CN109746896A - Parallel system with 3T, 2T1R and 1R2T motor pattern - Google Patents
Parallel system with 3T, 2T1R and 1R2T motor pattern Download PDFInfo
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- CN109746896A CN109746896A CN201811511289.8A CN201811511289A CN109746896A CN 109746896 A CN109746896 A CN 109746896A CN 201811511289 A CN201811511289 A CN 201811511289A CN 109746896 A CN109746896 A CN 109746896A
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Abstract
The invention discloses a kind of parallel system with 3T, 2T1R and 1R2T motor pattern, including fixed platform and moving platform, fixed platform is connected by the first branch, the second branch and third branch with moving platform.The present invention has 3T, the parallel system of 2T1R and 1R2T motor pattern, the revolute pair connecting respectively with fixed platform and moving platform in three branches constitutes universal hinge, it being capable of flexible motion, the parallel system can be enabled to realize three mobile (3T) by control prismatic pair and revolute pair, a two mobile rotations (2T1R pivot center is vertical with plane of motion), the motor pattern of one rotation two mobile (1R2T plane of motion is parallel with pivot center), so that parallel system of the invention is used in motion simulation, machine assembly, sorting crawl, behind the fields such as parallel machine, the transformation of motor pattern can quickly be carried out, meet the work requirements under its complex situations.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of parallel system with 3T, 2T1R and 1R2T motor pattern.
Background technique
Parallel robot system is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, taken in conjunction
System 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 system have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel systems more and is goed deep into comprehensively, but parallel system is free
The reduction of degree will be so that system 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 system with multi-motion modes, under system Singularity, 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 system
Motor pattern transformation, do not need to re-assembly system, the conversion rate of motor pattern is fast, process is easy.It is moving
The fields such as emulation, machine assembly, sorting crawl, parallel machine need while having three mobile (3T), a two mobile rotations
(2T1R pivot center is vertical with plane of motion), mobile (1R2T pivot center is parallel with plane of motion) motor pattern of a rotation two
Parallel-connection structure adapt to a variety of different motion modes, adapt to the work under a variety of circumstances, simplify whole workflow, but
It is that there are three mobile (3T), two mobile a rotation (2T1R pivot center and plane of motion while having no correlation on the market at present
Vertically), the parallel-connection structure of mobile (1R2T pivot center is parallel with the plane of motion) motor pattern of a rotation two.
Summary of the invention
The object of the present invention is to provide a kind of parallel systems with 3T, 2T1R and 1R2T motor pattern, solve existing
The single problem of parallel system structure in technology can satisfy the necks such as motion simulation, machine assembly, sorting crawl, parallel machine
Work requirements under the complex situations of domain.
The technical scheme adopted by the invention is that the parallel system with 3T, 2T1R and 1R2T motor pattern, including allocate
Platform and moving platform, fixed platform are connected by the first branch, the second branch and third branch with moving platform.
The features of the present invention also characterized in that:
Moving platform is in T shape, and the first branch is connect with moving platform a port, second end of the second branch and moving platform
The third port of mouth connection, third branch and moving platform connects.
First branch includes the revolute pair R connecting with fixed platform11, revolute pair R11On be connected with revolute pair R12, revolute pair R11
With revolute pair R12Form universal hinge；Revolute pair R12On be connected with first connecting rod, be socketed with second connecting rod in first connecting rod, second
It is connected with driving motor on connecting rod, revolute pair R is connected on second connecting rod14, revolute pair R14On be connected with revolute pair R15, rotation
Secondary R14With revolute pair R15Form universal hinge, revolute pair R15It is connect with a port of moving platform.
Second branch includes the first sliding bar affixed with fixed platform, is connected with third connecting rod, third on the first sliding bar
Driving motor is connected on connecting rod, third connecting rod can be along the first sliding bar sliding；Fourth link is connected on third connecting rod,
Fourth link can slide along third connecting rod；Seven-link assembly is connected in fourth link, seven-link assembly includes being fixedly connected with each other
Slide bar and revolute pair R21, sliding bar and the fourth link socket of seven-link assembly, the revolute pair R of seven-link assembly21On be connected with turn
Dynamic secondary R22, and revolute pair R21With revolute pair R22Form universal hinge；Revolute pair R22It is connect with moving platform.
