CN110142746A - A kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast - Google Patents
A kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast Download PDFInfo
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- CN110142746A CN110142746A CN201910500615.3A CN201910500615A CN110142746A CN 110142746 A CN110142746 A CN 110142746A CN 201910500615 A CN201910500615 A CN 201910500615A CN 110142746 A CN110142746 A CN 110142746A
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- revolute pair
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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
A kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast, includes two mixing branches, and mixing branch one (I) includes by one (P of prismatic pair11) and 4 revolute pairs one (R of parallelograma1‑Rb1‑Rc1‑Rd1) the same plane of movement branch that is composed in series, the translation output rod (2) of the branch again with two (P of prismatic pair21) and two one (R of revolute pair to parallel to the axis22), two (R of revolute pair23) branch that is composed in series, a plane mechanism is constituted, connect two three (R of revolute pair to parallel to the axis again on the translation output rod (2) of the plane mechanism24), four (R of revolute pair25)；And branch two (II) is mixed by three (P of prismatic pair31) and 4 revolute pairs two (R of parallelograma3‑Rb3‑Rc3‑Rd3) be composed in series, and five (R of revolute pair is serially connected on two short side bars of parallelogram two respectively32) and six (R of revolute pair33)；Further, one end of moving platform (1) and the four (R of revolute pair mixed on branch one (I)25), the other end and the six (R of revolute pair mixed on branch two (II)33) connection, and four (R of revolute pair25) and six (R of revolute pair33) axis be mutually perpendicular to.
Description
Technical field
The present invention relates to a kind of parallel robot mechanism, providing one for parallel robot field etc. new has analytic expression position
Set the three transfer parallel robot mechanism of normal solution.
Background technique
The manipulator of three translation parallel-connection structures has obtained industrial application, and Clavel has invented famous D translation
Delta mechanism, many scholars have studied the derivative mechanism of Delta mechanism later, and Tsai etc. proposes a kind of mobile auxiliary drive, branch
The three-freedom mobile parallel connection mechanism of chain parallelogram mechanism containing 4R；Kong etc. proposes a kind of Three Degree Of Freedom 3-CRR mechanism；
Li Shihua etc. proposes a kind of translation of novel 3-RRUR tri- planar parallel mechanism；1Lu Jing etc. proposes a kind of 3-RRRP (4R) three
Translation mechanism；Zeng etc. devises one kind three and translates Tri-pyramid parallel institution；Mazare etc. proposes a kind of Three Degree Of Freedom
3- [P2 (US)] mechanism, and kinematics and Analysis of Dexterity Degree have been carried out to mechanism.
But the three translation parallel mechanism with analytic expression position forecast is not much.Therefore, to propose the zero new degree of coupling and
Three transfer parallel robot mechanism with analytic expression position forecast.
Summary of the invention
The invention aims to overcome the deficiencies in the prior art, and provide a zero new degree of coupling three and translate parallel machine
Device robot mechanism, this mechanism have many advantages, such as that structure is simple, zero degree of coupling, analytic expression forward kinematics solution.
The technical scheme is that a kind of zero degree of coupling has the three transfer parallel robot machine of analytic expression position forecast
Structure includes two mixing branches, moving platform (1) and silent flatform (0), which is characterized in that mixing branch one (I) includes by prismatic pair
One (P11) and 4 revolute pairs one (R of parallelograma1-Rb1-Rc1-Rd1) the same plane of movement branch that is composed in series, this point
Branch translation output rod (2) again with two (P of prismatic pair21) and two one (R of revolute pair to parallel to the axis22), two (R of revolute pair23) string
The branch for joining composition, constitutes a plane mechanism, and series connection two parallels to the axis again on the translation output rod (2) of the plane mechanism
Three (R of revolute pair24), four (R of revolute pair25)；And mixing branch two (II) includes parallel four side being made of 4 revolute pairs
Two (R of shapea3-Rb3-Rc3-Rd3), and five (R of revolute pair is serially connected on two short side bars of parallelogram two respectively32) and revolute pair
Six (R33), and three (P of prismatic pair31) and five (R of revolute pair32) be connected in series；Further, one end of moving platform (1) with mix branch
Four (R of revolute pair on one (I)25), the other end and the six (R of revolute pair mixed on branch two (II)33) connection, and revolute pair four
(R25) and six (R of revolute pair33) axis be mutually perpendicular to.
Further, three one (P of prismatic pair on silent flatform (0)11), two (P of prismatic pair21), three (P of prismatic pair31) replaceable
For revolute pair.
This three transfer parallel robot mechanism, the degree of coupling zero, and there is analytic expression position forecast.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram of two embodiments of the invention.
Specific embodiment
Technology of the invention is given below by attached drawing and example and is further explained.
