CN109015604A - A kind of 3-freedom parallel mechanism of a two mobile rotations - Google Patents
A kind of 3-freedom parallel mechanism of a two mobile rotations Download PDFInfo
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- CN109015604A CN109015604A CN201811067716.8A CN201811067716A CN109015604A CN 109015604 A CN109015604 A CN 109015604A CN 201811067716 A CN201811067716 A CN 201811067716A CN 109015604 A CN109015604 A CN 109015604A
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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
A kind of 3-freedom parallel mechanism of a two mobile rotation disclosed by the invention, including fixed platform and moving platform, fixed platform passes through the first branch, the second branch and third branch respectively and connect with moving platform, first branch includes the prismatic pair P11 being connected on fixed platform, prismatic pair P11 is sequentially connected third connecting rod, prismatic pair P12, second connecting rod, prismatic pair P13, first connecting rod, revolute pair R14 and revolute pair R15, revolute pair R15 is connected on moving platform, revolute pair R14 and revolute pair R15 connects and composes universal hinge, is connected with motor on prismatic pair P11.Parallel institution disclosed by the invention, solve parallel institution freedom degree leads to the problem that mechanism is complicated and motor pattern is single more, and for parallel institution tool of the invention there are three types of motor pattern, which has the characteristics that rigidity is high, accuracy is high and dexterity is strong.There is certain application prospect in fields such as motion simulation, machine assembly, sorting crawl, parallel machines.
Description
Technical field
The invention belongs to robotic technology fields, are related to the 3-freedom parallel mechanism of the mobile rotation of one kind two.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free
The reduction of degree will be so that mechanism structure be more simple, manufacture and control advantage of lower cost, therefore is meeting expected job requirement
In the case of, Limited-DOF Parallel Robot has its unique advantage.
Parallel institution with multi-motion modes, under the shape of mechanism singularity position, the characteristic with Motion Bifurcation, Ke Yitong
It crosses less driving pair and branch and realizes multi-motion modes, to adapt to a variety of different needs of work.And this kind of mechanism
Motor pattern transformation, do not need to re-assembly mechanism, the conversion rate of motor pattern is fast, process is easy.
Currently, having, three is mobile, two movements one rotate (pivot center is vertical with plane of motion), a two mobile rotations (turn
Shaft line is parallel with plane of motion), the 3-freedom parallel mechanism of three kinds of motor patterns is more rare.This kind of methodology of novel parallel mechanism
There is certain application prospect in fields such as motion simulation, machine assembly, sorting crawl, parallel machines.
Summary of the invention
The object of the present invention is to provide the 3-freedom parallel mechanisms of the mobile rotation of one kind two, solve parallel institution certainly
Lead to the problem that construction is complicated and motor pattern is single by spending more.There are three types of motor patterns for parallel institution tool of the invention, should
Mechanism has the characteristics that rigidity is high, accuracy is high and dexterity is strong.
The technical scheme adopted by the invention is that the 3-freedom parallel mechanism of an a kind of two mobile rotations, including allocate
Platform and moving platform, fixed platform pass through the first branch, the second branch and third branch respectively and connect with moving platform；
First branch includes the prismatic pair P11 being connected on fixed platform, and prismatic pair P11 is sequentially connected third connecting rod, movement
Secondary P12, second connecting rod, prismatic pair P13, first connecting rod, revolute pair R14 and revolute pair R15, revolute pair R15 are connected to moving platform
On, revolute pair R14 and revolute pair R15 connect and compose universal hinge, are connected with motor on prismatic pair P11.
Other features of the invention also reside in,
The axis of the axis of prismatic pair P11, the axis of prismatic pair P12 and prismatic pair P13 is mutually perpendicular to two-by-two.
Second branch includes the prismatic pair P21 being connected on fixed platform, and prismatic pair P21 is sequentially connected six-bar linkage, movement
Secondary P22, the 5th connecting rod, prismatic pair P23, fourth link, revolute pair R24 and revolute pair R25, revolute pair R25 are connected to moving platform
On, revolute pair R24 and revolute pair R25 connect and compose universal hinge.
The axis of the axis of prismatic pair P21, the axis of prismatic pair P22 and prismatic pair P23 is mutually perpendicular to two-by-two.