First sliding bar, third connecting rod and fourth link are mutually perpendicular to.
Third connecting rod includes the connecting rod and hollow slide bar of connection in T shape, and slide bar connects with the first sliding rod set, and the 4th connects
Bar also includes the connecting rod and hollow slide bar of connection in T shape, and the slide bar of fourth link and the connecting rod of third connecting rod are socketed；7th
The sliding bar of connecting rod and the connecting rod of fourth link are socketed.
Third branch includes the second sliding bar connecting with fixed platform, is connected with the 5th connecting rod on the second sliding bar, and the 5th
Driving motor is connected on connecting rod, the 5th connecting rod can slide moving for bar along second, the 6th company is connected on the 5th connecting rod
Bar, six-bar linkage being capable of moving along the 5th connecting rod；The 8th connecting rod is connected on six-bar linkage, the 8th connecting rod includes hollow
Slide bar and revolute pair R31, sliding bar and the six-bar linkage socket of the 8th connecting rod, the revolute pair R of the 8th connecting rod31On be connected with turn
Dynamic secondary R32, revolute pair R31With revolute pair R32Form universal hinge；Revolute pair R32It is connect with moving platform.
Second sliding bar, the 5th connecting rod and six-bar linkage are mutually perpendicular to.
5th connecting rod includes connecting rod and hollow slide bar, and the slide bar of the 5th connecting rod connects with the second sliding rod set, six-bar linkage
It also include connecting rod and hollow slide bar, the connecting rod socket of the slide bar of six-bar linkage and the 5th connecting rod；The sliding bar of 8th connecting rod 17
It is socketed with the connecting rod of six-bar linkage 16.
The beneficial effects of the invention are as follows
The present invention has the parallel system of 3T, 2T1R and 1R2T motor pattern, in three branches respectively with fixed platform and move
The revolute pair of platform connection constitutes universal hinge, can flexible motion, this can be enabled to by control prismatic pair and revolute pair
Parallel system realizes that three mobile (3T), a two mobile rotations (2T1R pivot center is vertical with plane of motion), a rotation two are mobile
The motor pattern of (1R2T plane of motion is parallel with pivot center) is imitated so that parallel system of the invention is used in movement
Very, behind the fields such as machine assembly, sorting crawl, parallel machine, the transformation of motor pattern can be quickly carried out, its complicated feelings is met
Work requirements under condition.
Detailed description of the invention
Fig. 1 is the position when parallel system of the invention with 3T, 2T1R and 1R2T motor pattern has 1R2T motor pattern
Shape schematic diagram；
When Fig. 2 is the parallel system with 3T, 2T1R and 1R2T motor pattern of the invention instantaneous with 2T2R freedom degree
Position shape schematic diagram；
Fig. 3 is that there is the present invention 2T1R motor pattern of the parallel system of 3T, 2T1R and 1R2T motor pattern to cross a shape and show
It is intended to；
Fig. 4 is when the parallel system with 3T, 2T1R and 1R2T motor pattern of the invention has a 3T1R instantaneous freedom degree
Shape schematic diagram；
Fig. 5 is the position shape when parallel system of the invention with 3T, 2T1R and 1R2T motor pattern has 3T motor pattern
Schematic diagram.
