CN110000757A - Parallel institution with a two mobile rotations and a two mobile screw modes - Google Patents

Parallel institution with a two mobile rotations and a two mobile screw modes Download PDF

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Publication number
CN110000757A
CN110000757A CN201910257083.5A CN201910257083A CN110000757A CN 110000757 A CN110000757 A CN 110000757A CN 201910257083 A CN201910257083 A CN 201910257083A CN 110000757 A CN110000757 A CN 110000757A
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CN
China
Prior art keywords
mobile
pair
prismatic pair
parallel institution
branch
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Pending
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CN201910257083.5A
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Chinese (zh)
Inventor
刘伟
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Xian Polytechnic University
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Xian Polytechnic University
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Priority to CN201910257083.5A priority Critical patent/CN110000757A/en
Publication of CN110000757A publication Critical patent/CN110000757A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0072Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

Abstract

The parallel institution with a two mobile rotations and a two mobile screw modes disclosed by the invention, includes moving platform 10 and fixed platform 11, moving platform 10 is connect by the first branch, the second branch, third branch with fixed platform 11 respectively.The problem of 3-freedom parallel mechanism of the invention, it is single to solve existing parallel institution structure, is not able to satisfy work requirements under complicated circumstances.

Description

Parallel institution with a two mobile rotations and a two mobile screw modes
Technical field
The invention belongs to robotic technology fields, and in particular to one kind has a two mobile rotations and two mobile spiral fortune The parallel institution of dynamic model formula.
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, tool There are a two mobile rotations (2T1R), two mobile a screw (2T1H), and spiral secondary axis and the plane of motion out of plumb, this Class 3-freedom parallel mechanism is more rare.This kind of methodology of novel parallel mechanism can adapt to a variety of different motion modes, adapt to more Work under kind circumstances has certain application prospect in fields such as motion simulation, machine assembly, sorting crawl, drill process.
Summary of the invention
The object of the present invention is to provide a kind of parallel machines with a two mobile rotations and a two mobile screw modes The problem of structure, it is single to solve existing parallel institution structure, is not able to satisfy work requirements under complicated circumstances.
The technical scheme adopted by the invention is that the parallel connection with a two mobile rotations and a two mobile screw modes Mechanism, includes moving platform 10 and fixed platform 11, and moving platform 10 by the first branch, the second branch, third branch and is determined respectively Platform 11 connects.
It is of the invention to be further characterized in that,
First branch includes sequentially connected prismatic pair P11, first connecting rod 1, prismatic pair P12, second connecting rod 2, revolute pair R13, third connecting rod 3 and screw pair H14, prismatic pair P11It is also connect with fixed platform 11, screw pair H14Also it is connect with moving platform 10.
Prismatic pair P11On be connected with drive hydraulic motor.
Second branch includes sequentially connected prismatic pair P21, fourth link 4, prismatic pair P22, the 5th connecting rod 5, prismatic pair P23, six-bar linkage 6, revolute pair R24, seven-link assembly 7 and revolute pair R25, prismatic pair P21It is also connect with fixed platform 11, revolute pair R25 Also it is connect with moving platform 10.
Prismatic pair P21On be connected with drive hydraulic motor.
Prismatic pair P22On be connected with drive hydraulic motor.
Third branch includes sequentially connected ball secondary S31, the 8th connecting rod 8, prismatic pair P32, the 9th connecting rod 9 and ball secondary S33, Ball secondary S31It is also connect with fixed platform 11, ball secondary S33Also it is connect with moving platform 10.
Prismatic pair P32On be connected with drive hydraulic motor.
The invention has the advantages that it is single to solve existing parallel institution structure, it is not able to satisfy under complicated circumstances and works The problem of demand.Parallel institution of the invention passes through the setting of three branches, passes through control first, second and third under certain condition Prismatic pair and auxiliary prismatic pair in branch make the parallel institution realize different motor patterns, that is, include a two mobile rotations (2T1R), two mobile a screw (2T1H) can be adapted to motion simulation, machine assembly, sorting crawl, parallel machine, brill Dig the fields such as operation.
Detailed description of the invention
Fig. 1 is the parallel institution initial bit shape with a two mobile rotations and a two mobile screw modes of the invention Schematic diagram;
