CN109015602A - Three translation 2CPR-URU parallel institutions - Google Patents
Three translation 2CPR-URU parallel institutions Download PDFInfo
- Publication number
- CN109015602A CN109015602A CN201810997298.6A CN201810997298A CN109015602A CN 109015602 A CN109015602 A CN 109015602A CN 201810997298 A CN201810997298 A CN 201810997298A CN 109015602 A CN109015602 A CN 109015602A
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- China
- Prior art keywords
- branched chain
- movement branched
- pair
- movement
- fixed platform
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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
The present invention relates to one kind three to translate 2CPR-URU parallel institution, including moving platform, fixed platform and the movement branched chain for connecting moving platform and fixed platform, movement branched chain includes the first movement branched chain, second movement branched chain and third movement branched chain, first movement branched chain and the second movement branched chain are symmetrical arranged, third movement branched chain is between the first movement branched chain and the second movement branched chain, first movement branched chain is identical with the second movement branched chain structure, it include movement branched chain loop bar, slide bar and cylindrical pair, the first end of movement branched chain loop bar and moving platform are hinged, first movement branched chain loop bar and slide bar connect and compose prismatic pair, the second end of first slide bar is connect by the first cylindrical pair with fixed platform；Third movement branched chain includes that connecting rod, universal hinge and third revolute pair, one end of two connecting rods are connected with each other by third revolute pair, and the other end of connecting rod is connect with moving platform and fixed platform respectively by universal hinge.Parallel institution structure of the invention is simple, kinematic pair quantity is few, the compact-sized and speed of service is high.
Description
Technical field
The present invention relates to a kind of parallel institution, in particular to one kind three translates 2CPR-URU parallel institution.
Background technique
Parallel institution is a kind of mechanical structure opposite with serial mechanism, different from the similar serial mechanism of robot arm, in parallel
Mechanism is the closed chain mechanical structure being made of multiple concurrent movement chains, including a fixed platform, a moving platform and connects them
A plurality of movement subchain.Parallel institution is compared with serial mechanism with rigidity is big, compact-sized, cumulative errors are small, dynamic property
The advantages that good.Parallel institution is divided into six-degree-of-freedom parallel connection mechanism and minority carrier generation lifetime.The parallel institution of six degree of freedom is deposited
The significant drawbacks such as coupling is strong, forward kinematics solution is complicated, working space is small are being moved, and in many application fields, not
Need six degree of freedom.In order to avoid disadvantages mentioned above and reduce cost, people have begun the parallel institution for exploring lower-mobility, especially
It is three translation parallel mechanism.
Three translation parallel mechanism is simple compared with six-degree-of-freedom parallel connection mechanism structure compared, at low cost, and control is relatively easy, application
Quite extensively, as put together machines people, three dimensional coordinate measuring machine, three-dimension sensor, 3D of the three-dimensional shockproof shooting platform of aviation, three-dimensional is beaten
The fields such as print.Existing three translation parallel mechanism there are complicated in mechanical structure, kinematic pair number is more, working space is smaller, last
These problems that end actuator inertia is big and causes the mechanism speed of service not high.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides one kind three and translates 2CPR-URU parallel institution, and structure is simple, moves
Secondary number is few, working space is big, compact-sized, the speed of service is high and is able to achieve spatial three-dimensional translational.
