CN108858154B - Angle platform parallel mechanism with three degrees of freedom - Google Patents
Angle platform parallel mechanism with three degrees of freedom Download PDFInfo
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- CN108858154B CN108858154B CN201810974279.1A CN201810974279A CN108858154B CN 108858154 B CN108858154 B CN 108858154B CN 201810974279 A CN201810974279 A CN 201810974279A CN 108858154 B CN108858154 B CN 108858154B
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- revolute pair
- movable platform
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention discloses a corner table parallel mechanism with three degrees of freedom, which comprises a movable platform and a fixed platform which are cubic corner table-shaped, wherein the movable platform is connected with the fixed platform through three branched chains respectively, the structures and the sizes of the three branched chains are completely the same, each branched chain comprises a parallelogram four-bar mechanism connected with the fixed platform, the parallelogram four-bar mechanism is also sequentially connected with a revolute pair R15, a revolute pair R16 and a revolute pair R17, the revolute pair R17 is connected with the movable platform, and the axes of the revolute pair R15, the revolute pair R16 and the revolute pair R17 are mutually vertical in pairs. The invention discloses an angle table parallel mechanism with three degrees of freedom, which has three degrees of freedom of rotation, and the rotation center of a movable platform is an intersection point of rotating shafts connected to the movable platform. The parallel mechanism of the invention has three branched chains, the bearing rigidity of the movable platform is high, and the device for motion simulation, motion rehabilitation and the like can be designed based on the mechanism.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to an angle table parallel mechanism with three degrees of freedom.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, and at present, the parallel mechanism with 6 degrees of freedom is comprehensively and deeply researched, but the more the degrees of freedom are, the higher the manufacturing and controlling cost is, the difficulty in controlling is caused, and the manufacturing and installing process is complicated. Therefore, the reduction of the freedom degree of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less freedom degrees has unique advantages under the condition of meeting the expected working requirement.
Disclosure of Invention
The invention aims to provide an angle table parallel mechanism with three degrees of freedom, solves the problem of installation and arrangement of the existing parallel mechanism to a certain extent by using a virtual rotation center, and has the characteristics of high bearing rigidity, high accuracy and strong flexibility.
The invention adopts the technical scheme that the corner table parallel mechanism with three degrees of freedom comprises a movable platform and a fixed platform which are in the shape of a cubic corner table, wherein the movable platform is respectively connected with the fixed platform through three branched chains, the three branched chains are completely the same in structure and size, each branched chain comprises a parallelogram four-bar mechanism connected with the fixed platform, the parallelogram four-bar mechanism is further sequentially connected with a revolute pair R15, a revolute pair R16 and a revolute pair R17, the revolute pair R17 is connected with the movable platform, and the rotating shaft axes of the revolute pair R15, the revolute pair R16 and the revolute pair R17 are mutually perpendicular in pairs.
Yet another feature of the present invention is that,
the movable platform comprises B1, B2 and B3, B1, B2 and B3 are respectively positioned on three axes which are perpendicular to each other and intersect at one point, the point is a corner table vertex, the movable platform moves around the corner table vertex, the fixed platform comprises A1, A2 and A3, and A1, A2 and A3 are respectively positioned on three axes which are perpendicular to each other and intersect at one point.
The rotating shaft axes of the revolute pairs R17 in the three branched chains are mutually vertical in pairs and are intersected at the vertex of the angle table of the movable platform.
The parallelogram four-bar mechanism comprises a revolute pair R11 and a revolute pair R12 which are fixed on the fixed platform and are parallel to each other, a revolute pair R11 is connected with a revolute pair R14 through a connecting rod, a revolute pair R12 is connected with a revolute pair R13 through a connecting rod, a revolute pair R13 is connected with a revolute pair R14 through a connecting rod, the axis of a rotary shaft of the revolute pair R13 is parallel to the axis of a rotary shaft of a revolute pair R14, and the revolute pair R11 in the three branched chains is connected with a driving motor.
One end of a connecting rod connecting the revolute pair R13 and the revolute pair R14 is also connected with a revolute pair R15, the revolute pair R15 is connected with a revolute pair R16 through the connecting rod, and the revolute pair R16 is connected with a revolute pair R17 through the connecting rod.
The revolute pair R15 is coplanar and parallel to the revolute pair R14, the rotating shaft axis of the revolute pair R16 is perpendicular to the axis of the rotation direction of the parallelogram four-bar mechanism, and the rotating shaft axis of the revolute pair R16 passes through the vertex of the corner table of the movable platform.
