CN1127401C - Three free degree moving parallel connected robot mechanism - Google Patents
Three free degree moving parallel connected robot mechanism Download PDFInfo
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- CN1127401C CN1127401C CN 01104454 CN01104454A CN1127401C CN 1127401 C CN1127401 C CN 1127401C CN 01104454 CN01104454 CN 01104454 CN 01104454 A CN01104454 A CN 01104454A CN 1127401 C CN1127401 C CN 1127401C
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Abstract
The present invention belongs to the robot and mechanical manufacture field. A novel three-degree-of-freedom parallel moving mechanism provided by the present invention comprises various concrete mechanisms for being selected. The mechanism can serve as a robot to move in any direction of the three-dimensional space. The mechanisms can be applied as robots to move in any direction of the three-dimensional space. The mechanisms can be used as robots or parallel machine tools with three moving degrees of freedom or micromotion devices. Structurally, the mechanisms are respectively composed of a lower platform serving as a fixed machine frame, an upper movable platform and the same three kinematic link branches connecting the upper platform and the lower platform, and linear input can be used.
Description
Affiliated technical field
The present invention relates to robot and mechanical manufacturing field.
Background technology
Three free degree moving parallel connected robot mechanism can be implemented in moving of three-dimensional any direction.Be that it can move, move or move along the Z direction along the Y direction along the coordinate directions X separately, also can move along their any combinations of directions.They can be employed as robot, fine motion and make device or have the parallel machine of three one-movement-freedom-degrees.Existing three-freedom mobile parallel connection mechanism comprises famous Delta mechanism, and this mechanism is made up of 15 kinematic pairs of 14 bars, and, wherein contain 12 ball pairs, very complicated on the structure.21 revolute pairs of 17 bars are contained in the TsaiShi mechanism (USANo.5656905) of U.S. Patent Publication, and structure is also very complicated.Also having a kind of is to contain the nearly complex mechanism of 18 universal hinges.
Summary of the invention
In order to overcome existing three free degree moving parallel connected device people's above-mentioned deficiency, the invention provides a kind of three free degree moving parallel connected robot mechanism, it is available that multiple different concrete mechanism is not only contained in this mechanism, and can be used as robot and be implemented in any direction of three dimensions and move.
The technical solution adopted for the present invention to solve the technical problems is: a moving platform is connected with a fixed platform as frame by three identical branches, contain a revolute pair (R) in each branch, a moving sets (P) and a cylindrical pair (C), the axis of the axis of revolute pair (R) and cylindrical pair (C) is parallel to each other, the axis normal of moving sets (P) is in the axis of revolute pair (R) or cylindrical pair (C), the axis of three revolute pairs (R) can not be all parallel in three branches, and the kinematic pair that connects fixed platform can be revolute pair (R) or moving sets (P) or cylindrical pair (C); The kinematic pair that connects moving platform also can be revolute pair (R) or moving sets (P) or cylindrical pair (C); Learn principle according to space mechanism, such RPC branch can be converted into the RPRR branch of an equivalence, and three revolute pairs (R) axis wherein is parallel to each other, and the axis of the axis of moving sets (P) and revolute pair (R) can not be vertical mutually.
The present invention has compared following advantage with prior art: simple in structure, rigidity height, identical parts quantity are many, make easily and can be according to application requirements, and revolute pair or moving sets all can be used as the motion input.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of 3-RPC-1 type moving parallel connected robot mechanism of the present invention.
Fig. 2 is the structural representation of 3-RPC-2 type moving parallel connected robot mechanism of the present invention.
Fig. 3 is the structural representation of 3-PRC moving parallel connected robot mechanism of the present invention.
Fig. 4 is the structural representation of 3-PCR moving parallel connected robot mechanism of the present invention.
Fig. 5 is the structural representation of 3-CPR moving parallel connected robot mechanism of the present invention.
Fig. 6 is the structural representation of 3-RPRR moving parallel connected robot mechanism of the present invention.
1. fixed platforms among the figure, 2. moving platform, 3. the cylindrical pair note is with C, and 4. the moving sets note is with P, and 5. the revolute pair note is with R.
The specific embodiment
Embodiment 1:
3-RPC-1 type moving parallel connected robot mechanism (see figure 1), moving platform 2 is connected with fixed platform 1 by three identical RPC branches, the axis coplane of three revolute pairs 5 of connection fixed platform 1 and tangent with same circumference, the axis coplane of three cylindrical pairs 3 of connection moving platform 2 and tangent with same circumference.
Embodiment 2:
3-RPC-2 type moving parallel connected robot mechanism structure (see figure 2), moving platform 2 is connected with fixed platform 1 by three identical RPC branches, the axis that connects three revolute pairs 5 of fixed platform 1 meets at a bit, and the axis that connects three cylindrical pairs 3 of moving platform 2 also meets at a bit.
