CN107471198A - Become born of the same parents' parallel institution - Google Patents
Become born of the same parents' parallel institution Download PDFInfo
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- CN107471198A CN107471198A CN201710700479.3A CN201710700479A CN107471198A CN 107471198 A CN107471198 A CN 107471198A CN 201710700479 A CN201710700479 A CN 201710700479A CN 107471198 A CN107471198 A CN 107471198A
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- same parents
- born
- side chain
- axis
- spherical
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
One kind becomes born of the same parents' parallel institution, and it is connected platform and motion platform by 3 identical change born of the same parents side chains being arranged symmetrically；Become born of the same parents' side chain to be combined by the 2DOF spherical five-bar mechanisms with Decoupling Characteristics and 4DOF RRRP series connection side chains；Becoming born of the same parents' side chain has 3 kinds of different working modes, and when 3 change born of the same parents' side chains switch between 3 kinds of different working modes, 10 kinds of different mode of operations can be had by becoming born of the same parents' parallel institution；It is described change born of the same parents' parallel institution have dynamic property good, mode of operation is more, restructuring procedure without it is unusual the advantages that.
Description
Technical field：
It is more particularly to a kind of to become born of the same parents' parallel institution the invention belongs to theory of mechanisms and robotics field.
Background technology：
Traditional fixation freedom degree parallel connection mechanism because having the advantages that high rigidity, high bearing capacity, high accuracy, high speed,
It is set to have been waited until in fields such as over-loading operation, industrial robot, motion simulator, micro-nano operation, increasing material manufacturings important and extensive
Using.
It is but with the development of modern science and technology, more next in fields such as extreme operation, advanced manufacture, medical rehabilitation, space probations
More wish that mechanism has higher flexibility, can be changed according to job task and restructural its topological structure, change its number of degrees of freedom,
With free degree property, reconstruct its mode of operation.Under this background, restructural parallel institution causes the extensive pass of scholars
Note, turn into theory of mechanisms and the new study hotspot of robotics field.Scholars utilize metamorphic kinematic pair, lockable joint, constraint
Unusual monocyclic closed chain, become the restructural parallel institution that the monocyclic closed chain of born of the same parents, restructural motion platform etc. have invented some bright characteristics,
But existing restructural parallel institution configuration is still fewer, and have that mode of operation is less, servomotor is mounted remotely from machine
The deficiencies of unusual side chain or constraint singularity in rack position, restructuring procedure be present.
The content of the invention：
The present invention is directed to the deficiency of prior art, proposes a kind of new change born of the same parents parallel institution, it has 10 kinds of different operatings
Pattern, whole servomotors can be arranged on frame, become unbranched unusual and constraint singularity during born of the same parents.
Scheme is used by the present invention solves its technical problem：One kind becomes born of the same parents' parallel institution, and it is symmetrical structure, is passed through
3 identicals become the fixed platform and motion platform of born of the same parents' branch chain link parallel institution.Become born of the same parents' side chain by 2 with Decoupling Characteristics from
Formed by degree spherical five-bar mechanisms and 4DOF RRRP series connection side chain series-parallel connections, when describing kinematic pair, R represents revolute pair, P generations
Table prismatic pair.Spherical five-bar mechanisms with Decoupling Characteristics are made up of 5 bars, are connected between each bar by revolute pair, adjacent rotated
Secondary axis is orthogonal, and the axis of all rotations is all by the geometric center point of spherical five-bar mechanisms, the spherical five-bar mechanisms free degree
2, it is secondary for input to choose two revolute pairs that spherical five-bar mechanisms are connected with frame.When two input auxiliary inputs are zero, to become born of the same parents
The initial bit shape of side chain.
The RRRP series connection side chain frees degree being connected with spherical five-bar mechanisms are 4, and it is by 3 R pairs, 1 P pair and 3 bar groups
Into series connection side chain is connected with motion platform by the way that P is secondary, is connected between remaining each bar of series connection side chain by revolute pair.In initial bit shape,
One input secondary axis of the revolute pair axis adjacent with spherical five-bar mechanisms and spherical five-bar mechanisms is orthogonal, with spherical five-bar mechanisms
Another input secondary axis of adjacent revolute pair axis and spherical five-bar mechanisms is parallel.Remaining 2 revolute pair axis of series connection side chain
Be parallel to each other, but its axis direction from and spherical five-bar mechanisms it is adjacent revolute pair axis direction it is different, connect side chain remaining 2
Revolute pair axis is vertical with the prismatic pair for side chain of connecting.