In figure, 1. fixed platforms, 2. moving platforms, 3. revolute pair R11, 4. revolute pair R12, 5. first connecting rods, 6. second connecting rods,
7. revolute pair R14, 8. revolute pair R15, 9. first sliding bars, 10. third connecting rods, 11. fourth links, 12. seven-link assemblies, 13. turns
Dynamic secondary R22, 14. second sliding bars, 15. the 5th connecting rods, 16. six-bar linkages, 17. the 8th connecting rods, 18. revolute pair R32。
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Parallel system with 3T, 2T1R and 1R2T motor pattern, as shown in Figure 1, include fixed platform 1 and with fixed platform 1
By the first branch, the second branch, third branch chain link moving platform 2 in T shape；
Wherein the first branch includes the revolute pair R of fixed platform connection113, revolute pair R11Revolute pair R is connected on 3124,
Revolute pair R113 and revolute pair R124 form universal hinge；Revolute pair R12First connecting rod 5 is connected on 4, first connecting rod 5 is socketed with
Two connecting rods 6 are connected with driving motor on second connecting rod 6, and second connecting rod 6 can move to form prismatic pair P along first connecting rod 511, will
Prismatic pair P11It is secondary as mobile driving；Revolute pair R is connected on second connecting rod 6147, revolute pair R14Revolute pair is connected on 7
R158, revolute pair R147 and revolute pair R158 form universal hinge, revolute pair R158 connect with a port of moving platform 2.
Second branch includes the first sliding bar 9 affixed with fixed platform 1, is connected with third connecting rod 10 on the first sliding bar 9,
Third connecting rod 10 includes the connecting rod and hollow slide bar of connection in T shape, and slide bar and the first sliding bar 9 are socketed, third connecting rod 10
Prismatic pair P can be formed along the sliding of the first sliding bar 921, prismatic pair P21On be connected with mobile driving motor and become mobile and drive
Dynamic pair；It is connected with fourth link 11 on third connecting rod 10, the fourth link 11 also connecting rod including connection in T shape and hollow cunning
Bar, the slide bar of fourth link 11 and the connecting rod of third connecting rod 10 are socketed, and fourth link 11 can slide shape along third connecting rod 10
At prismatic pair P22；First sliding bar 9, third connecting rod 10 and fourth link 11 are mutually perpendicular to.
Seven-link assembly 12 is connected in fourth link 11, seven-link assembly 12 includes the sliding bar being fixedly connected with each other and revolute pair
R21, the connecting rod socket for sliding bar and fourth link 11 of seven-link assembly 12, seven-link assembly 12 can be along the connecting rod of fourth link 11
Sliding forms prismatic pair P23, the revolute pair R of seven-link assembly 1221On be connected with revolute pair R2213, and revolute pair R21And revolute pair
R2213 form universal hinge；Revolute pair R2213 connect with moving platform 2.
Third branch includes the second sliding bar 14 connecting with fixed platform 1, is connected with the 5th connecting rod on the second sliding bar 14
15, the 5th connecting rod 15 includes connecting rod and hollow slide bar, and the slide bar of the 5th connecting rod 15 and the second sliding bar 14 are socketed, the 5th connecting rod
15 can move to form prismatic pair P along the second sliding bar 1431, prismatic pair P31On be connected with driving motor；On 5th connecting rod 15
It is connected with six-bar linkage 16, six-bar linkage 16 also includes connecting rod and hollow slide bar, the slide bar of six-bar linkage 16 and the 5th connecting rod
15 connecting rod socket, six-bar linkage 16 can move to form prismatic pair P along the 5th connecting rod 1532；Second sliding bar the 14, the 5th connects
Bar 15 and six-bar linkage 16 are mutually perpendicular to.Prismatic pair P32On be connected with the mobile driving motor of auxiliary, which transports in mechanism
It works when dynamic mode conversion.
The 8th connecting rod 17 is connected on six-bar linkage 16, the 8th connecting rod 17 includes the hollow sliding bar being fixedly connected with each other and turns
Dynamic secondary R31, the connecting rod socket of the sliding bar and six-bar linkage 16 of the 8th connecting rod 17, the 8th connecting rod 17 can be along six-bar linkage 16
Connecting rod slide to form prismatic pair P33, the revolute pair R of the 8th connecting rod 1731On be connected with revolute pair R3218, revolute pair R31And rotation
Secondary R3218 form universal hinge；Revolute pair R3218 connect with the third port of moving platform 2.
