CN106965161A - A kind of 3-freedom parallel mechanism with arc prismatic pair - Google Patents
A kind of 3-freedom parallel mechanism with arc prismatic pair Download PDFInfo
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- CN106965161A CN106965161A CN201710286446.9A CN201710286446A CN106965161A CN 106965161 A CN106965161 A CN 106965161A CN 201710286446 A CN201710286446 A CN 201710286446A CN 106965161 A CN106965161 A CN 106965161A
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- arc
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- moving platform
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
A kind of 3-freedom parallel mechanism with arc prismatic pair, including fixed platform, moving platform, and three arc side chains between fixed platform and moving platform；Each arc side chain includes the first curved rod and the second curved rod of arc core altogether, connected between one end of first bow and fixed platform using revolute pair, one end of second bow is in the cavity of the first bow other end, and second the tangential direction of circular arc of the bow along the first bow can be reciprocating, connected between the other end and moving platform of second bow by the way of ball pivot, three revolute pair uniform intervals of three arc side chains are distributed on the circumference of fixed platform.The axis of revolute pair is parallel to each other configuration, and the center of rotation of the parallel institution moving platform is the intersection point at each arc side chain ball pivot center and the arc side chain line of centres, the pose of this intersection point compliant platform changes and changed, so that the working space of moving platform is larger, simple and reliable for structure, flexibility ratio is higher.
Description
Technical field
The present invention relates to parallel institution technical field, more particularly to a kind of three-freedom parallel with arc prismatic pair
Structure.
Background technology
Since proposing parallel robot first from 1938, because its have greater stiffness, it is small compared with strong bearing capacity, error,
The features such as precision is high, deadweight duty ratio is small, power performance is good, control is easy, is widely used in the every field of society.At present,
It common are 2DOF, 3DOF, 4DOF, 6DOF parallel institution；At present, 3-freedom parallel mechanism is to study most
A many, most widely used class minority carrier generation lifetime.It can be divided into four classes by the type of the moving platform free degree：3 rotate simultaneously
Online structure, 2 rotate 1 mobile parallel connection mechanism, 12 mobile parallel connection mechanisms of rotation, 3 mobile parallel connection mechanisms.Wherein, sphere parallel mechanism
Belong to 3 one-rotation parallel mechanisms, it can realize any rotation for the centre of sphere that sphere is moved around moving platform reference point, work as mechanism kinematic
When, all points are rotated all around the centre of sphere, with a radii fixus on mechanism moving platform.It is spherical surface parallel connected relative to general and
The advantage of online structure is big working space, flexibility and reliability, is not susceptible to interference etc..
A kind of biasing output Three Degree Of Freedom ball with center Spherical hinge proposed such as University On The Mountain Of Swallows peak professor et al.
Face parallel institution (CN101306534), it has typical 3-RRR types mechanism characteristicses.Realization does three directions around fixed center
Rotate.
University On The Mountain Of Swallows professor Huang Zhen proposes a kind of with symmetrical structure and the parallel institution without associated movement
(CN102962840).It can be in fixed and moving platform intermediate symmetry plane any one axle or any point continuously rotate,
The generation of associated movement can effectively be avoided.
A kind of spherical three-degree-of-freedom parallel mechanism antenna structure system (CN101924266) that Shanghai University Shen Long is proposed.
Its more general Three-degree-of-freedom spherical mechanism is compared, with larger working space.
The three-degree-of-freedom spherical parallel mechanism with arc prismatic pair that Shanghai Communications University woods Rong Fu et al. is proposed
(CN104827463).Realize that moving platform does the rotation in three directions around the midpoint of arc in the form of arc prismatic pair.
The kinematic pair configuration of these mechanism side chains includes RR or RRR mostly, and the axis of these kinematic pairs is intersected at
A bit, come the motion of 3 frees degree realizing moving platform, wherein Shanghai Communications University woods Rong Fu uses arc prismatic pair so that
Configured by the arc of kinematic pair, allow moving platform by the force constraint in three directions, and be merely capable of doing three around the center of arc
The rotation in individual direction, its center of rotation is fixed, and causes its working space smaller.
The content of the invention
In consideration of it, being necessary to provide a kind of working space the larger 3-freedom parallel mechanism with arc prismatic pair.
A kind of 3-freedom parallel mechanism with arc prismatic pair, including fixed platform, moving platform, and located at described solid
Three arc side chains between fixed platform and the moving platform；
Each arc side chain includes the first curved rod and the second curved rod of arc core altogether, the one of first bow
Using revolute pair connection between end and the fixed platform, one end of second bow is another located at first bow
In the cavity at end, and the tangential direction of circular arc of second bow along first bow can be reciprocating, described
Connected between the other end of second bow and the moving platform by the way of ball pivot, three institutes of three arc side chains
Revolute pair uniform intervals are stated to be distributed on the circumference of the fixed platform.