When the locked input pair parallel with spherical five-bar mechanisms adjacent rotated secondary axis, drive another input secondary, become born of the same parents
Side chain becomes born of the same parents' side chain free degree as 5, becomes born of the same parents' side chain and be operated in Mode A there will be a constraint force vector.When the locked and bar of sphere five
The orthogonal input pair of mechanism adjacent rotated secondary axis, drive another input secondary, become born of the same parents' side chain there will be a constraint couple of force, become
Born of the same parents' side chain free degree is 5, becomes born of the same parents' side chain and is operated in Mode B.When two inputs of driving simultaneously are secondary, change born of the same parents' side chain becomes born of the same parents without constraint
The side chain free degree is 6, becomes born of the same parents' side chain and is operated in pattern C.The position shape that two input auxiliary inputs are zero, it is to become born of the same parents' 3 kinds of differences of side chain
The initial bit shape that mode of operation switches over.
When 3 that become born of the same parents' parallel institution, which become born of the same parents' side chain, switches respectively between 3 kinds of different working modes, become born of the same parents' parallel institution
Variable born of the same parents are 3T3R, 3T2R, 2T3R, 2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T totally 10 kinds of different mode of operations,
When describing work or motion mode, T represents movement, and R, which is represented, to be rotated.
Brief description of the drawings：
Fig. 1 is spherical five-bar mechanisms.
Fig. 2 is change born of the same parents' side chain initial bit shape.
Fig. 3 is change born of the same parents' side chain mode of operation A.
Fig. 4 is change born of the same parents' side chain mode of operation B.
Fig. 5 is change born of the same parents' side chain mode of operation C.
Fig. 6 is change born of the same parents' parallel institution.
Embodiment：
Below in conjunction with drawings and examples, the invention will be further described：
Fig. 1 show the 2DOF degree spherical five-bar mechanisms with decoupling property, and it is by 5 bars and 5 revolute pair groups
Into.It is connected between each bar by revolute pair, the axis of all revolute pairs all passes through the geometric center of spherical five-bar mechanisms, adjacent rotated
Secondary axis is orthogonal.Choose the revolute pair R being connected with frame1And R2It is secondary for input.
Fig. 2 show change born of the same parents' side chain during initial bit shape, and it is by 2DOF spherical five-bar mechanisms and a 4DOF
RRRP series connection side chains combine, and series connection side chain is by revolute pair R3、R4、R5, prismatic pair P and 3 bars composition, series connection side chain is with becoming
The motion platform of born of the same parents mechanism is connected by prismatic pair, and remaining each bar of series connection side chain is connected by revolute pair.Rotated in series connection side chain
Secondary R4And R5Diameter parallel and vertical with prismatic pair P, but not with R3Diameter parallel.R3For series connection side chain in spherical five-bar mechanisms
Adjacent revolute pair, R during initial bit shape3With R1Axis vertical take-off, R3With R2Diameter parallel.
Fig. 3 show the change born of the same parents' side chain for being reconstructed into mode of operation A, now R1Secondary, the R for input2It is locked.Now R3With R1
Axis vertical take-off, R3With R2Axis is no longer parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 constraint force vector, constrains force vector mistake
R3With R1Intersection point, direction and R4And R5Axis direction is identical.
Fig. 4 show the change born of the same parents' side chain for being reconstructed into mode of operation B, now R2Secondary, the R for input1It is locked.Now R3With R1
Axis is no longer orthogonal, R3With R2Diameter parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 constraint couple of force, R3With R2For axle
The parallel one group of line arrow of composition of line, R4And R5Sweared for another group of line of diameter parallel, constraint couple of force direction is the public law of two groups of line arrows
Line.
Fig. 5 show the change born of the same parents' side chain for being reconstructed into mode of operation C, now R1And R2Be all input, become born of the same parents' side chain free degree into
6, become born of the same parents' side chain now without constraint.
As shown in Figure 6 by 3 change born of the same parents' parallel institutions for becoming born of the same parents' side chain and forming, component 1 is motion platform, and component 2 is fixation
Platform, 3 of be connected platform 2 and motion platform 1 become born of the same parents' side chains to be arranged symmetrically.Become when 3 born of the same parents side chains respectively at 3 kinds not
During with switching between mode of operation, becoming born of the same parents' parallel institution has 10 kinds of different working modes, respectively 3T3R, 3T2R, 2T3R,
2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T mode of operation, when describing work or motor pattern, T represents movement, R generations
Table rotates.