First sliding bar 9 is vertically arranged with the second sliding bar 14.
Under position shape as shown in Figure 1, coordinate system is established, is x-axis with third connecting rod 10, is Y-axis with the second sliding bar 14,
It is that Z axis establishes three-dimensional system of coordinate with the first sliding bar 9；Under position shape as shown in Figure 1, parallel system of the invention, revolute pair
R113 shaft axis is parallel with Y-axis, revolute pair R124 shaft axis and R113 shaft axis is vertical, mobile driving secondary P11's
Moving direction and revolute pair R124 shaft axis is vertical, revolute pair R147 shaft axis and revolute pair R124 shaft axis is flat
Row, revolute pair R158 shaft axis and R147 shaft axis is vertical, and there is parallel system of the invention at this time 1R2T to move mould
Formula.Control short, prismatic pair P21It moves down upwards, prismatic pair P31It moves forwards, backwards, it can prismatic pair P processed in fact11The existing 1R2T fortune of elongation contracting
The control of dynamic model formula.
Parallel system system position shape shown in FIG. 1 of the invention is deformed, prismatic pair P is locked11, lock prismatic pair
P31, control prismatic pair P21It moves downward, so that parallel system of the invention moves to system position shown in Fig. 2 shape, revolute pair
R124 shaft axis and revolute pair R2112 shaft axis is parallel, at this point, parallel system of the invention has 2R2T instantaneously free
Degree.
Control prismatic pair P31It is in the lock state, prismatic pair P32In locking, control driving secondary P11It is received along moving direction
Contracting controls prismatic pair P21It moves up, so that parallel system of the invention is under structure bit shape as shown in Figure 3；Fig. 3's is
Under position shape of uniting, parallel system of the invention has the motor pattern of 2T1R.Control prismatic pair P11Elongation shortening, prismatic pair P21To
On move down prismatic pair, P31Move left and right the control, it can be achieved that 2T1R motor pattern.
Control prismatic pair P11Shorten, prismatic pair P21It moves up, lock prismatic pair P31, make system from system shown in Figure 3 position
Under shape, when moving to system shown in Figure 4 position shape, parallel system has the instantaneous freedom degree of 3T1R, in system position as shown in Figure 4 shape
Under, revolute pair R158 shaft axis and revolute pair R113 shaft axis is parallel, revolute pair R2213 shaft axis is along Z axis side
To.Under the shape of system position as shown in Figure 4, parallel system of the invention has the instantaneous freedom degree of 3T1R.
Control prismatic pair P11It is extended along moving direction, locks prismatic pair P31, control prismatic pair P32It is moved to the left, control moves
Dynamic secondary P21It moves down, so that parallel system of the invention is in position shape shown in Fig. 5.It is of the invention under position shape as shown in Figure 5
Parallel system has 3T motor pattern, controls prismatic pair P11, mobile driving secondary P21, mobile driving secondary P31, it can be achieved that the movement mould
The control of system under formula.
Parallel system of the invention, fixed platform 1 and moving platform 2 by control prismatic pair and are turned by three branch chain links
Dynamic pair enables to the parallel system to realize different motor patterns, that is, include three mobile (3T), a two mobile rotations (2T1R),
One rotation two mobile (1R2T) can be adapted to motion simulation, machine assembly, sorting crawl, parallel machine, can quickly carry out
The transformation of motor pattern meets the work requirements under its complex situations.
Claims (7)
1. the parallel system with 3T, 2T1R and 1R2T motor pattern, which is characterized in that including fixed platform (1) and moving platform
(2), the fixed platform (1) is connected by the first branch, the second branch and third branch with moving platform (2)；The moving platform (2)
In T shape, first branch is connect with moving platform (2) a port, second port of second branch and moving platform
Connection, the third branch are connect with the third port of moving platform (2)；First branch includes turning for fixed platform connection
Dynamic secondary R11(3), the revolute pair R11(3) revolute pair R is connected on12(4), the revolute pair R11(3) with revolute pair R12(4) shape
At universal hinge；The revolute pair R12(4) it is connected on first connecting rod (5), is socketed with second connecting rod in the first connecting rod (5)
(6), it is connected with driving motor on the second connecting rod (6), second connecting rod (6) can be mobile along first connecting rod (5), and described the
Two connecting rods are connected with revolute pair R on (6)14(7), the revolute pair R14(7) revolute pair R is connected on15(8), the revolute pair R14
(7) and revolute pair R15(8) universal hinge, the revolute pair R are formed15(8) it is connect with moving platform (2).
