CN112238444B - Parallel mechanism containing vertical non-coplanar linear driving branched chain - Google Patents
Parallel mechanism containing vertical non-coplanar linear driving branched chain Download PDFInfo
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- CN112238444B CN112238444B CN202011118483.7A CN202011118483A CN112238444B CN 112238444 B CN112238444 B CN 112238444B CN 202011118483 A CN202011118483 A CN 202011118483A CN 112238444 B CN112238444 B CN 112238444B
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- branched chain
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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 parallel mechanism containing vertical non-coplanar linear driving branched chains. The mechanism comprises a base, a movable platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a fifth branched chain, and has five degrees of freedom. The invention has the advantages that: two vertical non-coplanar rails are adopted, so that the running stability of the mechanism is improved, the flexibility of the mechanism is ensured, the length of the rails provides a larger moving working space, the positions of two sliding blocks directly determine the displacement parameters of the moving platform in two directions, and the design and development of a control system are easy to realize; two straight driving branched chains with simple structure and high response speed are adopted, so that the moving precision in two directions can be improved, and the mechanism motion precision is further effectively improved; the mechanism adopts three same branched chains, so that the interchangeability is good, and the manufacturing and maintenance cost is reduced.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a parallel mechanism comprising vertical non-coplanar linear driving branched chains.
Background
Because the parallel mechanism is provided with a plurality of branched chains to connect the base and the movable platform, compared with the serial mechanism, the parallel mechanism has the advantages of large rigidity-weight ratio and high precision, so the parallel mechanism can be widely applied to various fields of machine tools, military, motion simulators, micro-operation robots and the like.
The six-degree-of-freedom parallel mechanism is a hotspot for parallel mechanism research and is widely applied, but compared with a few-degree-of-freedom parallel mechanism, the six-degree-of-freedom parallel mechanism generally has strong coupling and greater manufacturing difficulty, redundant degrees of freedom and mechanism parts can be wasted in some working scenes, and the five-degree-of-freedom parallel mechanism with three-dimensional movement and two-dimensional rotation can reduce the control cost, reduce the mechanism complexity and meet the processing requirements of various complex curved surfaces, so that the five-degree-of-freedom parallel mechanism which is further developed and has high stability, high precision, simple structure and easy design of a control system gradually becomes a hotspot for research, and has important scientific research value and significance.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide a parallel mechanism including vertical non-coplanar linear driving branched chains.
In order to achieve the above object, the parallel mechanism including the vertical non-coplanar linear driving branched chain provided by the invention comprises a base, a movable platform, a first branched chain, a second branched chain, a third branched chain, a fourth branched chain and a fifth branched chain;
the base comprises a base, a rack, a first rail, a second rail, a first hook hinge support and a second hook hinge support; wherein the base is fixed on the ground; the frame is vertically fixed in the middle of the surface of the base; the front surface of the base is provided with a second rail parallel to the rack; a first rail perpendicular to the base is arranged in the middle of the front end face of the rack, a first hook hinge support is arranged on the upper side of the first rail, the rotating axis of the first hook hinge support is parallel to the second rail, two sides of the first rail are respectively provided with a second hook hinge support, and the rotating axis of the second hook hinge support is parallel to the first rail;
the movable platform comprises a bedplate, a first spherical hinge support, a second spherical hinge support, a third spherical hinge support and a third Hooke hinge support, wherein the first spherical hinge support, the second spherical hinge support, the third spherical hinge support and the third Hooke hinge support are arranged on one end face of the bedplate; the third spherical hinge support is positioned in the center of the bedplate, the first spherical hinge support and the third hook hinge support are respectively arranged at the upper end and the lower end of the bedplate, the two second spherical hinge supports are symmetrically arranged at the left side and the right side of the bedplate, and the rotating axis of the third hook hinge support is vertical to the connecting line of the two second spherical hinge supports;
the first support chain comprises a first telescopic rod, a first hook hinge and a first spherical hinge; one end of the first telescopic rod is connected to a first hook hinge support of the base through a first hook hinge, and the other end of the first telescopic rod is connected to a first spherical hinge support of the movable platform through a first spherical hinge;
the second branched chain and the third branched chain have the same structure and respectively comprise a second telescopic rod, a second hook hinge and a second spherical hinge; one end of each second telescopic rod is connected to one second hook hinge support of the base through a second hook hinge, and the other end of each second telescopic rod is connected to a second spherical hinge support which is positioned on the same side of the movable platform and the second hook hinge support through a second spherical hinge;
the fourth branched chain IV comprises a third telescopic rod, a third spherical hinge, a first sliding block and a first hinged support; wherein the first slider is movably mounted on the first rail of the base; one end of the third telescopic rod is connected with a first hinged support fixedly connected to the first sliding block to form a first rotating pair, and the other end of the third telescopic rod is connected to a third spherical hinge support of the movable platform through a third spherical hinge; the rotating axis of the first rotating pair is parallel to the first rail;
the fifth branched chain V comprises a first connecting rod, a second sliding block, a third hook hinge and a second hinged support; wherein the second slider is movably mounted on the second rail of the base; one end of the first connecting rod is connected with a second hinged support fixedly connected to the second sliding block to form a second revolute pair, the other end of the first connecting rod is connected with one end of the second connecting rod to form a third revolute pair, the rotation axes of the two ends of the first connecting rod are parallel and parallel to the second rail, the other end of the second connecting rod is connected to a third hooke hinged support of the movable platform through a third hooke hinge, and the rotation axes of the two ends of the second connecting rod are parallel to each other.