The present invention is implemented as follows:
One kind three translates 2CPR-URU parallel institution, including moving platform, fixed platform and the connection moving platform and allocates
The movement branched chain of platform, the movement branched chain include the first movement branched chain, the second movement branched chain and third movement branched chain, described first
Movement branched chain and the second movement branched chain are symmetrical arranged, and the third movement branched chain is located at first movement branched chain and the second movement
Between branch, first movement branched chain includes the first movement branched chain loop bar, the first slide bar and the first cylindrical pair, first fortune
The first end of dynamic branch loop bar and the moving platform are hinged, the second end of the first movement branched chain loop bar and first slide bar
First end connection, the first movement branched chain loop bar and the first slide bar constitute prismatic pair, and the second end of first slide bar is logical
First cylindrical pair is crossed to connect with the fixed platform；Second movement branched chain is slided including the second movement branched chain loop bar, second
Bar and the second cylindrical pair, the first end of the second movement branched chain loop bar and the moving platform are hinged, second movement branched chain
The second end of loop bar is connect with the first end of second slide bar, and the second movement branched chain loop bar and the second slide bar constitute movement
The second end of pair, second slide bar is connect by second cylindrical pair with the fixed platform；The third movement branched chain packet
It is logical to include first connecting rod, second connecting rod, the first universal hinge, the second universal hinge and third revolute pair, the first end of the first connecting rod
The described first universal hinge is crossed to connect with the moving platform, the second end of the first connecting rod by the third revolute pair with it is described
The first end of second connecting rod is hinged, and the second end of the second connecting rod is connect by the described second universal hinge with the fixed platform.
Preferably, the first end of the first movement branched chain loop bar is hinged by the first revolute pair and the moving platform, institute
The first end for stating the second movement branched chain loop bar is hinged by the second revolute pair and the moving platform.
Preferably, first revolute pair is parallel with the axis of first cylindrical pair, second revolute pair with it is described
The axis of second cylindrical pair is parallel.
Preferably, the third revolute pair, described first universal are cut with scissors far from the revolute pair axis of the moving platform and described
The second universal axis for cutting with scissors the revolute pair far from the fixed platform is parallel to each other.
Preferably, the axis of the revolute pair close to the fixed platform of the described second universal hinge is vertical with the fixed platform,
Revolute pair and first cylindrical pair far from the fixed platform of the second universal hinge and the second cylindrical pair it is axially vertical.
Compared with prior art, the invention has the following advantages:
(1) branched structure of three translation 2CPR-URU parallel institutions of the invention is simple, kinematic pair number is few, structure is tight
It gathers, movement velocity is high and can be realized spatial three-dimensional translational.
(2) it is low pair that the kinematic pair of parallel institution of the invention, which configures simple, kinematic pair, and manufacturing cost is low.
(3) the invention belongs to asymmetric parallel institutions, and working space is larger compared with symmetrical parallel institution, and movement is flexible
Property is good.
(4) driving of parallel institution of the invention is secondary is all placed in fixed platform, and it is whole to greatly reduce parallel institution
The motional inertia of body, thus the high-speed motion of implementation mechanism.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three translation 2CPR-URU parallel institutions of the invention.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect of performance.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
One kind three translates 2CPR-URU parallel institution, including moving platform 1, fixed platform 2 and connection moving platform 1 and fixed platform
2 movement branched chain, movement branched chain include the first movement branched chain 5, the second movement branched chain 10 and third movement branched chain 18, the first movement
Branch 5 and the second movement branched chain 10 are symmetrical arranged, i.e. two CPR, CPR branches are respectively by cylindrical pair C, prismatic pair P and revolute pair R
It constituting, for third movement branched chain 18 between the first movement branched chain 5 and the second movement branched chain 10, third movement branched chain 18 is URU,
Moving platform 1 is connected by the first movement branched chain 5, the second movement branched chain 10 with the transmission of third movement branched chain 18 with fixed platform 2, i.e., logical
2CPR-URU transmission is crossed to be connected.
First movement branched chain 5 includes the first movement branched chain loop bar 4, the first slide bar 6 and the first cylindrical pair 7, the first movement branch
The first end and moving platform 1 of chain loop bar 4 are hinged, and the first end of the second end of the first movement branched chain loop bar 4 and the first slide bar 6 connects
Connect, the first movement branched chain loop bar 4 and the first slide bar 6 constitute prismatic pair P, the second end of the first slide bar 6 by the first cylindrical pair 7 with
Fixed platform 2 connects；Second movement branched chain 10 include the second movement branched chain loop bar 9, the second slide bar 11 and the second cylindrical pair 12, second
The first end of movement branched chain loop bar 9 and moving platform 1 are hinged, and the of the second end of the second movement branched chain loop bar 9 and the second slide bar 11
One end connection, the second movement branched chain loop bar 9 and the second slide bar 11 constitute prismatic pair P, and the second end of the second slide bar 11 passes through second
Cylindrical pair 12 is connect with fixed platform 2；Third movement branched chain 18 includes first connecting rod 14, second connecting rod 16, the first universal hinge 13, the
The first end of two universal hinges 17 and third revolute pair 15, first connecting rod 14 is connect by the first universal hinge 13 with moving platform 1, and first
The second end of connecting rod 14 is hinged by third revolute pair 15 and the first end of second connecting rod 16, and the second end of second connecting rod 16 passes through
Second universal hinge 17 connect with fixed platform 2, wherein the first universal hinge 13 and the second universal hinge 17 are U, and third revolute pair is URU
R in structure.