2. the parallel system according to claim 1 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
Second branch includes first sliding bar (9) affixed with fixed platform (1), is connected with third connecting rod in first sliding bar (9)
(10), driving motor is connected on the third connecting rod (10), the third connecting rod (10) can be sliding along the first sliding bar (9)
It moves；It is connected with fourth link (11) on the third connecting rod (10), the fourth link (11) can be along third connecting rod (10)
Sliding；Be connected with seven-link assembly (12) on the fourth link (11), seven-link assembly (12) include the sliding bar that is fixedly connected with each other and
Revolute pair R21, sliding bar and fourth link (11) socket, the revolute pair of the seven-link assembly (12) of the seven-link assembly (12)
R21On be connected with revolute pair R22And the revolute pair R (13),21With revolute pair R22(13) universal hinge is formed；The revolute pair R22
(13) it is connect with moving platform (2).
3. the parallel system according to claim 2 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
First sliding bar (9), third connecting rod (10) and fourth link (11) are mutually perpendicular to.
4. the parallel system according to claim 2 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
Third connecting rod (10) includes the connecting rod and hollow slide bar of connection in T shape, the slide bar and the first sliding bar (9) socket, institute
State fourth link (11) also and include the connecting rod and hollow slide bar of connection in T shape, the slide bar of the fourth link (11) and the
The connecting rod of three-link (10) is socketed.
5. the parallel system according to claim 1 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
Third branch includes the second sliding bar (14) connecting with fixed platform (1), is connected with the 5th company in second sliding bar (14)
Bar (15), driving motor is connected on the 5th connecting rod (15), and the 5th connecting rod (15) can be along the second sliding bar
(14) mobile, it is connected with six-bar linkage (16) on the 5th connecting rod (15), the six-bar linkage (16) can connect along the 5th
The movement of bar (15)；The 8th connecting rod (17) is connected on the six-bar linkage (16), the 8th connecting rod (17) includes mutually solid
The hollow sliding bar and revolute pair R connect31, sliding bar and six-bar linkage (16) socket of the 8th connecting rod (17), the 8th connecting rod
(17) revolute pair R31On be connected with revolute pair R32(18), the revolute pair R31With revolute pair R32(18) universal hinge is formed；It is described
Revolute pair R32(18) it is connect with moving platform (2).
6. the parallel system according to claim 5 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
Second sliding bar (14), the 5th connecting rod (15) and six-bar linkage (16) are mutually perpendicular to.
7. the parallel system according to claim 5 with 3T, 2T1R and 1R2T motor pattern, which is characterized in that described
5th connecting rod (15) includes connecting rod and hollow slide bar, and the slide bar of the 5th connecting rod (15) and the second sliding bar (14) are socketed,
The six-bar linkage (16) also includes connecting rod and hollow slide bar, the slide bar of the six-bar linkage (16) and the 5th connecting rod (15)
Connecting rod socket；The sliding bar of 8th connecting rod (17) and the connecting rod of six-bar linkage (16) are socketed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811511289.8A CN109746896B (en) | 2018-12-11 | 2018-12-11 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
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| CN201811511289.8A CN109746896B (en) | 2018-12-11 | 2018-12-11 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
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| CN109746896B CN109746896B (en) | 2022-02-18 |
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| CN115890631A (en) * | 2022-12-15 | 2023-04-04 | 东莞理工学院 | Reconstructed six-freedom-degree parallel mechanism capable of switching motion modes |
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Effective date of registration: 20220630 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 |