The base is of a T-shaped plate structure.
The movable platform is of a circular plate-shaped structure, and the middle part of the movable platform is provided with a lightening hole.
The parallel mechanism containing the vertical different-plane linear driving branched chain has the following advantages:
1. two perpendicular different-surface tracks are adopted, the running stability of the mechanism is improved, the flexibility of the mechanism is guaranteed, the length of the tracks provides a large moving working space, the positions of the two sliding blocks directly determine the displacement parameters of the moving platform in two directions, and the control system is easy to design and develop.
2. Two straight line driving branch chains with simple structure and high response speed are adopted, so that the moving precision in two directions can be improved, and the moving precision of the mechanism is effectively improved.
3. Three same branched chains are adopted, so that the interchangeability is good, and the manufacturing and maintenance cost is reduced.
Drawings
Fig. 1 is a schematic view of the overall structure of a parallel mechanism containing vertical out-of-plane linear driving branched chains provided by the invention.
Fig. 2 is a schematic diagram of a fifth branched chain structure in the parallel mechanism.
Fig. 3 is a schematic view of the movable platform of the parallel mechanism.
FIG. 4 is a schematic view of the base of the parallel mechanism.
Detailed Description
The parallel mechanism containing the vertical out-of-plane linear driving branched chain provided by the invention is explained in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, the parallel mechanism including the vertical non-coplanar linear driving branched chain provided by the present invention includes a base 1, a movable platform 2, a first branched chain i, a second branched chain ii, a third branched chain iii, a fourth branched chain iv and a fifth branched chain v;
the base 1 comprises a base 101, a frame 102, a first rail 103, a second rail 104, a first hook hinge support 105 and a second hook hinge support 106; wherein the base 101 is fixed on the ground; the frame 102 is vertically fixed in the middle of the surface of the base 101; the front surface of the base 101 is provided with a second rail 104 parallel to the frame 102; a first rail 103 perpendicular to the base 101 is arranged in the middle of the front end face of the rack 102, a first hook hinge support 105 is arranged on the upper side of the first rail 103, the rotation axis of the first hook hinge support 105 is parallel to the second rail 104, a second hook hinge support 106 is respectively arranged on two sides of the first rail 103, and the rotation axis of the second hook hinge support 106 is parallel to the first rail 103;
the movable platform 2 comprises a bedplate 205, and a first spherical hinge support 201, a second spherical hinge support 202, a third spherical hinge support 203 and a third hooke hinge support 204 which are arranged on one end surface of the bedplate 205; the third spherical hinge support 203 is positioned at the central part of the bedplate 205, the first spherical hinge support 201 and the third hook hinge support 204 are respectively arranged at the upper end and the lower end of the bedplate 205, the two second spherical hinge supports 202 are symmetrically arranged at the left side and the right side of the bedplate 205, and the rotating axis of the third hook hinge support 204 is vertical to the connecting line of the two second spherical hinge supports 202;
the first support chain I comprises a first telescopic rod 7, a first hook hinge 10 and a first spherical hinge 12; one end of the first telescopic rod 7 is connected to the first hook hinge support 105 of the base 1 through a first hook hinge 10, and the other end of the first telescopic rod is connected to the first spherical hinge support 201 of the movable platform 2 through a first spherical hinge 12;