Parallel institution shown in FIG. 1 can be one embodiment of the present of invention, and technical solution is such that one kind zero couples
Spend have analytic expression position forecast three transfer parallel robot mechanism, include two mixing branches, moving platform 1 and silent flatform 0,
Mixing one I of branch includes by one P of prismatic pair11With one R of parallelogram of 4 revolute pairsa1-Rb1-Rc1-Rd1What is be composed in series is same
One plane of movement branch, the translation output rod 2 of the branch again with two P of prismatic pair21And two one R of revolute pair to parallel to the axis22、
Two R of revolute pair23The branch being composed in series constitutes a plane mechanism, and series connection two on the translation output rod 2 of the plane mechanism
A three R of revolute pair to parallel to the axis24, four R of revolute pair25；Mixing branch 2 II is made of comprising one 4 revolute pairs parallel
Two R of quadranglea3-Rb3-Rc3-Rd3, and five R of revolute pair is serially connected on two short side bars of parallelogram two respectively32And revolute pair
Six R33, and three P of prismatic pair31With five R of revolute pair32It is connected in series；Further, one end of moving platform 1 with mix on one I of branch
Four R of revolute pair25, the other end and six R of revolute pair mixed on branch 2 II33Connection, and four R of revolute pair25With six R of revolute pair33's
Axis is mutually perpendicular to.
Further, three one P of prismatic pair on silent flatform 011, two P of prismatic pair21, three P of prismatic pair31It can be replaced rotation
It is secondary.
This three transfer parallel robot mechanism, structure is simple, good rigidity, and the degree of coupling is zero, has analytic expression position
Normal solution, dynamic analysis solve convenient.
Claims (3)
1. a kind of zero degree of coupling has the three transfer parallel robot mechanism of analytic expression position forecast, comprising two mixing branches,
Moving platform (1) and silent flatform (0), which is characterized in that mixing branch one (I) includes by one (P of prismatic pair11) and 4 revolute pairs
One (R of parallelograma1-Rb1-Rc1-Rd1) the same plane of movement branch that is composed in series, the translation output rod (2) of the branch is again
With two (P of prismatic pair21) and two one (R of revolute pair to parallel to the axis22), two (R of revolute pair23) branch that is composed in series, constitute one
A plane mechanism, connect on the translation output rod (2) of the plane mechanism two three (R of revolute pair to parallel to the axis again24), revolute pair
Four (R25)；And mixing branch two (II) includes a two (R of parallelogram being made of 4 revolute pairsa3-Rb3-Rc3-Rd3),
And it is serially connected with five (R of revolute pair respectively on two short side bars of parallelogram two32) and six (R of revolute pair33), and prismatic pair three
(P31) and five (R of revolute pair32) be connected in series；Further, one end of moving platform (1) with mix the revolute pair four on branch one (I)
(R25), the other end and the six (R of revolute pair mixed on branch two (II)33) connection, and four (R of revolute pair25) and six (R of revolute pair33)
Axis be mutually perpendicular to.
2. zero degree of coupling according to claim 1 has the three transfer parallel robot mechanism of analytic expression position forecast, special
Sign is, three one (P of prismatic pair on silent flatform (0)11), two (P of prismatic pair21), three (P of prismatic pair31) it can be replaced rotation
It is secondary.
3. there is the three transfer parallel robot mechanism of analytic expression position forecast by zero degree of coupling described in claim 1 and 2,
The degree of coupling is zero, and has analytic expression position forecast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910500615.3A CN110142746B (en) | 2019-06-11 | 2019-06-11 | Three-translation parallel robot mechanism with zero coupling degree and analytic position positive solution |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910500615.3A CN110142746B (en) | 2019-06-11 | 2019-06-11 | Three-translation parallel robot mechanism with zero coupling degree and analytic position positive solution |
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| CN110142746A true CN110142746A (en) | 2019-08-20 |
| CN110142746B CN110142746B (en) | 2022-05-20 |
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| CN201910500615.3A Active CN110142746B (en) | 2019-06-11 | 2019-06-11 | Three-translation parallel robot mechanism with zero coupling degree and analytic position positive solution |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
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| CN1651187A (en) * | 2005-03-03 | 2005-08-10 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine |
| US20060249717A1 (en) * | 2003-07-15 | 2006-11-09 | Francois Conti | Device for transmitting a movement having a parallel kinematics transmission structure providing three translational degrees of freedom |
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| CN107263448A (en) * | 2017-06-29 | 2017-10-20 | 常州大学 | A kind of asymmetric three translation spaces parallel institution manipulator |
| CN109129437A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of degree of coupling is 1 but has three translation-parallel-operation platforms of parsing position forecast |
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2019
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| US20060249717A1 (en) * | 2003-07-15 | 2006-11-09 | Francois Conti | Device for transmitting a movement having a parallel kinematics transmission structure providing three translational degrees of freedom |
| CN1651187A (en) * | 2005-03-03 | 2005-08-10 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for virtual axis coordinate measuring machine |
| CN105619385A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot mechanism with low-coupling-degree two-movement-pair movable platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
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| CN110142746B (en) | 2022-05-20 |
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