CN1381337A - Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms - Google Patents
Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms Download PDFInfo
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Abstract
A spatially symmetrical parallel robot mechanism with dual groups of parallel lines and 3,4, or 5 degrees of freedom features that the moving platform is connected with the static one via 3,4, or 5 branches with the same structure, the first two moving sets in each branch are rotation sets whose axes are parallel, and other rotation sets in each branch have their axes parallel to each other and to the static platform. Its advantages are simple structure, low cost, and easy control.
Description
This invention belongs to robot and mechanical manufacturing field, particularly a kind of novel lower-mobility symmetry parallel robot mechanism with two sets of parallel.
Parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more, compares with serial mechanism, and parallel robot mechanism has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel robot mechanism is widely used in the aspect such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor except that parallel robot.
The lower-mobility parallel robot mechanism is meant that number of degrees of freedom, is 3,4, the parallel robot mechanism of 5DOF, can be applicable to many parallel robot operations that are suitable for, but the task that does not need whole 6 frees degree, because their free degree is less, simple in structure than six-degree-of-freedom parallel connection mechanism, economical cheap, control is relatively easy, therefore has good application prospects.
The object of the present invention is to provide a kind of novel have two sets of parallel 3,4,5DOF symmetry parallel robot mechanism, have advantages such as simple in structure, that process and assemble good, rigidity is big.
This novel 3 of the two sets of parallel that have, 4,5DOF symmetry parallel robot mechanism, comprise moving platform 1, fixed platform 11 is formed with the identical in structure branch that is connected moving platform 1 and fixed platform 11, it is characterized in that: moving platform 1 is by 3,4 or 5 identical in structure branches are connected with fixed platform 11, preceding 2 kinematic pairs 2 and 4 that begin to count from moving platform 1 in each branch are revolute pair, their axis is parallel to each other, revolute pair 6 and 10 in each branch, their axis is parallel to each other, and be parallel to fixed platform 11, fixed platform 11 and moving platform 1 can be triangles, quadrangle or pentagon;
In first kind of 3DOF space symmetry moving parallel connected robot mechanism with two sets of parallel, fixed platform 11 and moving platform 1 all are triangles, be connected by 3 identical in structure branches, the revolute pair 10 of all 3 branches connects fixed platform 11 and connecting rod 9, revolute pair 8 connects connecting rod 9 and connecting rod 7, revolute pair 6 connects connecting rod 7 and connecting rod 5, revolute pair 4 connects connecting rod 5 and connecting rod 3, revolute pair 2 connects connecting rod 3 and moving platform 1, the axis that the axis of revolute pair 8 is parallel to the axis revolute pair 4 of revolute pair 6 and 10 is not parallel to moving platform 1, is diagonal to the axis of revolute pair 6;
In second kind of 3DOF space symmetry moving parallel connected robot mechanism with two sets of parallel, revolute pair 8 in first kind of space all branch of 3DOF moving parallel connected robot mechanism is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10;
In first kind of 4DOF space symmetry parallel robot mechanism with two sets of parallel, fixed platform 11 and moving platform 1 all are triangles, be connected by 3 identical in structure branches, the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9, revolute pair 8 connects connecting rod 9 and connecting rod 7, revolute pair 6 connects connecting rod 7 and connecting rod 5, revolute pair 4 connects connecting rod 5 and connecting rod 3, revolute pair 6, connecting rod 5 and revolute pair 4 can constitute 1 crosshead, revolute pair 2 connects connecting rod 3 and moving platform 1, and the axis of revolute pair 8 is parallel to the axis of revolute pair 6 and 10, and the axis normal of revolute pair 2 and revolute pair 4 is in fixed platform 11;
In second kind of 4DOF space symmetry parallel robot mechanism with two sets of parallel, revolute pair 8 in first kind of space all branch of 4DOF symmetry parallel robot mechanism is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10;
Have in the 4DOF space symmetry parallel robot mechanism of two sets of parallel at the third, fixed platform 11 and moving platform 1 all are quadrangles, be connected by 4 identical in structure branches, the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9, revolute pair 8 connects connecting rod 9 and connecting rod 7, revolute pair 6 connects connecting rod 7 and connecting rod 5, revolute pair 4 connects connecting rod 5 and connecting rod 3, revolute pair 6, connecting rod 5 and revolute pair 4 can constitute a crosshead, revolute pair 2 connects connecting rod 3 and moving platform 1, the axis of revolute pair 8 is parallel to the axis of revolute pair 6 and 10, and the axis normal of revolute pair 2 and revolute pair 4 is in fixed platform 11;