Preferably, the first end of the first movement branched chain loop bar 4 is hinged by the first revolute pair 3 and moving platform 1, the second movement
The first end of branch loop bar 9 is hinged by the second revolute pair 8 and moving platform 1.The axis of first revolute pair 3 and the first cylindrical pair 7
In parallel, the second revolute pair 8 is parallel with the axis of the second cylindrical pair 12.
Preferably, the universal hinge 13 of third revolute pair 15, first is far from the universal hinge 17 of the revolute pair axis of moving platform 1 and second
The axis of revolute pair far from fixed platform 2 is parallel to each other.Second it is universal hinge 17 close fixed platform 2 revolute pair axis with calmly
Platform 2 is vertical, the revolute pair of the separate fixed platform 2 of the second universal hinge 17 and the axial direction of the first cylindrical pair 7 and the second cylindrical pair 12
Vertically.
For applying in the 3D printer based on parallel institution, by the first cylindrical pair 7 and the second cylindrical pair 12
Mobile vice division chief's addition electric pushrod is as driving, under the driving effect of electric pushrod, 6 He of the first slide bar of the first movement branched chain
Relative displacement occurs between the second slide bar 11 and fixed platform 2 of second movement branched chain, so that the first movement branched chain 5, second moves
Relative position between branch 10 and fixed platform 2 changes.Servo is added in the rotation vice division chief of the universal hinge close to fixed platform 2
Motor-driven mechanism relatively rotates between second connecting rod 16 and rack under the driving effect of rotating electric machine, so that third
Relative position between movement branched chain 18 and fixed platform 2 changes, and drives the print head being mounted on moving platform 1 according to control
Track movement, realizes the translation of three change in coordinate axis direction.Print head can be moved to from a upper print point along arbitrary curve next
Print point, print head movement speed is fast, and operation precision is high.
Parallel institution of the invention is not limited only to the application in 3D printer, and it is flat also to can be applicable to the three-dimensional shockproof shooting of aviation
Platform, three-dimensional put together machines the multiple fields such as people, three dimensional coordinate measuring machine, three-dimension sensor.
To sum up, the invention has the following advantages that
The branched structure of three translation 2CPR-URU parallel institutions of the invention is simple, kinematic pair number is few, compact-sized, fortune
Dynamic speed is high and can be realized the parallel-connection structure of spatial three-dimensional translational.The kinematic pair configuration of parallel institution of the invention is simple,
Kinematic pair is low pair, and manufacturing cost is low.The invention belongs to asymmetric parallel institutions, and work is empty compared with symmetrical parallel institution
Between it is larger, kinematic dexterity is good.The driving of parallel institution of the invention is secondary to be all placed in fixed platform, is greatly reduced simultaneously
The motional inertia of online structure entirety, thus the high-speed motion of implementation mechanism.