In one of the embodiments, the axis of three revolute pairs is parallel to each other.
In one of the embodiments, the cross section of the cavity of first bow is circular, oval or square.
In one of the embodiments, the radius of three arc side chains is identical.
In one of the embodiments, the radius of three arc side chains is different.
Put down by revolute pair with fixed the above-mentioned 3-freedom parallel mechanism with arc prismatic pair, one end of arc side chain
Platform is connected, and the other end of arc side chain is connected by ball pivot and moving platform, and the axis of revolute pair is parallel to each other configuration, and this is simultaneously
The center of rotation of online structure moving platform is the intersection point at each arc side chain ball pivot center and the arc side chain line of centres, and this intersection point is servo-actuated
The pose of platform changes and changed, so that the working space of moving platform is larger.Simple and reliable for structure, driving force is strong, flexibly
Higher, moving platform stable movement is spent, the neck such as virtual axis machine, industrial robot, flight simulation equipment, Medical Devices is can be applied to
Domain.
Brief description of the drawings
Fig. 1 is the structural representation of the 3-freedom parallel mechanism with arc prismatic pair of an embodiment；
Fig. 2 for the center of rotation of the above-mentioned 3-freedom parallel mechanism with arc prismatic pair schematic diagram, in figure, O1,
O2, O3 are respectively the arc core of three arc side chains, and O is center of rotation.
Embodiment
In order that the objects, technical solutions and advantages of the present invention become apparent from, below in conjunction with drawings and Examples, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and without
It is of the invention in limiting.
Referring to Fig. 1, the 3-freedom parallel mechanism 100 with arc prismatic pair of an embodiment, including it is fixed flat
Platform 110, moving platform 120, and three arc side chains 130 between fixed platform 110 and moving platform 120.
Fig. 2 is please also refer to, the first curved rod 132 and the second arc that each arc side chain 130 includes arc core altogether connect
Bar 134.Connected between one end of first bow 132 and fixed platform 110 using revolute pair 136.The one of second bow 134
End is in the cavity of the other end of the first bow 132, and the tangent line of circular arc of second bow 134 along the first bow 132
Direction can be reciprocating.Connected between the other end and moving platform 120 of second bow 134 by the way of ball pivot 138.
In the present embodiment, the structure of fixed platform 110 is circular plate.It is appreciated that the structure root of fixed platform 110
According to needing to be designed to the structures such as square plate, rectangle plate.The structure of moving platform 120 is triangle plate.Triangle plate
Three summits pass through one end away from fixed platform 110 of three ball pivots 138 and three arc side chains 130 respectively and connect.
Three uniform intervals of revolute pair 136 of three arc side chains 130 are distributed on the circumference of fixed platform 110.I.e. three
Line of the individual revolute pair 136 in fixed platform 110 is isosceles triangle.Three arc side chains 130 are in fixed platform 110 and move
It is symmetric between platform 120 in the circumference parallel to fixed platform 110.
The axis of three revolute pairs 136 is parallel to each other.The axis of three revolute pairs 136 refers to perpendicular to fixed platform 110
To the arc core of arc side chain 130.
First bow 132 can be the tubular structure of arc.The cross section of the cavity of first bow 132 can be circle
Shape, oval or square etc. structure.The cross section of second curved rod 134 can be and the cavity structure phase of the first bow 132
The structure such as circular, oval or square of matching.
The tangential direction of circular arc of second bow 134 along the first bow 132 can be reciprocating, i.e. the second bow
134 can enter or stretch out the first bow 132, so as to adjust the distance between moving platform 120 and fixed platform 110.
According to the requirement of different working space or flexibility ratio, the radius of three arc side chains 130 can be designed as phase
It is same or different.
This has the 3-freedom parallel mechanism 100 of arc prismatic pair, by driving the first bow 132 in fixed platform
On 110 around revolute pair 136 axis rotational angle, to realize the respective ball pivot on three arc side chains 130 of moving platform 120
Center and respective arc side chain 130 arc core line intersection point do three-dimensional system of coordinate axis three directions rotation.
That is, Fig. 2 is refer to, should be with the center of rotation of the moving platform 110 of the 3-freedom parallel mechanism 100 of arc prismatic pair
The center of ball pivot 138 of each arc side chain 130 and the intersection point of the arc core line of arc side chain 130, the position of this intersection point compliant platform 120
Appearance changes and changed.The above-mentioned 3-freedom parallel mechanism 100 with arc prismatic pair, one end of three arc side chains 130 is equal
Be directly connected to respectively with fixed platform 110 so that the center of rotation of parallel institution 100 is not fixed, can according to actual requirement,
Arbitrary disposition arc side chain is arranged on the position of fixed platform, does not have limitation to installation requirement, improves its working space and spirit
Activity.
