and right side in Fig. 4 of two of which moving sets
Secondary) related summit line is isosceles right triangle hypotenuse, two related compliant rotational secondary axises of the two moving sets
Parallel to each other and perpendicular to the 3rd compliant rotational secondary axis.
The moving sets are the ball screw framework (including leading screw, slide unit 15, servomotor) that fixes with frame, ball wire
The leading screw axis vertical arrangement of thick stick mechanism, the slide unit of ball screw framework is fixed with mounting blocks；The top of the connecting rod is by soft
Property spherical pair be connected with mounting blocks and connecting rod bottom by compliant rotational pair be connected with moving platform.
In the case of undeformed：Two flexible branch therein are symmetrical with regard to the 3rd flexible branch, and three soft
Property spherical pair center of rotation for isosceles right triangle three summits, three compliant rotational secondary axis centers be
Three summits of shape；In each flexible branch, connecting rod axis is acute angle with the angle of the lead screw shaft line formation of ball screw framework
(connecting rod axis is not orthogonal to leading screw axis).
In above-described embodiment：
The secondary and each flexibility spherical pair of each compliant rotational is all fabricated from a flexible material, the preferred beryllium-bronze of the flexible material,
Titanium alloy, polypropylene, spring steel etc.；The ball screw framework is the driving pair of each flexible branch, and moving platform is in servomotor
Lower work two is driven to rotate moving movements.
Claims (4)
1. a kind of large stroke and high precision space two rotate one move compliant parallel mechanism, including frame (1), moving platform (2) with
And three flexible branch being connected in parallel between frame and moving platform；It is characterized in that：
Each flexible branch includes that the moving sets (10) being connected in turn between frame and moving platform, mounting blocks (14), flexibility turn
Dynamic pair (13), connecting rod (11) and flexible spherical pair (12)；In each flexible branch described, moving sets axis vertical is arranged, flexible
Turns auxiliary shaft line is horizontally disposed and perpendicular to connecting rod axis；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, and the level of compliant rotational secondary axis is thrown two-by-two
The angle of shadow is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle；Isosceles right angle three is wherein formed
Two related compliant rotational secondary axises of the moving sets on two summits of angular hypotenuse are parallel to each other and perpendicular to the 3rd
Compliant rotational secondary axis.
2. a kind of large stroke and high precision space two rotate one move compliant parallel mechanism, including frame (1), moving platform (2) with
And three flexible branch being connected in parallel between frame and moving platform；It is characterized in that：
Moving sets (10) that each flexible branch described includes to be connected in turn between frame and moving platform, mounting blocks (14), soft
Property spherical pair (12), connecting rod (11) and compliant rotational pair (13)；In each flexible branch described, moving sets axis vertical is arranged,
Compliant rotational secondary axis perpendicular to connecting rod axis and parallel to moving platform plane；
The floor projection of three mobile secondary axises is three summits of equilateral triangle, two-by-two the moving platform of compliant rotational secondary axis
The angle of projection is 60 degree；Or,
The floor projection of described three mobile secondary axises is three summits of isosceles right triangle, wherein forms isosceles right angle three
Two related compliant rotational secondary axises of the moving sets on two summits of angular hypotenuse are parallel to each other and perpendicular to the 3rd
Compliant rotational secondary axis.
3. a kind of space two of large stroke and high precision according to claim 1 and 2 rotates one and moves compliant parallel mechanism, its
It is characterised by：The moving sets are to be driven by servomotor and drive secondary ball screw framework as each flexible branch.
4. a kind of space two of large stroke and high precision according to claim 3 rotates one and moves compliant parallel mechanism, and which is special
Levy and be：The mounting blocks are fixed on the slide unit in ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819158.0A CN106426088A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819158.0A CN106426088A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
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| CN106426088A true CN106426088A (en) | 2017-02-22 |
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|---|---|---|---|
| CN201610819158.0A Pending CN106426088A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-accuracy type spacial two-rotation and one-moving flexible parallel-connecting mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
| CN108297073A (en) * | 2018-03-12 | 2018-07-20 | 中南大学 | Six degree of freedom connection in series-parallel combination drive motion platform applied to optoelectronic packaging |
| CN108582035A (en) * | 2018-03-12 | 2018-09-28 | 中南大学 | Three-degree of freedom flexible parallel motion platform applied to optoelectronic packaging |
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN109839087A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test method |
| CN109839088A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test device |
| CN110480535A (en) * | 2019-07-26 | 2019-11-22 | 北京工业大学 | A kind of asymmetric nano-positioning stage of combination drive |
| CN111421522A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Five-degree-of-freedom micro-motion platform |
| CN111421523A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Micro-motion platform |
| CN114749851A (en) * | 2022-03-18 | 2022-07-15 | 上汽通用五菱汽车股份有限公司 | Parallel type positioning and grabbing mechanism and grabbing method thereof |
| CN114888845A (en) * | 2022-05-24 | 2022-08-12 | 株洲华匠科技有限公司 | Bionic multi-degree-of-freedom mechanical equipment based on combination principle |
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| CN206105834U (en) * | 2016-09-13 | 2017-04-19 | 浙江理工大学 | Space two of big stroke high accuracy is rotated one and is removed gentle and agreeable parallel mechanism |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000495B (en) * | 2017-12-13 | 2023-12-01 | 浙江理工大学 | Two-rotation one-movement redundant driving parallel mechanism with large swing angle |
| CN108000495A (en) * | 2017-12-13 | 2018-05-08 | 浙江理工大学 | A kind of two rotations, one movement redundantly actuated parallel mechanism with big swing angle |
| CN108297073A (en) * | 2018-03-12 | 2018-07-20 | 中南大学 | Six degree of freedom connection in series-parallel combination drive motion platform applied to optoelectronic packaging |
| CN108582035A (en) * | 2018-03-12 | 2018-09-28 | 中南大学 | Three-degree of freedom flexible parallel motion platform applied to optoelectronic packaging |
| CN108582035B (en) * | 2018-03-12 | 2020-06-09 | 中南大学 | Three-degree-of-freedom flexible parallel motion platform applied to photoelectron packaging |
| CN108297073B (en) * | 2018-03-12 | 2020-06-09 | 中南大学 | Six-degree-of-freedom series-parallel hybrid drive motion platform applied to photoelectron packaging |
| CN109395938A (en) * | 2018-11-01 | 2019-03-01 | 合肥工业大学 | A kind of painting robot mechanism of flexible cable parallel drive |
| CN109839087A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test method |
| CN109839088A (en) * | 2019-02-26 | 2019-06-04 | 中北大学 | A kind of mechanism of portable combination of rigidity and flexibility and robot performance's test device |
| CN110480535A (en) * | 2019-07-26 | 2019-11-22 | 北京工业大学 | A kind of asymmetric nano-positioning stage of combination drive |
| CN111421523A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Micro-motion platform |
| CN111421522A (en) * | 2020-04-03 | 2020-07-17 | 清华大学 | Five-degree-of-freedom micro-motion platform |
| CN114749851A (en) * | 2022-03-18 | 2022-07-15 | 上汽通用五菱汽车股份有限公司 | Parallel type positioning and grabbing mechanism and grabbing method thereof |
| CN114888845A (en) * | 2022-05-24 | 2022-08-12 | 株洲华匠科技有限公司 | Bionic multi-degree-of-freedom mechanical equipment based on combination principle |
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Application publication date: 20170222 |