CN113001507A - Six-dimensional parallel mechanism - Google Patents
Six-dimensional parallel mechanism Download PDFInfo
- Publication number
- CN113001507A CN113001507A CN201911332112.6A CN201911332112A CN113001507A CN 113001507 A CN113001507 A CN 113001507A CN 201911332112 A CN201911332112 A CN 201911332112A CN 113001507 A CN113001507 A CN 113001507A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- branched chain
- revolute pair
- parallel mechanism
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention is suitable for the technical field of parallel mechanisms, and provides a six-dimensional parallel mechanism which is provided with a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a movable platform and a static platform, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure and respectively comprise a first connecting rod, a second connecting rod and a second connecting rod, the first connecting rod and the static platform are connected through a first revolute pair, the first connecting rod and the second connecting rod are connected through a second revolute pair, the second connecting rod and the second connecting rod are connected through a first hook hinge, and the second connecting rod and the movable platform are connected through a third revolute pair; the fifth branched chain comprises a fourth connecting rod and a fifth connecting rod, wherein the fourth connecting rod is connected with the static platform through a fourth revolute pair, the fourth connecting rod is connected with the fifth connecting rod through a second hook hinge, and the fifth connecting rod is connected with the movable platform through a fifth revolute pair. The parallel mechanism has an asymmetric structure, needs less driving, is simple in control method, and generates more motion forms.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a six-dimensional parallel mechanism.
Background
The parallel robot mechanism is a multi-loop closed chain with multiple degrees of freedom in space, has the characteristics of high rigidity, high bearing capacity, small accumulated error, good dynamic performance, compact structure and the like, and is widely applied to the aspects of submarines, docking devices and attitude controllers of space vehicles in the military field, cell operation robots in biomedical engineering, microsurgical operation robots, attitude adjusting devices of large radio astronomical telescopes and the like.
Each branch of the parallel mechanism of six-dimensional motion has six independent degrees of freedom, or each branch must be able to generate a six-dimensional displacement group. Therefore, on the basis of a Stewart six-freedom-degree parallel mechanism, the type, the arrangement sequence, the direction and the like of the kinematic pairs in the branches are changed, and six independent degrees of freedom of the branches are kept, so that a new six-freedom-degree parallel mechanism model can be obtained. For example, CN104476566A proposes a three-branched-chain six-degree-of-freedom parallel mechanism with a rope-driven joint, and relates to the fields of robotics, medical instruments, positioning devices, and the like. The parallel mechanism consists of a moving platform, a fixed platform and three moving branched chains connecting the two platforms, wherein each moving branched chain consists of a driving motor, a speed reducer device, a rope pulley, a driving rope, a rope driving rotary joint, a rope driving linear joint and a ball hinge from the fixed platform to the moving platform. Compared with the existing six-degree-of-freedom parallel mechanism, the driving device of the mechanism is a rope-driven rotary joint and a rope-driven linear joint, and due to the adoption of a rope driving mode, on one hand, all traction motors can be arranged on a fixed platform to greatly reduce the load of the mechanism, so that the transmission performance of the mechanism is improved; on the other hand, the vibration of the mechanism motion can be effectively reduced through the rope driving, which has important practical significance for expanding the application of the parallel mechanism in the fields of medical instruments, positioning devices and the like.
However, most of the branched chains of the traditional six-dimensional motion parallel mechanism are symmetrically distributed and arranged, and more driving is needed, the control method is complex, or the motion forms generated are relatively few.
Disclosure of Invention
The invention aims to provide a six-dimensional parallel mechanism which has an asymmetric structure, needs less driving, is simple in control method and generates more motion forms.
The invention provides a six-dimensional parallel mechanism which is provided with a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a movable platform and a static platform, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure and respectively comprise a first connecting rod, a second connecting rod and a second connecting rod, the first connecting rod is connected with the static platform through a first revolute pair, the first connecting rod is connected with the second connecting rod through a second revolute pair, the second connecting rod is connected with the second connecting rod through a first hooke hinge, and the second connecting rod is connected with the movable platform through a third revolute pair; the fifth branched chain comprises a fourth connecting rod and a fifth connecting rod, wherein the fourth connecting rod is connected with the static platform through a fourth revolute pair, the fourth connecting rod is connected with the fifth connecting rod through a second hook hinge, and the fifth connecting rod is connected with the movable platform through a fifth revolute pair.
In some embodiments, one of the axes of the first hooke joint of the first, second, third, and fourth branches intersects with the axis of the third revolute pair at the same point.
In some embodiments, the connection points of the first branch chain, the second branch chain, the third branch chain, the fourth branch chain and the fifth branch chain and the movable platform are uniformly distributed on the movable platform.
In summary, the present invention has the advantages that the parallel mechanism has an asymmetric structure, requires less driving, is simple in control method, and generates more motion forms.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a six-dimensional parallel mechanism according to an embodiment of the present invention.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting. For example, the description of a structure having a first feature over or on a second feature may include direct contact between the first and second features, or another feature disposed between the first and second features, such that the first and second features are not in direct contact.
Spatially relative terms, such as above or below, are used herein for ease of description of one element or feature relative to another element or feature in the figures. Devices that are used or operated in different orientations than those depicted in the figures are included.