The rotating shaft axes of the revolute pair R11 in the three branched chains are mutually vertical.
The angle table parallel mechanism with three degrees of freedom has the advantages that the virtual rotation center is used for solving the problem of installation and arrangement of the existing parallel mechanism to a certain extent, and the angle table parallel mechanism with three degrees of freedom has the characteristics of high bearing rigidity, high accuracy and strong flexibility. The three-freedom-degree three-freedom-degree three-freedom-degree three mechanism is provided.
Drawings
Fig. 1 is a schematic structural diagram of an angle table parallel mechanism with three degrees of freedom according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a corner table parallel mechanism with three degrees of freedom, which comprises a movable platform and a fixed platform in the shape of a cubic corner table, wherein the movable platform is connected with the fixed platform through three branched chains respectively, the three branched chains have the same structure and size, each branched chain comprises a parallelogram four-bar mechanism connected with the fixed platform, the parallelogram four-bar mechanism is further sequentially connected with a revolute pair R15, a revolute pair R16 and a revolute pair R17, and the revolute pair R17 is connected with the movable platform.
The movable platform comprises B1, B2 and B3, B1, B2 and B3 are respectively positioned on three axes which are perpendicular to each other and intersect at one point, the point is a corner table vertex, the movable platform moves around the corner table vertex, the fixed platform comprises A1, A2 and A3, and A1, A2 and A3 are respectively positioned on three axes which are perpendicular to each other and intersect at one point.
The rotating shaft axes of the revolute pairs R17 in the three branched chains are mutually vertical in pairs and are intersected at the vertex of the angle table of the movable platform.
The parallelogram four-bar mechanism comprises a revolute pair R11 and a revolute pair R12 which are fixed on the fixed platform and are parallel to each other, a revolute pair R11 is connected with a revolute pair R14 through a connecting rod, a revolute pair R12 is connected with a revolute pair R13 through a connecting rod, a revolute pair R13 is connected with a revolute pair R14 through a connecting rod, and the axis of a rotating shaft of the revolute pair R13 is parallel to the axis of a rotating shaft of a revolute pair R14.
One end of a connecting rod connecting the revolute pair R13 and the revolute pair R14 is also connected with a revolute pair R15, the revolute pair R15 is connected with a revolute pair R16 through the connecting rod, and the revolute pair R16 is connected with a revolute pair R17 through the connecting rod.
The revolute pair R15 is coplanar and parallel with the revolute pair R14 and the revolute pair R13, the axis of the rotary shaft of the revolute pair R16 is perpendicular to the axis of the rotation direction of the parallelogram four-bar mechanism, and the axis of the rotary shaft of the revolute pair R16 passes through the vertex of the corner table of the movable platform.
The rotating shaft axes of the revolute pair R15, the revolute pair R16 and the revolute pair R17 are mutually perpendicular in pairs.
A rotating pair R11 in the three branched chains is connected with a driving motor, and the axes of the rotating shafts of the three rotating pairs R11 are mutually vertical.
According to the corner table parallel mechanism with three degrees of freedom, under the mechanism configuration shown in fig. 1, the axis of a rotating shaft of a rotating pair R16 passes through the axes of rotating shafts of a rotating pair R11 and R12, a rotating pair R17 and a rotating pair R16 are intersected at the origin O of a coordinate system of a movable platform B1B2B3, a rotating pair R17 and a rotating pair R16 are pairwise vertical to the axis of the rotating shaft of a rotating pair R15, the axis of the rotating shaft of a rotating pair R17 is intersected with the axis of the rotating shaft of a rotating pair R15, and the coordinate system of the movable platform is completely overlapped with the coordinate system of a fixed platform.
According to the working process of the three-degree-of-freedom angle table parallel mechanism, the driving motor is started to drive the revolute pair R11 to rotate, the revolute pair R15, R16 and R17 in the three branched chains rotate, and finally the posture of the movable platform 1 is changed; the bearing rigidity of the movable platform 1 is high, 3 attitude parameters of the movable platform 1 are changed by using 3 revolute pairs R11, and equipment for motion simulation, motion rehabilitation and the like can be designed based on the mechanism.
Under the mechanism configuration shown in fig. 1, the revolute pair R11 in the branched chain 1 rotates to drive the revolute pair R15 to rotate around the point O along the Z axis, and similar to the movement of the branched chain 1, the revolute pair R11 in the branched chain 2 and the branched chain 3 rotates to drive the revolute pair R15 to move around the point O along the X axis and the Y axis.
