CN108748089B - Symmetrical three-rotational-freedom parallel mechanism - Google Patents
Symmetrical three-rotational-freedom parallel mechanism Download PDFInfo
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- CN108748089B CN108748089B CN201810329403.9A CN201810329403A CN108748089B CN 108748089 B CN108748089 B CN 108748089B CN 201810329403 A CN201810329403 A CN 201810329403A CN 108748089 B CN108748089 B CN 108748089B
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- branched chain
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- connecting rod
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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
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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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Abstract
The invention relates to a symmetrical three-rotational-freedom parallel mechanism which is composed of a static platform, a movable platform, and a first driving branched chain, a second driving branched chain and a third driving branched chain which are connected with the static platform and the movable platform, wherein the three driving branched chains are distributed symmetrically in 120-degree space. Each driving branched chain is a parallelogram connecting rod sliding block mechanism, the mechanism is composed of 3 connecting rods, 2 sliding rods and 2 sliding blocks, and the driving branched chains are respectively connected with the static platform and the movable platform through 2 revolute pairs. According to the symmetrical three-rotational-freedom parallel mechanism provided by the invention, each driving branched chain has the same mechanical structure, the kinematic performance and the dynamic performance are also symmetrical, the rotating central points in each driving branched chain are overlapped, the moving capabilities are mutually limited, the three-dimensional rotation with high space speed and large rotating range can be realized, and the mechanism is suitable for occasions such as satellite tracking positioning and robot shoulder/wrist joint posture adjustment.
Description
Technical Field
The invention relates to the fields of mechanics and robotics, in particular to a symmetrical three-rotational-freedom parallel mechanism.
Background
The parallel mechanism is a closed-loop motion system formed by a plurality of parallel branched chains, namely, one end of each of the parallel branched chains is simultaneously connected with an end effector (movable platform). Compared with the traditional series mechanism, the parallel mechanism has higher rigidity, load and precision. In a certain sense, the parallel mechanism has the advantages of high rigidity, high precision and high speed of the numerical control machine tool and the advantages of low cost, flexibility and easiness in integration of the industrial robot. The parallel mechanism with three rotational degrees of freedom has wide application prospect in the industrial field, and can be used for positioning and tracking devices of inter-satellite link satellites, robot shoulder/wrist joints, minimally invasive surgery robot hands and the like. The applications all require that the three-rotation parallel mechanism structure has symmetry, high speed and larger rotation space. Therefore, the design key point of the invention is to provide a novel symmetrical three-rotational-freedom parallel mechanism with symmetrical structure, high speed and large rotation space.
Disclosure of Invention
The invention aims to provide a symmetrical three-rotational-freedom parallel mechanism aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a symmetrical three-rotational-freedom parallel mechanism is composed of a static platform, a movable platform, a first driving branched chain, a second driving branched chain and a third driving branched chain, wherein the first driving branched chain, the second driving branched chain and the third driving branched chain are connected with the two platforms, and the three driving branched chains are distributed in a 120-degree space symmetry mode.
The first driving branched chain, the second driving branched chain and the third driving branched chain have the same structure, each driving branched chain is a parallelogram connecting rod sliding block mechanism, and the mechanism consists of three connecting rods, two sliding rods and two sliding blocks; the first connecting rod, the first sliding rod, the second connecting rod and the second sliding rod are connected through four revolute pairs, the length of the first connecting rod is equal to that of the second connecting rod, and the length of the first sliding rod is equal to that of the second sliding rod, so that a parallelogram structure is formed; the first sliding block is connected with the first sliding rod through a sliding pair, the second sliding block is connected with the second sliding rod through a sliding pair, the first sliding block and the second sliding block are respectively connected with a third connecting rod through a rotating pair, the tail end of the third connecting rod is connected with the static platform through a rotating pair, and the tail end of the first connecting rod is connected with the movable platform through a rotating pair.
Compared with the prior art, the invention has the following outstanding advantages:
the symmetrical three-rotational-freedom parallel mechanism provided by the invention has the characteristics of high rigidity, simple structure and convenience in installation. In addition, three driving branched chains of the mechanism have the same mechanical structure, the kinematic performance and the dynamic performance are symmetrical, the rotation central points in the driving branched chains are overlapped, the moving capacity is limited, and three-dimensional rotation with high space speed and large rotation range can be realized.
Drawings
Fig. 1 is a schematic perspective view of a parallel mechanism.
Fig. 2 is a schematic perspective view of the active branch chain.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, a symmetrical three-rotational-degree-of-freedom parallel mechanism is composed of a static platform 101, a movable platform 102, and a first active branched chain 103, a second active branched chain 104, and a third active branched chain 105 connecting the two platforms, wherein the three active branched chains are distributed in 120-degree spatial symmetry.