Finally, it should be noted that above-described each embodiment is merely to illustrate technical solution of the present invention, rather than it is limited
System；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that: its
It can still modify to technical solution documented by previous embodiment, or part of or all technical features are carried out
Equivalent replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (5)
1. one kind three translates 2CPR-URU parallel institution, including moving platform, fixed platform and the connection moving platform and fixed platform
Movement branched chain, it is characterised in that: the movement branched chain include the first movement branched chain, the second movement branched chain and third movement branch
Chain, first movement branched chain and the second movement branched chain are symmetrical arranged, and the third movement branched chain is located at the first movement branch
Between chain and the second movement branched chain,
First movement branched chain includes the first movement branched chain loop bar, the first slide bar and the first cylindrical pair, the first movement branch
The first end of chain loop bar and the moving platform are hinged, and the of the second end of the first movement branched chain loop bar and first slide bar
One end connection, the first movement branched chain loop bar and the first slide bar constitute prismatic pair, and the second end of first slide bar passes through institute
The first cylindrical pair is stated to connect with the fixed platform；
Second movement branched chain includes the second movement branched chain loop bar, the second slide bar and the second cylindrical pair, the second movement branch
The first end of chain loop bar and the moving platform are hinged, and the of the second end of the second movement branched chain loop bar and second slide bar
One end connection, the second movement branched chain loop bar and the second slide bar constitute prismatic pair, and the second end of second slide bar passes through institute
The second cylindrical pair is stated to connect with the fixed platform；
The third movement branched chain include first connecting rod, second connecting rod, first it is universal hinge, second it is universal hinge and third revolute pair,
The first end of the first connecting rod is connect by the described first universal hinge with the moving platform, and the second end of the first connecting rod is logical
It crosses the third revolute pair and the first end of the second connecting rod is hinged, the second end of the second connecting rod passes through the described 20000th
It is connect to hinge with the fixed platform.
2. three translations 2CPR-URU parallel institution according to claim 1, it is characterised in that: the first movement branched chain set
The first end of bar is hinged by the first revolute pair and the moving platform, and the first end of the second movement branched chain loop bar passes through second
Revolute pair and the moving platform are hinged.
3. three translations 2CPR-URU parallel institution according to claim 2, it is characterised in that: first revolute pair and institute
The axis for stating the first cylindrical pair is parallel, and second revolute pair is parallel with the axis of second cylindrical pair.
4. three translations 2CPR-URU parallel institution according to claim 1, it is characterised in that: the third revolute pair, institute
State the first universal revolute pair axis cut with scissors far from the moving platform and the second universal revolute pair for cutting with scissors the separate fixed platform
Axis be parallel to each other.
5. three translations 2CPR-URU parallel institution according to claim 4, it is characterised in that: the second universal hinge is leaned on
The axis of the revolute pair of the nearly fixed platform is vertical with the fixed platform, and the second universal hinge turns far from the fixed platform
It is dynamic secondary with first cylindrical pair and the second cylindrical pair it is axially vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997298.6A CN109015602B (en) | 2018-08-29 | 2018-08-29 | Three-translation 2CPR-URU parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810997298.6A CN109015602B (en) | 2018-08-29 | 2018-08-29 | Three-translation 2CPR-URU parallel mechanism |
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| Publication Number | Publication Date |
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| CN109015602A true CN109015602A (en) | 2018-12-18 |
| CN109015602B CN109015602B (en) | 2020-08-21 |
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ID=64625330
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810997298.6A Active CN109015602B (en) | 2018-08-29 | 2018-08-29 | Three-translation 2CPR-URU parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
| CN113319832A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Three-translation parallel mechanism with symmetrical branches |
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| CN101497198A (en) * | 2009-02-24 | 2009-08-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| CN104162885A (en) * | 2014-07-30 | 2014-11-26 | 常州大学 | Three-translation accurate grabbing robot mechanism |
| CN105729459A (en) * | 2016-03-30 | 2016-07-06 | 冯基洲 | Parallel robot |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4988244A (en) * | 1989-09-01 | 1991-01-29 | Kearney & Trecker | Six-axis machine tool |
| JP2003343678A (en) * | 2002-05-24 | 2003-12-03 | Hiihaisuto Seiko Kk | Multi-degree-of-freedom positioning mechanism of parallel rough/fine driving type |
| CN101497198A (en) * | 2009-02-24 | 2009-08-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
| CN113319832A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Three-translation parallel mechanism with symmetrical branches |
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| Publication number | Publication date |
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| CN109015602B (en) | 2020-08-21 |
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