the second branched chain II and the third branched chain III have the same structure and respectively comprise a second telescopic rod 8, a second hook hinge 11 and a second spherical hinge 13; one end of each second telescopic rod 8 is connected to a second hook hinge support 106 of the base 1 through a second hook hinge 11, and the other end is connected to a second spherical hinge support 202, which is positioned on the same side of the movable platform 2 and the second hook hinge support 106, through a second spherical hinge 13;
the fourth branched chain IV comprises a third telescopic rod 9, a third spherical hinge 14, a first sliding block 3 and a first hinged support 301; wherein the first slider 3 is mounted in a mobile manner on a first track 103 of the base 1; one end of the third telescopic rod 9 is connected with the first hinge support 301 fixedly connected to the first sliding block 3 to form a first rotating pair 401, and the other end is connected to the third spherical hinge support 203 of the movable platform 2 through the third spherical hinge 14; the rotation axis of the first revolute pair 401 is parallel to the first rail 103;
the fifth branched chain V comprises a first connecting rod 4, a second connecting rod 5, a second sliding block 6, a third hook hinge 15 and a second hinge support 601; wherein the second slider 6 is movably mounted on the second rail 104 of the base 1; one end of the first link 4 is connected to a second hinge support 601 fixedly connected to the second slider 6 to form a second revolute pair 501, the other end is connected to one end of the second link 5 to form a third revolute pair 502, the rotational axes of the two ends of the first link 4 are parallel and parallel to the second rail 104, the other end of the second link 5 is connected to a third hooke hinge support 204 of the movable platform 2 through a third hooke hinge 15, and the rotational axes of the two ends of the second link 5 are parallel to each other.
The base 1 is of a T-shaped plate structure.
The movable platform 2 is of a circular plate-shaped structure, and the middle part of the movable platform is provided with a lightening hole.
Now, with the direction perpendicular to the second rail 104 on the base 1 as the x-axis direction, the extending direction of the second rail 104 as the y-axis direction, and the perpendicular direction as the z-axis direction, the working principle of the parallel mechanism including the perpendicular out-of-plane linear driving branched chain provided by the invention is explained as follows:
the parallel mechanism adopts telescopic rods on a first branched chain I, a second branched chain II and a third branched chain III and slide blocks on a fourth branched chain IV and a fifth branched chain V as a driving pair, and can realize the control of five degrees of freedom of a moving platform 2 by means of the mutual cooperation of the branched chains; when the telescopic rods on the first branched chain I, the second branched chain II, the third branched chain III and the fourth branched chain IV stretch simultaneously, the moving platform 2 can move in the x-axis direction; when the second sliding block 6 on the fifth branched chain V moves along the second track 104, the movable platform 2 can move in the y-axis direction by matching with other branched chains; when the first sliding block 3 on the fourth branched chain IV moves along the first track 103, the movable platform 2 can move in the z-axis direction by matching with other branched chains; one rotation axis of a third hook hinge 15 on the fifth branch chain V is parallel to the surface of the bedplate 205 on the movable platform 2, and the other rotation axis is always parallel to the y-axis direction, so that the movable platform 2 has rotation constraint around the x-axis direction; the rotation of the movable platform 2 in the z-axis direction can be realized by changing the degree difference value of the two second telescopic rods 8 on the second branched chain II and the third branched chain III; when the length of the first telescopic rod 7 on the first branched chain I is changed, the movable platform 2 can rotate in the y-axis direction by matching with other branched chains. Finally, the parallel mechanism can realize five degrees of freedom of movement in three directions and rotation in two directions.
