CN111230843A

CN111230843A - Single-degree-of-freedom single-loop three-translation and one-rotation parallel operation platform

Info

Publication number: CN111230843A
Application number: CN202010111993.5A
Authority: CN
Inventors: 沈惠平; 李菊; 李云峰
Original assignee: Changzhou University
Current assignee: Changzhou University
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2020-06-05
Anticipated expiration: 2040-02-24
Also published as: CN111230843B

Abstract

A single-degree-of-freedom single-loop three-translation and one-rotation parallel operation platform is composed of two simple branched chains which are respectively connected to a movable platform (1) and a static platform (0), wherein the simple branched chain I (I) is a structure I (R) formed by connecting two parallel axis revolute pairs in series₂₁‑R₂₂) And a revolute pair I (R)₂₃) In series, but with a revolute pair one (R)₂₃) The axis of the rotary shaft is vertical to the axes of the front two parallel axis revolute pairs; simple branched chain II (II) is a structure II (R) formed by connecting three parallel axis revolute pairs in series₁₁‑R₁₂‑R₁₃) And a revolute pair II (R)₁₄) In series, but with revolute pair two (R)₁₄) The axis of the rotary shaft is vertical to the axes of the first three parallel axis revolute pairs; revolute pair I (R)₂₃) And a second revolute pair (R)₁₄) The two ends of the movable platform (1) are connected, and the axes of the rotating pairs of the movable platform and the movable platform are parallel; revolute pair III₂₁) And a revolute pair IV (R)₁₁) Is located in the plane of the stationary platform (0). The operation platform is easy to manufacture, has the degree of freedom of 1, can generate movement of three translation and one rotation, and only moves independentlyThere are 1.

Description

Single-degree-of-freedom single-loop three-translation and one-rotation parallel operation platform

Technical Field

The invention relates to a parallel robot operating platform with less input and multiple outputs, and provides a novel single-input three-translation one-rotation parallel operating platform for a robot operator and the like.

Background

Many industrial applications require space mechanisms with simple structure, single degree of freedom but capable of producing spatially complex movements for mixers, polishers, blenders, vibrating screens, etc. The applicant has invented a series of single-degree-of-freedom parallel mechanisms which can generate complex motions of spatial two-rotation, three-rotation, one-translation two-rotation, one-translation three-rotation, two-translation two-rotation, three-translation three-rotation and the like, and the parallel mechanisms are used as multi-dimensional vibrating sieves and the like, can ensure that materials are fully turned over, and sieve pores are not easily blocked by 'sieve particles', so that the screening efficiency can be improved, and the parallel mechanisms can replace the traditional circular vibrating sieves and linear vibrating sieves at present; can also be used as a mixer and a stirrer, can uniformly mix materials and has high mixing efficiency. The energy can be saved and the consumption can be reduced no matter the material is used for screening or mixing and stirring. However, a single-degree-of-freedom three-translation one-rotation parallel mechanism which is simple in structure and practical does not exist at present.

The invention provides a novel parallel mechanism which is driven by single degree of freedom and can generate spatial three-translation and one-rotation, so as to meet the requirements of various energy-saving and consumption-reducing production equipment.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a novel single-degree-of-freedom three-translation one-rotation parallel robot operating platform, which has the advantages of good rigidity, simpler structure and easy processing; zero coupling degree, easy kinematics positive solution and dynamics solution, and the like.

The invention provides a single-degree-of-freedom single-loop three-translation and one-rotation parallel operation platform which is composed of two simple branched chains respectively connected to a movable platform (1) and a static platform (0), wherein the simple branched chain I (I) is a structure I (R) formed by connecting two parallel axis revolute pairs in series₂₁||R₂₂) And a revolute pair I (R)₂₃) In series, but with a revolute pair one (R)₂₃) The axis of the rotary shaft is vertical to the axes of the front two parallel axis revolute pairs; simple branched chain II (II) is a structure II (R) formed by connecting three parallel axis revolute pairs in series₁₁||R₁₂||R₁₃) And a revolute pair II (R)₁₄) In series, but with revolute pair two (R)₁₄) The axis of the rotary shaft is vertical to the axes of the first three parallel axis revolute pairs; revolute pair I (R)₂₃) And a second revolute pair (R)₁₄) The two ends of the movable platform (1) are connected, and the axes of the rotating pairs of the movable platform and the movable platform are parallel; revolute pair III (R) on static platform (0)₂₁) And a revolute pair IV (R)₁₁) Lie in a plane.