The above-mentioned 3-freedom parallel mechanism 100 with arc prismatic pair, one end of arc side chain 130 passes through revolute pair
136 and fixed platform 110 connect, the other end of arc side chain 130 is connected by ball pivot 138 and moving platform 120, revolute pair 136
Axis be parallel to each other configuration, and the parallel institution moving platform 120 center of rotation be each ball pivot center of arc side chain 130 with
The intersection point of the line of centres of arc side chain 130, the pose of this intersection point compliant platform 120 changes and changed, so that moving platform 120
Working space is larger.Simple and reliable for structure, driving force is strong, and flexibility ratio is higher, the stable movement of moving platform 120, can be applied to void
The fields such as axle lathe, industrial robot, flight simulation equipment, Medical Devices.
It the above is only the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as this hair
Bright protection domain.
Claims (5)
1. a kind of 3-freedom parallel mechanism with arc prismatic pair, it is characterised in that including fixed platform, moving platform, and
Three arc side chains between the fixed platform and the moving platform；
Each arc side chain includes the first curved rod and the second curved rod of arc core altogether, one end of first bow and
Connected between the fixed platform using revolute pair, one end of second bow is located at the first bow other end
In cavity, and the tangential direction of circular arc of second bow along first bow can be reciprocating, and described second
Connected, turned described in three of three arc side chains by the way of ball pivot between the other end of bow and the moving platform
Dynamic pair uniform intervals are distributed on the circumference of the fixed platform.
2. there is the 3-freedom parallel mechanism of arc prismatic pair as claimed in claim 1, it is characterised in that turn described in three
Secondary axis is moved to be parallel to each other.
3. there is the 3-freedom parallel mechanism of arc prismatic pair as claimed in claim 1, it is characterised in that first arc
The cross section of the cavity of shape bar is circular, oval or square.
4. there is the 3-freedom parallel mechanism of arc prismatic pair as claimed in claim 1, it is characterised in that three arcs
The radius of shape side chain is identical.
5. there is the 3-freedom parallel mechanism of arc prismatic pair as claimed in claim 1, it is characterised in that three arcs
The radius of shape side chain is different.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710286446.9A CN106965161B (en) | 2017-04-25 | 2017-04-25 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
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| CN201710286446.9A CN106965161B (en) | 2017-04-25 | 2017-04-25 | A kind of 3-freedom parallel mechanism with arc prismatic pair |
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| CN106965161A true CN106965161A (en) | 2017-07-21 |
| CN106965161B CN106965161B (en) | 2019-06-28 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405727A (en) * | 2018-04-26 | 2019-11-05 | 天津职业技术师范大学 | A kind of 3DOF parallel institution |
| CN112405499A (en) * | 2020-10-27 | 2021-02-26 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN114028784A (en) * | 2021-11-25 | 2022-02-11 | 深圳先进技术研究院 | Wearable sports biological information monitoring system and method applied to hammer training |
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
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| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN2542678Y (en) * | 2002-06-05 | 2003-04-02 | 淮阴工学院 | Water-cooled oxycarbide gun mechanism of electric-arc furnace based on three degree of freedom parallel platform |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN205552509U (en) * | 2016-02-03 | 2016-09-07 | 中北大学 | Restructural sphere parallel robot |
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2017
- 2017-04-25 CN CN201710286446.9A patent/CN106965161B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN2542678Y (en) * | 2002-06-05 | 2003-04-02 | 淮阴工学院 | Water-cooled oxycarbide gun mechanism of electric-arc furnace based on three degree of freedom parallel platform |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN205552509U (en) * | 2016-02-03 | 2016-09-07 | 中北大学 | Restructural sphere parallel robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11458614B2 (en) * | 2017-06-09 | 2022-10-04 | Shenzhen Institutes Of Advanced Technology | 2 degree-of-freedoms decoupling parallel mechanism |
| CN110405727A (en) * | 2018-04-26 | 2019-11-05 | 天津职业技术师范大学 | A kind of 3DOF parallel institution |
| CN112405499A (en) * | 2020-10-27 | 2021-02-26 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN112405499B (en) * | 2020-10-27 | 2023-07-28 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
| CN114028784A (en) * | 2021-11-25 | 2022-02-11 | 深圳先进技术研究院 | Wearable sports biological information monitoring system and method applied to hammer training |
| CN114028784B (en) * | 2021-11-25 | 2023-01-31 | 深圳先进技术研究院 | Wearable sports biological information monitoring system and method applied to hammer training |
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| CN106965161B (en) | 2019-06-28 |
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