Claims (3)
1. A parallel mechanism containing vertical non-coplanar linear driving branched chains is characterized in that: the parallel mechanism comprises a base (1), a movable platform (2), a first branched chain (I), a second branched chain (II), a third branched chain (III), a fourth branched chain (IV) and a fifth branched chain (V);
the base (1) comprises a base (101), a frame (102), a first rail (103), a second rail (104), a first Hooke hinge support (105) and a second Hooke hinge support (106); wherein the base (101) is fixed on the ground; the frame (102) is vertically fixed in the middle of the surface of the base (101); the front surface of the base (101) is provided with a second rail (104) parallel to the rack (102); a first rail (103) perpendicular to the base (101) is arranged in the middle of the front end face of the rack (102), a first hook hinge support (105) is arranged on the upper side of the first rail (103), the rotating axis of the first hook hinge support (105) is parallel to a second rail (104), a second hook hinge support (106) is arranged on each of two sides of the first rail (103), and the rotating axis of the second hook hinge support (106) is parallel to the first rail (103);
the movable platform (2) comprises a bedplate (205), and a first spherical hinge support (201), a second spherical hinge support (202), a third spherical hinge support (203) and a third hooke hinge support (204) which are arranged on one end face of the bedplate (205); the third spherical hinge support (203) is positioned at the central part of the bedplate (205), the first spherical hinge support (201) and the third Hooke hinge support (204) are respectively arranged at the upper end and the lower end of the bedplate (205), the two second spherical hinge supports (202) are symmetrically arranged at the left side and the right side of the bedplate (205), and the rotating axis of the third Hooke hinge support (204) is vertical to the connecting line of the two second spherical hinge supports (202);
the first branched chain (I) comprises a first telescopic rod (7), a first hook hinge (10) and a first spherical hinge (12); one end of the first telescopic rod (7) is connected to a first hook hinge support (105) of the base (1) through a first hook hinge (10), and the other end of the first telescopic rod is connected to a first spherical hinge support (201) of the movable platform (2) through a first spherical hinge (12);
the second branched chain (II) and the third branched chain (III) have the same structure and respectively comprise a second telescopic rod (8), a second hook hinge (11) and a second spherical hinge (13); one end of each second telescopic rod (8) is connected to one second hook hinge support (106) of the base (1) through a second hook hinge (11), and the other end of each second telescopic rod is connected to a second spherical hinge support (202) which is positioned on the same side of the movable platform (2) and the second hook hinge support (106) through a second spherical hinge (13);
the fourth branched chain (IV) comprises a third telescopic rod (9), a third spherical hinge (14), a first sliding block (3) and a first hinged support (301); wherein the first slider (3) is movably mounted on a first rail (103) of the base (1); one end of a third telescopic rod (9) is connected with a first hinged support (301) fixedly connected on the first sliding block (3) to form a first rotating pair (401), and the other end of the third telescopic rod is connected to a third spherical hinge support (203) of the movable platform (2) through a third spherical hinge (14); the rotating axis of the first rotating pair (401) is parallel to the first track (103);
the fifth branched chain (V) comprises a first connecting rod (4), a second connecting rod (5), a second sliding block (6), a third hook joint (15) and a second hinged support (601); wherein the second slider (6) is mounted in a mobile manner on a second track (104) of the base (1); one end of the first connecting rod (4) is connected with a second hinged support (601) fixedly connected on the second sliding block (6) to form a second revolute pair (501), the other end of the first connecting rod is connected with one end of the second connecting rod (5) to form a third revolute pair (502), the rotation axes of the two ends of the first connecting rod (4) are parallel and are parallel to the second track (104), the other end of the second connecting rod (5) is connected to a third hooke hinged support (204) of the movable platform (2) through a third hooke hinge (15), and the rotation axes of the two ends of the second connecting rod (5) are parallel to each other.
2. The parallel mechanism comprising the vertical out-of-plane linear driving branched chain as claimed in claim 1, wherein: the base (1) is of a T-shaped plate structure.
3. The parallel mechanism comprising the vertical out-of-plane linear driving branched chain as claimed in claim 1, wherein: the movable platform (2) is of a circular plate-shaped structure, and a lightening hole is formed in the middle of the movable platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011118483.7A CN112238444B (en) | 2020-10-19 | 2020-10-19 | Parallel mechanism containing vertical non-coplanar linear driving branched chain |
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| CN202011118483.7A CN112238444B (en) | 2020-10-19 | 2020-10-19 | Parallel mechanism containing vertical non-coplanar linear driving branched chain |
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| CN112238444B true CN112238444B (en) | 2022-08-05 |
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| CN113799104B (en) * | 2021-11-09 | 2023-09-29 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with symmetrical branched chains |
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| US9684023B2 (en) * | 2015-06-30 | 2017-06-20 | Microsoft Technology Licensing, Llc | RF measurement device and system |
| CN106002957B (en) * | 2016-07-15 | 2019-04-09 | 安徽锐聪机器人有限公司 | Six degree of freedom full ejector half motion simulator mechanism |
| GB2560737A (en) * | 2017-03-22 | 2018-09-26 | Hybrid Manufacturing Tech Limited | A machine tool |
| CN110076759A (en) * | 2019-06-04 | 2019-08-02 | 北京信息职业技术学院 | A kind of five-axle linkage parallel institution |
| CN111300380B (en) * | 2019-11-27 | 2021-06-29 | 哈尔滨工业大学（深圳） | Six-degree-of-freedom parallel robot based on redundant drive |
| CN111419634B (en) * | 2020-04-06 | 2024-03-22 | 河北工业大学 | Ankle joint rehabilitation parallel mechanism |
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