CN107471199A - Become born of the same parents' parallel institution - Google Patents
Become born of the same parents' parallel institution Download PDFInfo
- Publication number
- CN107471199A CN107471199A CN201710700480.6A CN201710700480A CN107471199A CN 107471199 A CN107471199 A CN 107471199A CN 201710700480 A CN201710700480 A CN 201710700480A CN 107471199 A CN107471199 A CN 107471199A
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- China
- Prior art keywords
- same parents
- born
- side chain
- axis
- spherical
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Classifications
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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
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 TRP 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 the ball with Decoupling Characteristics
Face five-rod and 4DOF TRP series connection side chain series-parallel connections form, and when describing kinematic pair, T is Hooke's hinge, and R is revolute pair, and P is
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 pair
Axis vertical take-off, for the axis of all rotations all by the geometric center point of spherical five-bar mechanisms, the spherical five-bar mechanisms free degree is 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' branch
The initial bit shape of chain.
Series connection side chain is adjacent with spherical five-bar mechanisms for T pairs by T is secondary, 1 R is secondary and 1 P pair forms, T secondary axises v and
R secondary axises are orthogonal, in initial bit shape T secondary axises u and R1Axis vertical take-off and and R2Diameter parallel, 2 bars of side chain of connecting pass through R
Pair is connected, and series connection side chain is connected with the motion platform for becoming born of the same parents' parallel institution by P.
When the locked input pair parallel with axis u, drive another input secondary, becoming born of the same parents' side chain, there will be a restraining force
Arrow, become born of the same parents' side chain free degree as 5, become born of the same parents' side chain and be operated in Mode A.When locked and orthogonal axis u input pair, another is driven
Input is secondary, becomes born of the same parents' side chain there will be a constraint couple of force, becomes born of the same parents' side chain free degree as 5, become born of the same parents' side chain and be operated in Mode B.When same
When two inputs of driving it is secondary, become born of the same parents' side chain without constraint, become born of the same parents' side chain free degree as 6, change born of the same parents' side chain is operated in pattern C.Two defeated
Enter the position shape that auxiliary input is zero, be to become the initial bit shape that born of the same parents' 3 kinds of different working modes of side chain switch 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 motor pattern, 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 spherical five-bar mechanisms with decoupling property, and it is made up of 5 bars and 5 revolute pairs.Lead between each bar
Cross revolute pair to be connected, the axis of all revolute pairs is all orthogonal by the geometric center of spherical five-bar mechanisms, adjacent rotated secondary axis.
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 spherical five-bar mechanisms and a 4DOF TRP series connection branch
Chain combines, and series connection side chain is by T pairs, revolute pair R3, prismatic pair P and two bars composition.Connect side chain in the bar machine of sphere five
Structure is adjacent for T pairs, T secondary axises v and R3Diameter parallel；T secondary axises u and R during initial bit shape1Axis vertical take-off, and during initial bit shape
T secondary axises u and 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 T secondary axises
U and R1Axis vertical take-off, T secondary axises u and R2Axis is no longer parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 restraining force
Arrow, constraint force vector cross axis u and R1The intersection point of axis, direction and T secondary axises v and R3Axis 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 T secondary axises
U and R1Axis is no longer orthogonal, T secondary axises u and R2Diameter parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 restraining force
Coupling, T secondary axises u and R2Axis form one group of parallel lines arrow, T secondary axises v and R3Axis forms another group of parallel lines arrow, constraint
Couple of force direction is the common normal of two groups of line arrows.
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, it is 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 is movement, and R is to turn
It is dynamic.
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 combined by 2DOF spherical five-bar mechanisms and 4DOF TRP the series connection side chain decoupled, moved in description
When secondary, T is Hooke's hinge, and 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 T pairs, revolute pair R3Formed with prismatic pair P, it is adjacent with spherical five-bar mechanisms for T pairs, T secondary axises v and R3
Diameter parallel, in initial bit shape T secondary axises u and R1Axis vertical take-off and and R2Diameter parallel, 2 bars of side chain of connecting pass through R3Phase
Even, series connection side chain is connected with motion platform by prismatic pair P；
As locked R2, drive R1, become born of the same parents' side chain and be operated in mode of operation A, now axis u and R1Axis vertical take-off, but axis u and R2Axle
Line is no longer parallel, and 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 u and R1Axle
The intersection point of line, direction and axis v and R3Axis 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 axis u and R1Axis is no longer orthogonal, but axis u
With R2Diameter parallel, this time-varying born of the same parents' side chain free degree are 5, become born of the same parents' side chain and a constraint couple of force be present, now axis u and R2Axis
Sweared for one group of line of diameter parallel, axis v and R1Axis is another group of line arrow of diameter parallel, the common normal direction that two groups of lines are sweared
As 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, becomes born of the same parents' side chain free degree as 6, 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 motor pattern, T
Movement is represented, R, which is represented, to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700480.6A CN107471199A (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 |
|---|---|---|---|
| CN201710700480.6A CN107471199A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
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| Publication Number | Publication Date |
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| CN107471199A true CN107471199A (en) | 2017-12-15 |
Family
ID=60599649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710700480.6A Withdrawn CN107471199A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
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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 CN201710700480.6A patent/CN107471199A/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》 * |
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Application publication date: 20171215 |
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