The shapes, sizes, thicknesses, and angles of inclination in the drawings may not be drawn to scale or simplified for clarity of illustration, but are provided for illustration only.
As shown in fig. 1, the six-dimensional parallel mechanism has a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a movable platform 2 and a static platform 1, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure, and each of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain comprises a first connecting rod 2, a second connecting rod 3 and a second connecting rod 4, wherein the first connecting rod 2 is connected with the static platform 1 through a first revolute pair, the first connecting rod 2 is connected with the second connecting rod 3 through a second revolute pair, the second connecting rod 3 is connected with the second connecting rod 4 through a first hooke hinge, and the second connecting rod 4 is connected with the movable platform 2 through a third revolute pair; the fifth branched chain comprises a fourth connecting rod 5 and a fifth connecting rod 6, wherein the fourth connecting rod 5 is connected with the static platform 1 through a fourth revolute pair, the fourth connecting rod 5 is connected with the fifth connecting rod 6 through a second hook hinge, and the fifth connecting rod 6 is connected with the movable platform 2 through a fifth revolute pair.
Preferably, one of the axes of the first hooke joints of the first, second, third and fourth branches intersects with the axis of the third revolute pair at the same point, i.e. point O in the figure.
The connection points of the first branched chain, the second branched chain, the third branched chain, the fourth branched chain and the fifth branched chain and the movable platform 2 are uniformly distributed on the movable platform 2.
The parallel mechanism can realize three-dimensional movement and three-dimensional rotation, has an asymmetric structure, requires less driving, is simple in control method, and generates more motion forms.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (3)
1. A six-dimensional parallel mechanism is characterized by comprising a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain, a movable platform and a static platform, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure and respectively comprise a first connecting rod, a second connecting rod and a second connecting rod, the first connecting rod and the static platform are connected through a first revolute pair, the first connecting rod and the second connecting rod are connected through a second revolute pair, the second connecting rod and the second connecting rod are connected through a first hook hinge, and the second connecting rod and the movable platform are connected through a third revolute pair; the fifth branched chain comprises a fourth connecting rod and a fifth connecting rod, wherein the fourth connecting rod is connected with the static platform through a fourth revolute pair, the fourth connecting rod is connected with the fifth connecting rod through a second hook hinge, and the fifth connecting rod is connected with the movable platform through a fifth revolute pair.
2. The six-dimensional parallel mechanism according to claim 1, wherein one of the axes of the first hooke joint of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain intersects with the axis of the third revolute pair at the same point.
3. The six-dimensional parallel mechanism according to claim 1, wherein the connection points of the first branched chain, the second branched chain, the third branched chain, the fourth branched chain and the fifth branched chain with the movable platform are uniformly distributed on the movable platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911332112.6A CN113001507A (en) | 2019-12-21 | 2019-12-21 | Six-dimensional parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911332112.6A CN113001507A (en) | 2019-12-21 | 2019-12-21 | Six-dimensional parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113001507A true CN113001507A (en) | 2021-06-22 |
Family
ID=76382498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911332112.6A Withdrawn CN113001507A (en) | 2019-12-21 | 2019-12-21 | Six-dimensional parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113001507A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476075A (en) * | 2022-01-13 | 2022-05-13 | 中国电子科技集团公司第三研究所 | Hoist and mount load gesture stable platform |
-
2019
- 2019-12-21 CN CN201911332112.6A patent/CN113001507A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114476075A (en) * | 2022-01-13 | 2022-05-13 | 中国电子科技集团公司第三研究所 | Hoist and mount load gesture stable platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Tsai | Kinematics of a three-DOF platform with three extensible limbs | |
| US11331791B2 (en) | 3 degree-of-freedoms decoupling spherical parallel mechanism | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN110238821B (en) | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit | |
| US10994410B2 (en) | Three-degree-of-freedom parallel mechanism with curved sliding pairs | |
| CN107081760A (en) | A kind of sixdegree-of-freedom simulation based on translational parallel connection mechanism | |
| Dekker et al. | Design and testing of an ultra-high-speed cable robot | |
| CN103302659B (en) | Single-degree-of-freedom metamorphic mechanism | |
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| CN112192546A (en) | Parallel mechanism driven by inner pair and outer pair in combined mode | |
| CN109571444B (en) | Two-translation one-rotation partial decoupling parallel mechanism | |
| CN113001507A (en) | Six-dimensional parallel mechanism | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| US8020465B2 (en) | Parallel spherical mechanism with two degrees of freedom | |
| CN107901029A (en) | Six axis parallel institutions and robot | |
| CN113021311A (en) | Parallel mechanism with six-dimensional motion | |
| CN106625591B (en) | Three-translation two-rotation five-degree-of-freedom parallel mechanism | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism | |
| CN213796482U (en) | Three-degree-of-freedom one-to-two-rotation parallel mechanism only comprising rotary joints | |
| CN113001508A (en) | Parallel mechanism with three-dimensional movement and two-dimensional rotation | |
| JP2001121460A (en) | Parallel link mechanism for robot | |
| CN210414528U (en) | Two-rotational-freedom parallel robot | |
| CN213796481U (en) | Parallel mechanism driven by inner pair and outer pair in combined mode | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN113001506A (en) | Four-dimensional parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210622 |
|
| WW01 | Invention patent application withdrawn after publication |