Go toStep three (R) revolute pair on static platform (0)₂₁) And a revolute pair IV (R)₁₁) And the moving pair can be replaced by the moving pair respectively, but the direction of the axis of the moving pair is in a plane perpendicular to the axis of the replaced rotating pair.

The three-translation and one-rotation parallel operation platform has the freedom degree of 1, can generate three-translation and one-rotation movement, and only 1 independent output movement is generated; the degree of coupling is zero and has a positive solution in signed position.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Detailed Description

The technique of the present invention is further illustrated by the accompanying drawings and examples.

The parallel mechanism shown in fig. 1 can be one of the embodiments of the present invention, and the technical solution is as follows: a single-degree-of-freedom single-loop three-translation and one-rotation parallel operation platform is composed of two simple branched chains which are respectively connected to a movable platform 1 and a static platform 0, and is characterized in that the simple branched chain I is a structure R formed by connecting two parallel axis revolute pairs in series₂₁||R₂₂And a revolute pair R₂₃In series, but with revolute pair R₂₃The axis of the rotary shaft is vertical to the axes of the front two parallel axis revolute pairs; simple branched chain II is a structure II R formed by connecting three parallel axis revolute pairs in series₁₁||R₁₂||R₁₃And a revolute pair II R₁₄In series, but with revolute pair two R₁₄The axis of the rotary shaft is vertical to the axes of the first three parallel axis revolute pairs; revolute pair R₂₃And a revolute pair II R₁₄The two ends of the movable platform 1 are connected, and the axes of the rotating pairs of the two are parallel; revolute pair three R on static platform 0₂₁And four R of revolute pair₁₁Lie in a plane and are perpendicular to each other.

The degree of freedom of the mechanism is 1, and when the static platform is taken, the four R revolute pairs are connected with 0₁₁When the device is driven, the movable platform 1 can realize three translations and one revolute pair R on the orbiting platform 1₂₃The rotation of the axes outputs, of which only one motion is independent, while the others are derivatives.

Further, three R revolute pairs on the static platform 0₂₁And four R of revolute pair₁₁And the moving pair can be replaced by the moving pair respectively, but the direction of the axis of the moving pair is in a plane perpendicular to the axis of the replaced rotating pair.

The single-degree-of-freedom single-loop three-translation one-rotation parallel operation platform is composed of revolute pairs, is simple to manufacture and process, has zero coupling degree, and has a symbolic position positive solution.

Claims

1. A single-degree-of-freedom single-loop three-translation one-rotation parallel operation platform is composed of two simple branched chains which are respectively connected to a movable platform (1) and a static platform (0), and is characterized in that the simple branched chain I (I) is a structure I (R) formed by connecting two parallel axis revolute pairs in series₂₁||R₂₂) And a revolute pair I (R)₂₃) In series, but with a revolute pair one (R)₂₃) The axis of the rotary shaft is vertical to the axes of the front two parallel axis revolute pairs; simple branched chain II (II) is a structure II (R) formed by connecting three parallel axis revolute pairs in series₁₁||R₁₂||R₁₃) And a revolute pair II (R)₁₄) In series, but with revolute pair two (R)₁₄) The axis of the rotary shaft is vertical to the axes of the first three parallel axis revolute pairs; revolute pair I (R)₂₃) And a second revolute pair (R)₁₄) The two ends of the movable platform (1) are connected, and the axes of the rotating pairs of the movable platform and the movable platform are parallel; revolute pair III (R) on static platform (0)₂₁) And a revolute pair IV (R)₁₁) Lie in a plane.

2. A single degree of freedom single loop three translation one rotation parallel operation platform according to claim 1, characterized in that revolute pair three (R) on the static platform (0)₂₁) And a revolute pair IV (R)₁₁) And the moving pair can be replaced by the moving pair respectively, but the direction of the axis of the moving pair is in a plane perpendicular to the axis of the replaced rotating pair.

3. A single degree of freedom single loop three translation and one rotation parallel operation platform according to claims 1 and 2, characterized in that its degree of freedom is 1, which can generate three translation and one rotation movement, but only 1 independent output movement; the degree of coupling is zero and has a positive solution in signed position.