Motor is connected on prismatic pair P21.
Third branch includes the revolute pair R31 being connected on fixed platform, and revolute pair R31 is sequentially connected revolute pair R32, the 8th
Connecting rod, prismatic pair P33, seven-link assembly, revolute pair R34 and revolute pair R35, revolute pair R31 and revolute pair R32 connect and compose universal
Hinge, revolute pair R34 and revolute pair R35 connect and compose universal hinge.
The axis of prismatic pair P33 is connected with motor in arbitrary direction in space, prismatic pair P33.
Motor is connected on revolute pair R31.
The invention has the advantages that the 3-freedom parallel mechanism of the mobile rotation of one kind two, solves parallel institution
Freedom degree leads to the problem that construction is complicated and motor pattern is single more, and parallel institution of the invention has there are three types of motor pattern,
I.e. three is mobile, a two mobile rotations (pivot center is vertical with plane of motion), two mobile a rotation (pivot center and plane of motion
In parallel)；The mechanism has the characteristics that rigidity is high, accuracy is high and dexterity is strong.Motion simulation, machine assembly, sorting crawl,
The fields such as parallel machine have certain application prospect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention；
Fig. 2 is the knot under the first motor pattern of the 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention
Structure schematic diagram；
Fig. 3 is the knot under second of motor pattern of the 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention
Structure schematic diagram；
Fig. 4 is the knot under the third motor pattern of the 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention
Structure schematic diagram.
In figure, 1. first connecting rods, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. the 6th connect
Bar, 7. seven-link assemblies, 8. the 8th connecting rods, 9. fixed platforms, 10. moving platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention, as shown in Figure 1, including fixed platform 9 and moving
Platform 10, fixed platform 9 are connect by the first branch, the second branch and third branch with moving platform 10 respectively.
First branch includes the prismatic pair P11 being connected on fixed platform 9, and prismatic pair P11 is sequentially connected third connecting rod 3, moves
Dynamic secondary P12, second connecting rod 2, prismatic pair P13, first connecting rod 1, revolute pair R14 and revolute pair R15, revolute pair R15 is connected to dynamic
On platform 10, revolute pair R14 and revolute pair R15 connect and compose universal hinge.
Third connecting rod 3 is " L " type connecting rod, second connecting rod 2 is " L " type connecting rod, the axis of prismatic pair P11, prismatic pair P12
The axis of axis and prismatic pair P13 are mutually perpendicular to two-by-two.
It is connected with motor on prismatic pair P11, it is secondary as mobile driving.
Second branch includes the prismatic pair P21 being connected on fixed platform 9, and prismatic pair P21 is sequentially connected six-bar linkage 6, moves
Dynamic secondary P22, the 5th connecting rod 5, prismatic pair P23, fourth link 4, revolute pair R24 and revolute pair R25, revolute pair R25 are connected to dynamic
On platform 10, revolute pair R24 and revolute pair R25 connect and compose universal hinge.
5th connecting rod 5 is " L " type connecting rod, six-bar linkage 6 is " L " type connecting rod, the axis of prismatic pair P21, prismatic pair P22
The axis of axis and prismatic pair P23 are mutually perpendicular to two-by-two.
It is connected with motor on prismatic pair P21, it is secondary as mobile driving.
Third branch includes the revolute pair R31 being connected on fixed platform 9, and revolute pair R31 is sequentially connected revolute pair R32,
Eight connecting rods 8, prismatic pair P33, seven-link assembly 7, revolute pair R34 and revolute pair R35, revolute pair R31 and revolute pair R32 are connected and composed
Universal hinge, revolute pair R34 and revolute pair R35 connect and compose universal hinge.
The axis of prismatic pair P33 is connected with motor in arbitrary direction in space, prismatic pair P33, secondary as mobile driving.
It is connected with motor on revolute pair R31, as rotate driving pair.