Embodiment 3:
3-PRC type moving parallel connected robot mechanism structure (see figure 3), moving platform 2 is connected with fixed platform 1 by three identical PRC branches, the axis normal fixed platform 1 that connects three moving sets 4 of fixed platform 1, the axis coplane of three cylindrical pairs 3 of connection moving platform 2 and tangent with same circumference.
Embodiment 4:
3-PCR type moving parallel connected robot mechanism structure (see figure 4), moving platform 2 is connected with fixed platform 1 by three identical PCR branches, the axis normal fixed platform 1 that connects three moving sets 4 of fixed platform 1, the axis coplane of three revolute pairs 5 of connection moving platform 2 and tangent with same circumference.
Embodiment 5:
3-CPR type moving parallel connected robot mechanism structure (see figure 5), moving platform 2 is connected with fixed platform 1 by three identical CPR branches, it is vertical mutually and meet at a bit to connect the axis of three cylindrical pairs 3 of fixed platform 1, and the axis of three revolute pairs 5 that connects moving platform 2 is vertical but non-intersect mutually.
Embodiment 6:
3-RPRR type moving parallel connected robot mechanism structure (see figure 6), moving platform 2 is connected with fixed platform 1 by three identical RPRR branches, the axis coplane of three revolute pairs 5 of connection moving platform 2 and tangent with same circumference, the axis coplane of three revolute pairs (5) of connection fixed platform 1 and tangent with same circumference.
Claims (7)
1. three free degree moving parallel connected robot mechanism, moving platform (2) is connected with a fixed platform as frame (1) by three identical branches, contain a revolute pair (5), a moving sets (4) and a cylindrical pair (3) in each branch, it is characterized in that: the axis of the axis of revolute pair (5) and cylindrical pair (3) is parallel to each other, the axis normal of moving sets (4) is in the axis of revolute pair (5) and cylindrical pair (3), and the axis of three revolute pairs (5) can not be all parallel in three branches; Also can contain three revolute pairs (5) and a moving sets (4) in the branch, the axis of three revolute pairs (5) wherein is parallel to each other, and the axis of moving sets axis (4) and revolute pair (5) can not be vertical mutually.
2. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: the axis coplane of three revolute pairs (5) of connection fixed platform (1) and tangent, the axis coplane of three cylindrical pairs (3) of connection moving platform (2) and tangent with same circumference with same circumference.
3. three free degree moving parallel connected robot mechanism according to claim 1 is characterized in that: the axis that connects three revolute pairs (5) of fixed platform (1) meets at a bit, and the axis that connects three cylindrical pairs (3) of moving platform (2) also meets at a bit.
4. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: connect the axis normal fixed platform (1) of three moving sets (4) of fixed platform (1), the axis coplane of three cylindrical pairs (3) of connection moving platform (2) and tangent with same circumference.
5. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: connect the axis normal fixed platform (1) of three moving sets (4) of fixed platform (1), the axis coplane of three revolute pairs (5) of connection moving platform (2) and tangent with same circumference.
6. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: it is vertical mutually and meet at a bit to connect the axis of three cylindrical pairs (3) of fixed platform (1), and the axis of three revolute pairs (5) that connects moving platform (2) is vertical but non-intersect mutually.
7. three free degree moving parallel connected robot mechanism according to claim 1, it is characterized in that: the axis coplane of three revolute pairs (5) of connection moving platform (2) and tangent, the axis coplane of three revolute pairs (5) of connection fixed platform (1) and tangent with same circumference with same circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01104454 CN1127401C (en) | 2001-02-27 | 2001-02-27 | Three free degree moving parallel connected robot mechanism |
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| CN 01104454 CN1127401C (en) | 2001-02-27 | 2001-02-27 | Three free degree moving parallel connected robot mechanism |
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| CN1311083A CN1311083A (en) | 2001-09-05 |
| CN1127401C true CN1127401C (en) | 2003-11-12 |
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| CN 01104454 Expired - Fee Related CN1127401C (en) | 2001-02-27 | 2001-02-27 | Three free degree moving parallel connected robot mechanism |
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-
2001
- 2001-02-27 CN CN 01104454 patent/CN1127401C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100355536C (en) * | 2005-12-02 | 2007-12-19 | 北京理工大学 | 3-PPTTRS six freedom degree parallel precise jiggle robot |
| CN100360286C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | Three-degree-of-freedom steel band parallel robot mechanism |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN1986148B (en) * | 2006-12-22 | 2010-05-19 | 清华大学 | Parallel triaxial head structure |
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| CN1311083A (en) | 2001-09-05 |
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