Claims (5)
1. A corner table parallel mechanism with three degrees of freedom is characterized by comprising a movable platform and a fixed platform which are cubic corner table-shaped, wherein the movable platform is connected with the fixed platform through three branched chains respectively, the structures and the sizes of the three branched chains are completely the same, each branched chain comprises a parallelogram four-bar mechanism connected with the fixed platform, the parallelogram four-bar mechanism is further sequentially connected with a revolute pair R15, a revolute pair R16 and a revolute pair R17, the revolute pair R17 is connected with the movable platform, and the revolute pair R15, the revolute pair R16 and the revolute pair R17 are mutually perpendicular in pairs; the parallelogram four-bar mechanism comprises a revolute pair R11 and a revolute pair R12 which are fixed on a fixed platform and are parallel to each other, wherein the revolute pair R11 is connected with a revolute pair R14 through a connecting rod, the revolute pair R12 is connected with a revolute pair R13 through a connecting rod, the revolute pair R13 is connected with the revolute pair R14 through a connecting rod, the axis of a rotating shaft of the revolute pair R13 is parallel to the axis of a rotating shaft of the revolute pair R14, and the revolute pair R11 in the three branched chains is connected with a driving motor; the rotating shaft axes of the revolute pair R11 in the three branched chains are mutually vertical.
2. The parallel mechanism of corner platforms with three degrees of freedom according to claim 1, wherein the movable platform comprises B1, B2 and B3, B1, B2 and B3 are respectively located on three axes perpendicular to each other and intersecting at a point, which is a vertex of the corner platform around which the movable platform moves, the fixed platform comprises a1, a2 and A3, and a1, a2 and A3 are respectively located on three axes perpendicular to each other and intersecting at a point.
3. The angle table parallel mechanism with three degrees of freedom of claim 2, wherein the axes of the rotating shafts of the revolute pairs R17 in the three branched chains are perpendicular to each other two by two and intersect at the vertex of the angle table of the movable platform.
4. The corner table parallel mechanism with three degrees of freedom according to claim 1, wherein one end of the connecting rod connecting the revolute pair R13 and the revolute pair R14 is further connected with a revolute pair R15, the revolute pair R15 is connected with a revolute pair R16 through a connecting rod, and the revolute pair R16 is connected with a revolute pair R17 through a connecting rod.
5. The corner table parallel mechanism with three degrees of freedom according to claim 4, wherein the revolute pair R15 is coplanar and parallel with the revolute pair R14, the axis of the revolute pair R16 is perpendicular to the axis of the rotation direction of the parallelogram four-bar linkage, and the axis of the revolute pair R16 passes through the corner table vertex of the movable platform.
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| CN201810974279.1A CN108858154B (en) | 2018-08-24 | 2018-08-24 | Angle platform parallel mechanism with three degrees of freedom |
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| CN108858154B true CN108858154B (en) | 2021-10-22 |
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| CN101058185A (en) * | 2007-05-31 | 2007-10-24 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| FR2964337A1 (en) * | 2010-09-08 | 2012-03-09 | Francois Nicolas | Six degree freedom parallel robot for moving and orienting object in e.g. medical field, has actuators comprising fixed parts connected to base by connectors with three degrees of connection and two rotational degrees of freedom |
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| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
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| CN1287955C (en) * | 2004-01-19 | 2006-12-06 | 河北工业大学 | Structure decoupling three degrees of freedom parallel robot mechanism |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
| CN100484728C (en) * | 2006-12-28 | 2009-05-06 | 山东理工大学 | Three-translation orthogonal decoupling parallel micromotion platform |
| CN103009380B (en) * | 2012-12-31 | 2014-11-05 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN206230517U (en) * | 2016-11-29 | 2017-06-09 | 河南科技大学 | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism |
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- 2018-08-24 CN CN201810974279.1A patent/CN108858154B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101058185A (en) * | 2007-05-31 | 2007-10-24 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| FR2964337A1 (en) * | 2010-09-08 | 2012-03-09 | Francois Nicolas | Six degree freedom parallel robot for moving and orienting object in e.g. medical field, has actuators comprising fixed parts connected to base by connectors with three degrees of connection and two rotational degrees of freedom |
| CN202428439U (en) * | 2012-01-13 | 2012-09-12 | 河南科技大学 | Three-freedom-degree movable parallel robot mechanism |
| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
| CN104942829A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | 2T3R five-degree-of-freedom rotation and movement complete decoupling parallel mechanism |
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Effective date of registration: 20220629 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |
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