CN107520835A - Become born of the same parents' parallel institution - Google Patents
Become born of the same parents' parallel institution Download PDFInfo
- Publication number
- CN107520835A CN107520835A CN201710700477.4A CN201710700477A CN107520835A CN 107520835 A CN107520835 A CN 107520835A CN 201710700477 A CN201710700477 A CN 201710700477A CN 107520835 A CN107520835 A CN 107520835A
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- Prior art keywords
- same parents
- born
- side chain
- axis
- spherical
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- 238000000034 method Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 125000002950 monocyclic group Chemical group 0.000 description 2
- 238000004805 robotic Methods 0.000 description 2
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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 RPRR 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 RPRR series connection side chain series-parallel connections form, and when describing kinematic pair, 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 secondary and 1 P pair forms by 3 R, adjacent with spherical five-bar mechanisms for one of R pairs, with sphere
Five-rod adjacent R parafacies it is adjacent for P pairs, two other R secondary axis is parallel, P secondary axises and the R countershafts of this 2 diameter parallels
Line is orthogonal；In the initial bit shape R width axis adjacent with spherical five-bar mechanisms and the one of input secondary axis of spherical five-bar mechanisms
It is orthogonal and with spherical five-bar mechanisms another input secondary axis it is parallel.
When the parallel input pair of the locked R secondary axis adjacent with spherical five-bar mechanisms, drive another input secondary, become born of the same parents' branch
There is a constraint force vector in chain, become born of the same parents' side chain free degree as 5, becomes born of the same parents' side chain and is operated in Mode A.When locked and spherical five-bar mechanisms
The orthogonal input pair of adjacent R secondary axises, drive another input secondary, become born of the same parents' side chain and a constraint couple of force be present, become born of the same parents' side chain
The 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, become born of the same parents' side chain is without constraint, its free degree
6, become born of the same parents' side chain and be operated in pattern C.The position shape that two input auxiliary inputs are zero, it is to become 3 kinds of different working modes of born of the same parents' side chain to carry out
The initial bit shape of switching.
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 2DOF spherical five-bar mechanisms and a 4DOF
RPRR series connection side chains combine, and series connection side chain is by revolute pair R3、R4、R5Formed with prismatic pair P；R4And R5Diameter parallel and and R3
Direction is different, and P is perpendicular to R4And R5Axis.It is adjacent with spherical five-bar mechanisms for R in series connection side chain3, the R in initial bit shape3Axle
Line and R1Axis vertical take-off, and R during initial bit shape3Axis 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 R3Axis
With R1Axis vertical take-off, R3Axis and 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, about
Beam force sweared R3Axis and R1The intersection point of axis, 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 R3Axis
With R1Axis is no longer orthogonal, R3Axis and R2Diameter parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 constraint couple of force, R3
With R2Axis form one group of parallel lines arrow, R4And R5Axis forms another group of parallel lines arrow, and constraint couple of force direction is that two groups of lines are sweared
Common normal.
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 RPRR the series connection side chain decoupled, transported in description
When dynamic secondary, 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, it is adjacent with spherical five-bar mechanisms for R3, with R3Adjacent is
Prismatic pair P, prismatic pair P axis and R4And R5Axis vertical take-off, R4And R5Diameter parallel；In initial bit shape R3Axis and R1Axis vertical take-off
And and R2Diameter parallel；
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, 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 motor pattern, T
Movement is represented, R, which is represented, to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710700477.4A CN107520835A (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 |
|---|---|---|---|
| CN201710700477.4A CN107520835A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Publications (1)
| Publication Number | Publication Date |
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| CN107520835A true CN107520835A (en) | 2017-12-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710700477.4A Withdrawn CN107520835A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238829A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN110238827A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN110238828A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of novel change born of the same parents parallel robot |
| CN110355743A (en) * | 2019-07-23 | 2019-10-22 | 燕山大学 | A kind of non-co-planar two-dimensional rotary one-dimensional movement redundantly actuated parallel mechanism |
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 CN201710700477.4A patent/CN107520835A/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 |
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| 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 (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238829A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN110238827A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN110238828A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of novel change born of the same parents parallel robot |
| CN110238827B (en) * | 2019-07-19 | 2021-03-23 | 北华航天工业学院 | Metamorphic parallel robot |
| CN110355743A (en) * | 2019-07-23 | 2019-10-22 | 燕山大学 | A kind of non-co-planar two-dimensional rotary one-dimensional movement redundantly actuated parallel mechanism |
| CN110355743B (en) * | 2019-07-23 | 2022-06-28 | 燕山大学 | Non-coplanar two-dimensional rotation one-dimensional movement redundancy driving parallel mechanism |
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Application publication date: 20171229 |
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