The 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention, under mechanism position shape shown in Fig. 1, first
Along the y-axis direction, along the x-axis direction, the axis of prismatic pair P13 is along z for the axis of revolute pair R14 for the axis of revolute pair R15 in branch
Axis direction, along the y-axis direction, the axis of prismatic pair P11 is along the x-axis direction for the axis of prismatic pair P12；Revolute pair in second branch
The axis of R25 along the x-axis direction, the axis of revolute pair R24 along the y-axis direction, the axis of prismatic pair P23 along the z-axis direction, prismatic pair
Along the x-axis direction, the axis of prismatic pair P21 is along the y-axis direction for the axis of P22；The axis of revolute pair R35 in third branch is along z-axis
Direction, along the y-axis direction, the axis of prismatic pair P33 is along xoz plane any direction, the axis of revolute pair R32 for the axis of revolute pair R34
Along the y-axis direction, the axis of revolute pair R31 is along the x-axis direction for line.
Under the 3-freedom parallel mechanism of the mobile rotation of one kind two of the invention mechanism position shape shown in Fig. 1, mechanism
There are two one-movement-freedom-degree and two rotational freedoms for tool.Two one-movement-freedom-degrees are xoz plane, a rotational freedom be around
The rotational freedom of revolute pair axis R31, another rotational freedom is the rotational freedom that edge is parallel to y-axis, shown in FIG. 1
The motor pattern that mechanism has is instantaneous, in the first branch of control prismatic pair P11, the prismatic pair P21 in the second branch, the
Revolute pair R31 and prismatic pair P33 in three branches, so that moving platform 10 is after y-axis rotation, parallel institution has along xoz plane
Two mobile one-movement-freedom-degrees, and around the rotational freedom of y-axis, parallel institution has 3 freedom degrees at this time, controls first
Prismatic pair P11 in chain, the prismatic pair P21 in the second branch 2, the prismatic pair P33 in third branch, can be to parallel institution upper
It states and is controlled under motor pattern.
After moving platform 10 rotates 90 degree around y-axis, parallel institution is in mechanism position shown in Fig. 2 shape, the second branch transfer
Along the z-axis direction, along the x-axis direction, the tool of moving platform 10 is there are three one-movement-freedom-degree and around y-axis under this shape by revolute pair R35 by dynamic secondary R25
Rotational freedom.The motor pattern that mechanism shown in Fig. 2 has is instantaneous.Prismatic pair P11 in the first branch of control,
Prismatic pair P21 in second branch, revolute pair R31 and prismatic pair P33 in third branch, so that moving platform 10 is moved along y-axis
Afterwards, mechanism is in position shape shown in Fig. 3, and the pivot center of revolute pair R32 and revolute pair R34 is no longer along the y-axis direction, in parallel at this time
Mechanism has 3 one-movement-freedom-degrees.Control the prismatic pair P11 in the first branch, the prismatic pair P21 in the second branch 2, third branch
Prismatic pair P33 in chain can control parallel institution under above-mentioned motor pattern.
Under parallel institution mechanism position shape shown in Fig. 1, the prismatic pair P11 in the first branch, the shifting in the second branch are controlled
Dynamic secondary P21, revolute pair R31 and prismatic pair P33 in third branch, so that after moving platform 10 is rotated around revolute pair R31 axis, machine
Structure enters position shape shown in Fig. 4, and under this shape, there is one to be moved along the rotational freedom of revolute pair R31 axis and two for mechanism
Dynamic freedom degree, plane where the two one-movement-freedom-degrees are the plane that revolute pair R32 and revolute pair R34 axis are formed.In Fig. 4 institute
Under the mechanism position shape shown, the plane of motion of mechanism is parallel with pivot center, at this time parallel institution tool there are two one-movement-freedom-degree and
One rotational freedom, controls the prismatic pair P11 in the first branch, the prismatic pair P21 in the second branch 2, in third branch
Prismatic pair P33 can control parallel institution under above-mentioned motor pattern.
Parallel institution tool of the invention is there are three types of motor pattern, the construction letter of the parallel institution more than existing freedom degree
Single, which has the characteristics that rigidity is high, accuracy is high and dexterity is strong.There are three types of different fortune for parallel institution tool of the invention
Dynamic model formula can satisfy and generate multi-motion mode using the same mechanism, especially grab in motion simulation, machine assembly, sorting
It takes, the fields such as parallel machine have certain application prospect.