As shown in fig. 2, the first active branched chain 103, the second active branched chain 104 and the third active branched chain 105 have the same structure, and each active branched chain is a parallelogram link-slider mechanism, which is composed of three links, two slide rods and two sliders; the first connecting rod 201, the first sliding rod 202, the second connecting rod 203 and the second sliding rod 204 are connected through four revolute pairs, the length of the first connecting rod 201 is equal to that of the second connecting rod 203, and the length of the first sliding rod 202 is equal to that of the second sliding rod 204, so that a parallelogram structure is formed; the first sliding block 206 is connected with the first sliding rod 202 through a sliding pair, the second sliding block 207 is connected with the second sliding rod 204 through a sliding pair, the first sliding block 206 and the second sliding block 207 are respectively connected through a rotating pair and a third connecting rod 205, the tail end of the third connecting rod 205 is connected with the static platform 101 through a rotating pair, and the tail end of the first connecting rod 201 is connected with the movable platform 102 through a rotating pair.
The working process of the symmetrical three-rotational-freedom parallel mechanism of the invention is as follows:
when the sliding blocks in the first driving branched chain 103, the second driving branched chain 104 and the third driving branched chain 105 move towards the first connecting rod 201 along the sliding rod, the revolute pair between the driving branched chain and the movable platform 102 and the revolute pair between the driving branched chain and the static platform 101 also rotate clockwise at the moment, so that the counterclockwise rotation motion of the movable platform 102 around the vertical direction (Z direction) is realized. When the slide block moves to the extreme position along the slide rod, the distance between the 2 revolute pairs reaches the minimum value, and the plane of the active branched chain is just vertical to the plane of the static platform 101. When the limit point is crossed, the slide block starts to move in the opposite direction (moves towards the second connecting rod 203), the 2 revolute pairs also continue to rotate concomitantly, and the movable platform 102 continues to perform anticlockwise rotation movement around the vertical direction (the Z direction) until the slide block moves to the other limit position; in contrast, the clockwise rotation of the movable platform 102 about the vertical direction (Z direction) is just opposite to the above process. Similarly, the rotating motion of the movable platform 102 around the direction X, Y can be realized through the rotating pairs between the driving branched chain and the static platform 101 and between the movable platform 102 and the reciprocating motion of the sliding block along the sliding rod. Finally, the parallel mechanism realizes the rotation movement of the movable platform 102 around X, Y, Z by combining the rotation movement.
Claims (1)
1. The utility model provides a three rotational degrees of freedom's of symmetry type parallel mechanism which characterized in that: the three-dimensional active three-dimensional numerical control machine is composed of a static platform (101), a movable platform (102), and a first active branched chain (103), a second active branched chain (104) and a third active branched chain (105) which are connected with the two platforms, wherein the three active branched chains are distributed in 120-degree space symmetry; the structures of the first active branched chain (103), the second active branched chain (104) and the third active branched chain (105) are the same, each active branched chain is a parallelogram connecting rod sliding block mechanism, and the mechanism consists of three connecting rods, two sliding rods and two sliding blocks; the first connecting rod (201), the first sliding rod (202), the second connecting rod (203) and the second sliding rod (204) are connected through four revolute pairs, the length of the first connecting rod (201) is equal to that of the second connecting rod (203), and the length of the first sliding rod (202) is equal to that of the second sliding rod (204), so that a parallelogram structure is formed; the first sliding block (206) is connected with the first sliding rod (202) through a sliding pair, the second sliding block (207) is connected with the second sliding rod (204) through a sliding pair, the first sliding block (206) and the second sliding block (207) are respectively connected with the third connecting rod (205) through a rotating pair, the tail end of the third connecting rod (205) is connected with the static platform (101) through a rotating pair, and the tail end of the first connecting rod (201) is connected with the movable platform (102) through a rotating pair.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329403.9A CN108748089B (en) | 2018-04-13 | 2018-04-13 | Symmetrical three-rotational-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329403.9A CN108748089B (en) | 2018-04-13 | 2018-04-13 | Symmetrical three-rotational-freedom parallel mechanism |
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| Publication Number | Publication Date |
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| CN108748089A CN108748089A (en) | 2018-11-06 |
| CN108748089B true CN108748089B (en) | 2021-08-10 |
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| CN201810329403.9A Active CN108748089B (en) | 2018-04-13 | 2018-04-13 | Symmetrical three-rotational-freedom parallel mechanism |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4235931B2 (en) * | 2000-04-14 | 2009-03-11 | 株式会社安川電機 | Parallel link robot |
| WO2002096605A1 (en) * | 2001-05-31 | 2002-12-05 | UNIVERSITé LAVAL | Cartesian parallel manipulators |
| CN103522279A (en) * | 2013-09-23 | 2014-01-22 | 天津大学 | Full symmetric space three-rotational-freedom parallel mechanism |
| CN103639712B (en) * | 2013-11-25 | 2016-04-27 | 浙江理工大学 | A kind of three rotation spherical parallel institutions |
| CN104325457B (en) * | 2014-10-24 | 2016-05-04 | 天津大学 | A kind of symmetric form three one-rotation parallel mechanisms |
| CN105945916A (en) * | 2016-06-02 | 2016-09-21 | 燕山大学 | Three-degree-of-freedom rotating parallel mechanism free of crossed axes |
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