CN108058158A - Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved - Google Patents
Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved Download PDFInfo
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- CN108058158A CN108058158A CN201711335296.2A CN201711335296A CN108058158A CN 108058158 A CN108058158 A CN 108058158A CN 201711335296 A CN201711335296 A CN 201711335296A CN 108058158 A CN108058158 A CN 108058158A
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- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved the present invention relates to a kind of, including motion platform and fixed platform；Its technical characterstic is：Four movement branched chains are installed between the motion platform and fixed platform, two movement branched chains therein are made of revolute pair prismatic pair Hooke hinge, two other movement branched chain is made of ball pair prismatic pair ball pair, and the prismatic pair of four movement branched chains is the drive pair of mechanism.The motion platform of mechanism of the present invention can realize bidimensional moving movement and bidimensional rotation decoupling motion output under cartesian coordinate system, and mechanism structure simple and compact, rigidity are big, kinematic accuracy is high.
Description
Technical field
The invention belongs to robot mechanisms and advanced manufacturing technology field, are related to four applied to parallel machine tool equipment
Freedom degree parallel connection mechanism, it is especially a kind of that two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved.
Background technology
Parallel institution is one group of mechanism being formed in parallel by two or more branches.Its feature is institute
There is branch that can receive driver input simultaneously, and finally provide output jointly, multichannel closed loop machinery is belonged in theory of mechanisms
System.Using parallel institution as the numerically-controlled machine tool of transmission feeding mechanism, robot manipulator and the manufacturing cell thus formed
Parallel architecture equipment is referred to as, is a kind of new manufacturing equipment for having broad prospect of application developed in recent years.According to
The number and type of degree of freedom are classified, and four-freedom parallel mechanism can be divided into the parallel connection of three movements, one rotation four-degree-of-freedom
Mechanism, a three rotation four-freedom parallel mechanisms of movement and two two rotation four-freedom parallel mechanisms of movement.With four
The parallel institution of degree of freedom may be used on the fields such as positioner, machine tool accessories and have broad application prospects, numerous scholars
Such mechanism is studied.
By retrieval, one and the relevant patent document of present patent application are found：
One kind three rotates a movement four-freedom symmetric parallel mechanism (CN104029196B), including fixed pedestal, moves and puts down
Platform and the connection fixed pedestal branch identical with four structures of moving platform, it is characterised in that：The lower end of four branches point
It is not distributed on four endpoints of rectangle of fixed pedestal, the upper end is respectively distributed on four endpoints of square of moving platform；
Each branch is made of two universal hinges and a prismatic pair, the outside revolute pairs of two universal hinges respectively with fixed pedestal
It connects with moving platform, is connected between two universal hinges by prismatic pair；The inside revolute pair of two universal hinges is mutually parallel, and
It is vertical with corresponding prismatic pair；Wherein, the outside revolute pair axis of the opposite Liang Ge branches universal hinge in upper end of oblique line is common respectively
Line, and, the outside revolute pair axis difference of oblique line opposite Liang Ge branch lower end universal hinge parallel with the diagonal of moving platform
Collinearly, it is and parallel with the diagonal of fixed pedestal.
By the comparison of technical characteristic, patent document disclosed above is pair for realizing three movement outputs for rotating a movement
Claim four-freedom parallel mechanism, have larger difference with present patent application.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of manufacture installation simple in structure, easy and it is driven
Precision and the speed of service it is high can be achieved two rotate two moved decouplings movement four-freedom parallel mechanisms.
It is a kind of that two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved, including motion platform and fixation
Platform；Four movement branched chains are installed between the motion platform and fixed platform, two movement branched chains therein are by rotating
Pair-prismatic pair-Hooke hinge composition, two other movement branched chain are made of ball pair-prismatic pair-ball pair, the shifting of four movement branched chains
The dynamic secondary drive pair for mechanism.