Fig. 2 is the parallel institution 2T1R movement with a two mobile rotations and a two mobile screw modes of the invention Mode bit shape schematic diagram;
Fig. 3 is the parallel institution 2T1H movement with a two mobile rotations and a two mobile screw modes of the invention Mode bit shape 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. the 9th connecting rods, 10. moving platforms, 11. fixed platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention has the parallel institution of a two mobile rotations and a two mobile screw modes, as shown in Figure 1, including There are moving platform 10 and fixed platform 11, moving platform 10 is connected by the first branch, the second branch, third branch and fixed platform 11 respectively It connects;It defines moving platform 10 and the first branch junction is A1, define moving platform 10 and the second branch junction be A2, define dynamic flat Platform 10 and third branch junction are A3.It defines fixed platform 11 and the first branch junction is B1, define fixed platform 11 and second It is B at chain link2, define fixed platform 11 and third branch junction be B3.Moving platform 10 is A1、A2、A3Locating plane;Fixed platform 11 be B1、B2、B3Locating plane.
First branch includes sequentially connected prismatic pair P11, first connecting rod 1, prismatic pair P12, second connecting rod 2, revolute pair R13, third connecting rod 3 and screw pair H14, prismatic pair P11It is also connect with fixed platform 11, screw pair H14Also it is connect with moving platform 10;
Second branch includes sequentially connected prismatic pair P21, fourth link 4, prismatic pair P22, the 5th connecting rod 5, prismatic pair P23, six-bar linkage 6, revolute pair R24, seven-link assembly 7 and revolute pair R25, prismatic pair P21It is also connect with fixed platform 11, revolute pair R25 Also it is connect with moving platform 10;
Third branch includes sequentially connected ball secondary S31, the 8th connecting rod 8, prismatic pair P32, the 9th connecting rod 9 and ball secondary S33, Ball secondary S31It is also connect with fixed platform 11, ball secondary S33Also it is connect with moving platform 10.
Prismatic pair P11On be connected with drive hydraulic motor.
Prismatic pair P21On be connected with drive hydraulic motor.
Prismatic pair P22On be connected with auxiliary hydraulic pressure driving motor, which works in mechanism kinematic mode conversion, mobile Secondary P22To assist prismatic pair.
Prismatic pair P32On be connected with drive hydraulic motor.
Parallel institution of the invention, under position shape shown in Fig. 1, parallel institution has 4 instantaneous freedom degrees, prismatic pair P11 With prismatic pair P22Moving direction it is parallel, prismatic pair P12With prismatic pair P21Moving direction it is parallel, revolute pair R13Axis and shifting Dynamic secondary P11, prismatic pair P12Moving direction it is vertical, screw pair H14Axis direction be Spatial General 6 R direction, prismatic pair P23Axis Line and prismatic pair P21, prismatic pair P22Moving direction it is vertical, revolute pair R24Pivot center and screw pair H14The axis of screw it is flat Row, revolute pair R25Pivot center and revolute pair R13Revolute pair axis it is parallel, revolute pair R25Axis direction and prismatic pair P23 Moving direction it is parallel.
Parallel institution of the invention, under mechanism position shape shown in Fig. 1, which has 4 instantaneous freedom degrees, moves Dynamic secondary P11, prismatic pair P21, prismatic pair P22And prismatic pair P32On be respectively connected with drive hydraulic motor, driving prismatic pair can be controlled P11, prismatic pair P21, prismatic pair P22, prismatic pair P32, so that mechanism kinematic is to mechanism position shown in Fig. 2 shape.
Under this shape, screw pair H14Axis and revolute pair R24Not parallel, under this shape, mechanism is moved with 2T1R Mode.Control driving prismatic pair P11, prismatic pair P21, prismatic pair P32The control of implementation mechanism mechanism under 2T1R motor pattern.
Parallel institution of the invention, under mechanism position shape shown in Fig. 1, which has 4 instantaneous freedom degrees, control System driving prismatic pair P11, prismatic pair P21, prismatic pair P22, prismatic pair P32, so that mechanism kinematic is to mechanism position shown in Fig. 3 shape.
Under this shape, screw pair H14Axis and revolute pair R24In parallel, revolute pair R13Axis and revolute pair R25Axis Line direction is not parallel, and under this shape, mechanism has 2T1H motor pattern.Control driving prismatic pair P11, prismatic pair P21, prismatic pair P32The control of implementation mechanism mechanism under 2T1H motor pattern.
Parallel institution of the invention passes through 3 prismatic pairs of control and 1 by the setting of three branches under certain condition Auxiliary prismatic pair enables to the parallel institution to realize different motor patterns, that is, includes a two mobile rotations (2T1R), two shiftings Dynamic a screw (2T1H) can be adapted to the necks such as motion simulation, machine assembly, sorting crawl, parallel machine, drill process Domain.