Claims (8)
1. the 3-freedom parallel mechanism of the mobile rotation of one kind two, which is characterized in that including fixed platform (9) and moving platform
(10), the fixed platform (9) is connect by the first branch, the second branch and third branch with the moving platform (10) respectively；
First branch includes the prismatic pair P11 being connected on the fixed platform (9), and the prismatic pair P11 is sequentially connected the
Three-link (3), prismatic pair P12, second connecting rod (2), prismatic pair P13, first connecting rod (1), revolute pair R14 and revolute pair R15, institute
Revolute pair R15 is stated to be connected on the moving platform (10), the revolute pair R14 and the revolute pair R15 connect and compose universal hinge,
Motor is connected on the prismatic pair P11.
2. the 3-freedom parallel mechanism of the mobile rotation of one kind two as described in claim 1, which is characterized in that the movement
The axis of the axis of secondary P11, the axis of the prismatic pair P12 and the prismatic pair P13 is mutually perpendicular to two-by-two.
3. the 3-freedom parallel mechanism of the mobile rotation of one kind two as described in claim 1, which is characterized in that described second
Branch includes that the prismatic pair P21, the prismatic pair P21 being connected on the fixed platform (9) are sequentially connected six-bar linkage (6), shifting
Dynamic secondary P22, the 5th connecting rod (5), prismatic pair P23, fourth link (4), revolute pair R24 and revolute pair R25, the revolute pair R25
It is connected on the moving platform (10), the revolute pair R24 and the revolute pair R25 connect and compose universal hinge.
4. the 3-freedom parallel mechanism of the mobile rotation of one kind two as claimed in claim 3, which is characterized in that the movement
The axis of the axis of secondary P21, the axis of prismatic pair P22 and prismatic pair P23 is mutually perpendicular to two-by-two.
5. the 3-freedom parallel mechanism of the mobile rotation of one kind two as claimed in claim 3, which is characterized in that the movement
Motor is connected on secondary P21.
6. the 3-freedom parallel mechanism of the mobile rotation of one kind two as described in claim 1, which is characterized in that the third
Branch includes that the revolute pair R31, the revolute pair R31 being connected on the fixed platform (9) are sequentially connected revolute pair R32, the 8th
Connecting rod (8), prismatic pair P33, seven-link assembly (7), revolute pair R34 and revolute pair R35, the revolute pair R31 and the revolute pair
R32 connects and composes universal hinge, and the revolute pair R34 and the revolute pair R35 connect and compose universal hinge.
7. the 3-freedom parallel mechanism of the mobile rotation of one kind two as claimed in claim 6, which is characterized in that the movement
The axis of secondary P33 is connected with motor in arbitrary direction in space, the prismatic pair P33.
8. the 3-freedom parallel mechanism of the mobile rotation of one kind two as claimed in claim 6, which is characterized in that the rotation
Motor is connected on secondary R31.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067716.8A CN109015604B (en) | 2018-09-13 | 2018-09-13 | Two-movement one-rotation three-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067716.8A CN109015604B (en) | 2018-09-13 | 2018-09-13 | Two-movement one-rotation three-freedom-degree parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN109015604A true CN109015604A (en) | 2018-12-18 |
| CN109015604B CN109015604B (en) | 2021-03-09 |
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| CN201811067716.8A Active CN109015604B (en) | 2018-09-13 | 2018-09-13 | Two-movement one-rotation three-freedom-degree parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000757A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile rotations and a two mobile screw modes |
| CN110000755A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile spirals and a two mobile rotational motion modes |
| CN110465923A (en) * | 2019-08-02 | 2019-11-19 | 西安工程大学 | There are three mobile, a two mobile rotations and two one Move Modes of rotation parallel institutions |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000757A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile rotations and a two mobile screw modes |
| CN110000755A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile spirals and a two mobile rotational motion modes |
| CN110000755B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes |
| CN110000757B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes |
| CN110465923A (en) * | 2019-08-02 | 2019-11-19 | 西安工程大学 | There are three mobile, a two mobile rotations and two one Move Modes of rotation parallel institutions |
| CN110465923B (en) * | 2019-08-02 | 2022-02-25 | 西安工程大学 | Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes |
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| CN109015604B (en) | 2021-03-09 |
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