Moreover, two articles of movement branched chains being made of ball pair-prismatic pair-ball pair are first article of movement branched chain and the 3rd
Movement branched chain, this two branched structures are identical and are symmetrically arranged in the both ends of motion platform, and pass through the ball pair at branch both ends
It is hinged respectively with fixed platform and motion platform；The movement branched chain being made of revolute pair-prismatic pair-Hooke hinge is second
Movement branched chain and Article 4 movement branched chain, this two unbranched symmetrics arrangements and structure is identical, and pass through branch both ends respectively
Revolute pair and Hooke's hinge are hinged with fixed platform, motion platform respectively.
Moreover, the revolute pair of the pivot center and Article 4 movement branched chain of the revolute pair of the Article 2 movement branched chain
Pivot center is parallel, and with being fixedly mounted with that the ball of first movement branched chain on the stationary platform is secondary and Article 3 movement branched chain
The line of centres of ball pair is parallel；The Hooke hinge of the Article 2 movement branched chain and the Hooke of Article 4 movement branched chain cut with scissors equal position
In the geometric center position of motion platform, and the pivot center of the Hooke hinge of the Article 2 movement branched chain and Article 4 move
The pivot center of the Hooke hinge of branch is conllinear；The ball pair of first article of movement branched chain being fixedly mounted on the moving platform and the 3rd
The pivot center and the Hooke of Article 4 movement branched chain that the ball pair of movement branched chain is cut with scissors compared with the Hooke of Article 2 movement branched chain
The pivot center of hinge is symmetrical.
Moreover, the prismatic pair of the prismatic pair of first movement branched chain, Article 2 movement branched chain, Article 3 movement branch
The prismatic pair of chain and the prismatic pair of Article 4 movement branched chain are the drive pair of mechanism, which is hydraulic cylinder or ball wire
Thick stick.
The advantages and positive effects of the present invention are：
1st, the present invention has four symmetrically arranged movement branch two-by-two by cutting with scissors mounted between motion platform and fixed platform
Chain is, it can be achieved that bidimensional moving movement and bidimensional under cartesian coordinate system rotate decoupling motion output, and mechanism structure letter
List is compact, rigidity is big, kinematic accuracy is high；Since four movement branched chains employ the mode being arranged symmetrically, it can realize that mechanism has
There are larger translational motion space and rotational motion space.
2nd, mechanism structure of the present invention is simple, and manufacture, installation are easy, and high transmission accuracy is at low cost；And working space is larger,
Drive characteristic is good；The positive and negative solution of the kinematics of mechanism is simple simultaneously, simplifies a series of technologies such as trajectory planning, control, correction
Problem is conducive to application of the mechanism in parallel machine equipment field.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 (a) is the implementation view of the present invention；
Fig. 2 (b) is the implementation view of the present invention.
In figure, 1- motion platforms, 2- fixed platforms；S11- is fixedly mounted with the ball of first movement branched chain on the stationary platform
Pair, the prismatic pair of first movement branched chain of P11-, S12- are fixedly mounted with the ball pair of first movement branched chain on the moving platform；
R21- is fixedly mounted with the revolute pair of Article 2 movement branched chain on the stationary platform, the prismatic pair of P21- Article 2 movement branched chains, T21-
It is fixedly mounted with the Hooke hinge of Article 2 movement branched chain on the moving platform；S31- is fixedly mounted with Article 3 movement branch on the stationary platform
The ball pair of chain, the prismatic pair of P31- Article 3 movement branched chains, S32- are fixedly mounted with the ball of Article 3 movement branched chain on a mobile platform
It is secondary；R41- is fixedly mounted with the revolute pair of Article 4 movement branched chain on the stationary platform, the prismatic pair of P41- Article 4 movement branched chains,
T41- is fixedly mounted with the Hooke hinge of Article 4 movement branched chain on the moving platform.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing：
A kind of achievable two rotate the four-freedom parallel mechanisms of two moved decouplings movement, as shown in Figure 1, Figure 2 (a) and Fig. 2
(b) shown in, including motion platform 1 and fixed platform 2；Four movements are installed between the motion platform and fixed platform
Branch, two movement branched chains therein are made of revolute pair-prismatic pair-Hooke hinge, and two other movement branched chain is by ball pair-shifting
The dynamic secondary composition of pair-ball, the prismatic pair of four movement branched chains is the drive pair of mechanism.