Claims (8)

1. the parallel institution with a two mobile rotations and a two mobile screw modes, which is characterized in that include dynamic flat Platform (10) and fixed platform (11), the moving platform (10) pass through the first branch, the second branch, third branch and fixed platform respectively (11) it connects.
2. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 1, institute Stating the first branch includes sequentially connected prismatic pair P11, first connecting rod (1), prismatic pair P12, second connecting rod (2), revolute pair R13, third connecting rod (3) and screw pair H14, the prismatic pair P11It is also connect with fixed platform (11), the screw pair H14Also put down with dynamic Platform (10) connection.
3. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 2, It is characterized in that, the prismatic pair P11On be connected with drive hydraulic motor.
4. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 1, It is characterized in that, second branch includes sequentially connected prismatic pair P21, fourth link (4), prismatic pair P22, the 5th connecting rod (5), prismatic pair P23, six-bar linkage (6), revolute pair R24, seven-link assembly (7) and revolute pair R25, the prismatic pair P21Also with allocate Platform (11) connection, the revolute pair R25Also it is connect with moving platform (10).
5. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 4, It is characterized in that, the prismatic pair P21On be connected with drive hydraulic motor.
6. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 5, It is characterized in that, the prismatic pair P22On be connected with drive hydraulic motor.
7. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 1, It is characterized in that, the third branch includes sequentially connected ball secondary S31, the 8th connecting rod (8), prismatic pair P32, the 9th connecting rod (9) And ball secondary S33, the ball secondary S31It is also connect with fixed platform (11), the ball secondary S33Also it is connect with moving platform (10).
8. the parallel institution with a two mobile rotations and a two mobile screw modes according to claim 7, It is characterized in that, the prismatic pair P32On be connected with drive hydraulic motor.
CN201910257083.5A 2019-04-01 2019-04-01 Parallel institution with a two mobile rotations and a two mobile screw modes Pending CN110000757A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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WO2015016692A1 (en) * 2013-06-12 2015-02-05 Республиканское Государственное Предприятие На Праве Хозяйственного Ведения "Казахский Национальный Технический Университет Имени К.И. Сатпаева" Министерства Образования И Науки Республики Казахстан Platform robot manipulator
CN105082112A (en) * 2015-09-06 2015-11-25 江南大学 Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
CN107009354A (en) * 2017-04-24 2017-08-04 上海宇航系统工程研究所 The 2SPS+RRPRR robots grasping mechanism spliced for plate
CN108621130A (en) * 2018-04-19 2018-10-09 西安工程大学 Parallel institution with two kinds of motor patterns of 2R1T and 2T1R
CN108638031A (en) * 2018-05-14 2018-10-12 西安工程大学 Parallel institution with two kinds of motor patterns of 2T1R and 3T
CN109015604A (en) * 2018-09-13 2018-12-18 西安工程大学 A kind of 3-freedom parallel mechanism of a two mobile rotations
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015016692A1 (en) * 2013-06-12 2015-02-05 Республиканское Государственное Предприятие На Праве Хозяйственного Ведения "Казахский Национальный Технический Университет Имени К.И. Сатпаева" Министерства Образования И Науки Республики Казахстан Platform robot manipulator
CN105082112A (en) * 2015-09-06 2015-11-25 江南大学 Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
CN107009354A (en) * 2017-04-24 2017-08-04 上海宇航系统工程研究所 The 2SPS+RRPRR robots grasping mechanism spliced for plate
CN108621130A (en) * 2018-04-19 2018-10-09 西安工程大学 Parallel institution with two kinds of motor patterns of 2R1T and 2T1R
CN108638031A (en) * 2018-05-14 2018-10-12 西安工程大学 Parallel institution with two kinds of motor patterns of 2T1R and 3T
CN109015604A (en) * 2018-09-13 2018-12-18 西安工程大学 A kind of 3-freedom parallel mechanism of a two mobile rotations
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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