Because the pair that fully enters for becoming born of the same parents' parallel institution is all connected with fixed platform, its whole servomotor is all arranged on and fixed
Platform, therefore change born of the same parents' parallel institution has the advantages of dynamic characteristic is good.Because every change born of the same parents' side chain has 3 kinds of different operating moulds
Formula, when 3 structures are identical and change born of the same parents' side chain for being arranged symmetrically switches between different working modes, 10 can be had by becoming born of the same parents' parallel institution
Kind different working modes, therefore change born of the same parents' parallel institution has the advantages of mode of operation is more.Because spherical five-bar mechanisms have solution
Coupling characteristic, become born of the same parents' parallel institution unbranched unusual and constraint singularity in restructuring procedure, it is above-mentioned unusual with effectively avoiding
Advantage.
Claims (1)
1. one kind becomes born of the same parents' parallel institution, it is symmetrical structure, its by 3 identicals become born of the same parents' side chains be connected platform and motion it is flat
Platform；Become born of the same parents' side chain to be formed by the 2DOF spherical five-bar mechanisms with Decoupling Characteristics and 4DOF RRRP series connection side chain series-parallel connections,
When describing kinematic pair, R is revolute pair, and P is prismatic pair；
Spherical five-bar mechanisms are made up of 5 bars and 5 revolute pairs, and each bar is connected by revolute pair, and all revolute pair axis are all logical
The geometric center of spherical five-bar mechanisms is crossed, adjacent rotated secondary axis is orthogonal, chooses the rotation being connected with spherical five-bar mechanisms frame
Secondary R1And R2As the input pair of spherical five-bar mechanisms, R1And R2When input is zero, cut to become born of the same parents' side chain different working modes
The initial bit shape changed；
Side chain connect by revolute pair R3、R4、R5Formed with prismatic pair P, R4And R5Diameter parallel and perpendicular to P pairs；With the bar of sphere five
Mechanism is adjacent for R3, in initial bit shape R3With R1Axis vertical take-off and R3With R2Diameter parallel；Side chain of connecting is secondary flat with motion by P
Platform is connected, and series connection remaining each bar of side chain is connected by the way that R is secondary；
As locked R2, drive R1, become born of the same parents' side chain and be operated in mode of operation A, now R3With R1Axis vertical take-off, but R3With R2Axis is no longer
Parallel, this time-varying born of the same parents' side chain free degree is 5, becomes born of the same parents' side chain and a constraint force vector be present, the constraint force vector crosses R3With R1The friendship of axis
Point, and direction and R4And R5Axis direction is identical；
As locked R1, drive R2, become born of the same parents' side chain and be operated in mode of operation B, now R3With R1Axis is no longer orthogonal, but R3With R2Axis
Parallel, this time-varying born of the same parents' side chain free degree is 5, becomes born of the same parents' side chain and a constraint couple of force be present, now R3With R2For one group of diameter parallel
Line arrow, R4And R5Sweared for another group of line of diameter parallel, the common normal direction of two groups of line arrows is to constrain couple of force direction；
R is driven when simultaneously1And R2, become born of the same parents' side chain and be operated in mode of operation C, now the spherical five-bar mechanisms free degree is 2, series connection branch
The chain free degree is 4, and the change born of the same parents' side chain free degree combined by them is 6, and this time-varying born of the same parents' side chain is without constraint；
When 3, which become born of the same parents' side chains, switches between 3 kinds of different working modes, become born of the same parents parallel institution will have 3T3R, 3T2R, 2T3R,
2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T totally 10 kinds of different mode of operations, when describing work or motion mode, T
Movement is represented, R, which is represented, to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700479.3A CN107471198A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700479.3A CN107471198A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107471198A true CN107471198A (en) | 2017-12-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710700479.3A Withdrawn CN107471198A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165185A (en) * | 2018-11-29 | 2021-07-23 | Ntn株式会社 | Control device for link actuator |
| CN114918908A (en) * | 2022-06-28 | 2022-08-19 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2235759A1 (en) * | 1997-04-23 | 1998-10-23 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
-
2017
- 2017-08-16 CN CN201710700479.3A patent/CN107471198A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2235759A1 (en) * | 1997-04-23 | 1998-10-23 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
Non-Patent Citations (1)
| Title |
|---|
| 叶伟: "《基于运动限定机构的可重构并联机构设计》", 《机械工程学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165185A (en) * | 2018-11-29 | 2021-07-23 | Ntn株式会社 | Control device for link actuator |
| CN114918908A (en) * | 2022-06-28 | 2022-08-19 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
| CN114918908B (en) * | 2022-06-28 | 2024-01-12 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
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Application publication date: 20171215 |