Described can be achieved two four-freedom parallel mechanisms for rotating the movement of two moved decouplings, by ball pair-prismatic pair-ball
Two movement branched chains of pair composition are first movement branched chain and Article 3 movement branched chain, this two unbranched symmetrics are arranged in fortune
Both ends of moving platform and structure is identical, and the ball pair for passing through branch both ends is hinged respectively with fixed platform and motion platform；By turning
Dynamic pair-prismatic pair-Hooke cuts with scissors the movement branched chain of composition as Article 2 movement branched chain and Article 4 movement branched chain, this two branches
Be arranged symmetrically and structure be identical, and respectively by the revolute pair and Hooke's hinge at branch both ends respectively with fixed platform, motion platform
It is hinged.
In the present embodiment, the ball secondary S12 for being fixedly mounted with first movement branched chain on the moving platform passes through first movement
The prismatic pair P11 of branch is fitted together with being fixedly mounted with the ball secondary S11 hinges of first movement branched chain on the stationary platform；
In the present embodiment, the Hooke hinge T21 for being fixedly mounted with Article 2 movement branched chain on the moving platform is transported by Article 2
The prismatic pair P21 of dynamic branch is fitted together with being fixedly mounted with the revolute pair R21 hinges of Article 2 movement branched chain on the stationary platform；
In the present embodiment, the ball secondary S32 for being fixedly mounted with Article 3 movement branched chain on the moving platform is moved by Article 3
The prismatic pair P31 of branch is fitted together with being fixedly mounted with the ball secondary S31 hinges of Article 3 movement branched chain on the stationary platform；
In the present embodiment, the Hooke hinge T41 for being fixedly mounted with Article 4 movement branched chain on the moving platform is transported by Article 4
The prismatic pair P41 of dynamic branch is fitted together with being fixedly mounted with the revolute pair R41 hinges of Article 4 movement branched chain on the stationary platform；
The pivot center of the revolute pair R21 of the Article 2 movement branched chain and the revolute pair R41's of Article 4 movement branched chain
Pivot center is parallel, and with being fixedly mounted with the ball secondary S11 of first movement branched chain and Article 3 movement branched chain on the stationary platform
Ball secondary S31 the line of centres it is parallel；The Hooke hinge T21 of the Article 2 movement branched chain and the Hu of Article 4 movement branched chain
Gram hinge T41 is respectively positioned on the geometric center position of motion platform, and the rotation axis of the Hooke hinge T21 of the Article 2 movement branched chain
The pivot center of line and the Hooke of Article 4 movement branched chain hinge T41 are conllinear.First movement being fixedly mounted on the moving platform
The ball secondary S12 of the branch and ball secondary S32 of Article 3 movement branched chain cuts with scissors the rotation of T21 compared with the Hooke of Article 2 movement branched chain
The pivot center of axis and the Hooke of Article 4 movement branched chain hinge T41 are symmetrical.
The prismatic pair P11 of first movement branched chain, the prismatic pair P21 of Article 2 movement branched chain, Article 3 movement
The prismatic pair P31 of the branch and prismatic pair P41 of Article 4 movement branched chain is the drive pair of mechanism, which is hydraulic cylinder
Or ball-screw.
The present invention operation principle be：
By changing the displacement distance of each prismatic pair in four movement branched chains, two so as to fulfill motion platform move two
The decoupling motion output of rotation.
It is emphasized that embodiment of the present invention is illustrative rather than limited, therefore the present invention
It is every by those skilled in the art's technique according to the invention including the embodiment being not limited to described in specific embodiment
The other embodiment that scheme is drawn, also belongs to the scope of protection of the invention.
Claims (4)
1. a kind of can be achieved two four-freedom parallel mechanisms for rotating the movement of two moved decouplings, including motion platform and fix flat
Platform；It is characterized in that：Four movement branched chains, two movements branch therein are installed between the motion platform and fixed platform
Chain is made of revolute pair-prismatic pair-Hooke hinge, and two other movement branched chain is made of ball pair-prismatic pair-ball pair, four movements
The prismatic pair of branch is the drive pair of mechanism.
2. according to claim 1 can be achieved two four-freedom parallel mechanisms for rotating the movement of two moved decouplings, feature
It is：Two movement branched chains being made of ball pair-prismatic pair-ball pair are first movement branched chain and Article 3 movement branch
Chain, this two branched structures are identical and are symmetrically arranged in the both ends of motion platform, and pass through the ball pair at branch both ends respectively with consolidating
Fixed platform and motion platform are hinged；The movement branched chain being made of revolute pair-prismatic pair-Hooke hinge is Article 2 movement branched chain
With Article 4 movement branched chain, this two unbranched symmetrics are arranged and structure is identical, and the revolute pair by branch both ends and tiger respectively
Gram hinge is hinged with fixed platform, motion platform respectively.
3. according to claim 2 can be achieved two four-freedom parallel mechanisms for rotating the movement of two moved decouplings, feature
It is：The pivot center phase of the pivot center of the revolute pair of the Article 2 movement branched chain and the revolute pair of Article 4 movement branched chain
It is parallel, and the center with being fixedly mounted with the ball pair of first movement branched chain on the stationary platform and the ball pair of Article 3 movement branched chain connects
Line is parallel；The Hooke hinge of the Article 2 movement branched chain and the Hooke hinge of Article 4 movement branched chain are respectively positioned on the several of motion platform
What center, and turn of the Hooke hinge of the pivot center and Article 4 movement branched chain of the Hooke hinge of the Article 2 movement branched chain
Shaft line is conllinear；The secondary ball pair phase with Article 3 movement branched chain of the ball of first movement branched chain being fixedly mounted on the moving platform
Pivot center that the pivot center and the Hooke of Article 4 movement branched chain cut with scissors for the Hooke of Article 2 movement branched chain is cut with scissors or so pair
Claim.
4. two four-freedom parallel mechanisms for rotating the movement of two moved decouplings, spy can be achieved according to Claims 2 or 3
Sign is：The movement of the prismatic pair of first movement branched chain, the prismatic pair, Article 3 movement branched chain of Article 2 movement branched chain
Secondary and Article 4 movement branched chain prismatic pair is the drive pair of mechanism, which is hydraulic cylinder or ball-screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711335296.2A CN108058158A (en) | 2017-12-14 | 2017-12-14 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711335296.2A CN108058158A (en) | 2017-12-14 | 2017-12-14 | Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623794A (en) * | 2019-02-12 | 2019-04-16 | 中国民航大学 | A kind of two one-rotation parallel mechanisms of translation with redundancy branched chain |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110774267A (en) * | 2019-11-12 | 2020-02-11 | 燕山大学 | Three-degree-of-freedom parallel stable platform |
Citations (1)
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| CN201573206U (en) * | 2010-01-12 | 2010-09-08 | 焦作大学 | Four freedom-degree space parallel mechanism with two-movement two-rotation |
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2017
- 2017-12-14 CN CN201711335296.2A patent/CN108058158A/en active Pending
Patent Citations (1)
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| CN201573206U (en) * | 2010-01-12 | 2010-09-08 | 焦作大学 | Four freedom-degree space parallel mechanism with two-movement two-rotation |
Non-Patent Citations (1)
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| 范彩霞: "《一种新型2T2R并联机构的运动学分析》", 《机械科学与技术》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623794A (en) * | 2019-02-12 | 2019-04-16 | 中国民航大学 | A kind of two one-rotation parallel mechanisms of translation with redundancy branched chain |
| CN110480603A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of multi-freedom parallel connection manipulator with 8M shape pedestal |
| CN110774267A (en) * | 2019-11-12 | 2020-02-11 | 燕山大学 | Three-degree-of-freedom parallel stable platform |
| CN110774267B (en) * | 2019-11-12 | 2022-10-25 | 燕山大学 | Three-degree-of-freedom parallel stable platform |
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