In the 4th kind of 4DOF space symmetry parallel robot mechanism with two sets of parallel, revolute pair 8 in the third space all branches of 4DOF symmetry parallel robot mechanism is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10;
In first kind of 5DOF space symmetry parallel robot mechanism with two sets of parallel, fixed platform 11 and moving platform 1 all are triangles, be connected by 3 identical in structure branches, the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9, revolute pair 8 connects connecting rod 9 and connecting rod 7, revolute pair 6 connects connecting rod 7 and connecting rod 5, revolute pair 4 connects connecting rod 5 and connecting rod 3, revolute pair 6, connecting rod 5 and revolute pair 4 can constitute a crosshead, revolute pair 2 connects connecting rod 3 and moving platform 1, the axis of revolute pair 8 is parallel to the axis of revolute pair 6 and 10, the axis of revolute pair 2 and revolute pair 4 is parallel to fixed platform 11, and perpendicular to revolute pair 6,8 and 10 axis, the axis of the revolute pair 10 in all branches is all parallel each other on fixed platform 11, and the axis of the revolute pair 2 in all branches is also all parallel each other on moving platform 1;
In second kind of 5DOF symmetric space parallel robot mechanism with two sets of parallel, revolute pair 8 in all branches in first kind of space 5DOF symmetry parallel robot mechanism is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10;
Have in the 5DOF space symmetry parallel robot mechanism of two sets of parallel at the third, fixed platform 11 is pentagons, moving platform 1 is a triangle, be connected by 5 identical in structure branches, in 3 summits of moving platform 1, have 1 summit to connect 1 branch, all the other 2 summits respectively connect 2 branches; The revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9, revolute pair 8 connects connecting rod 9 and connecting rod 7, and revolute pair 6 connects connecting rod 7 and connecting rod 5, and revolute pair 4 connects connecting rod 5 and connecting rod 3, revolute pair 6, connecting rod 5 and revolute pair 4 can constitute a crosshead, and revolute pair 2 connects connecting rod 3 and moving platform 1; The axis of revolute pair 8 is parallel to the axis of revolute pair 6 and 10; The axis of revolute pair 2 and revolute pair 4 is parallel to fixed platform 11, and perpendicular to the axis of revolute pair 6,8 and 10, the axis of the revolute pair 10 in all branches is all parallel each other on fixed platform 11, and the axis of the revolute pair 2 in all branches is also all parallel each other on moving platform 1;
In the 4th kind of 5DOF space symmetry parallel robot mechanism with two sets of parallel, revolute pair 8 in all branches in the third space 5DOF symmetry parallel robot mechanism is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Drawings and Examples
Fig. 1 is first kind of 3DOF symmetry moving parallel connected robot with two sets of parallel
The structure schematic diagram
Fig. 2 is that second kind of 3DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 3 is that first kind of 4DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 4 is that second kind of 4DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 5 shows for the 4DOF symmetry parallel robot mechanism that the third has two sets of parallel
Intention
Fig. 6 is that the 4th kind of 4DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 7 is that first kind of 5DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 8 is that second kind of 5DOF symmetry parallel robot mechanism with two sets of parallel shows
Intention
Fig. 9 shows for the 5DOF symmetry parallel robot mechanism that the third has two sets of parallel
Intention
Figure 10 is the 4th kind of 5DOF symmetry parallel robot mechanism with two sets of parallel
Schematic diagram
Moving platform 1 and fixed platform 11 all are triangles, and moving platform 1 is connected with fixed platform 11 by 3 identical in structure branches, and preceding 2 kinematic pairs that begin to count from moving platform 1 in each branch are revolute pair 2 and 4, and their axis is parallel to each other; Back 3 kinematic pairs that begin to count from moving platform 1 in each branch are revolute pair 6,8 and 10, and their axis is parallel to each other; The axis of revolute pair 4 is diagonal to the axis of revolute pair 6.The revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9; Revolute pair 8 connects connecting rod 9 and connecting rod 7; Revolute pair 6 connects connecting rod 7 and connecting rod 5; Revolute pair 4 connects connecting rod 5 and connecting rod 3, and revolute pair 2 connects connecting rod 3 and moving platform 1.
Accompanying drawing 2 is the 2nd embodiment (see figure 2) of 3DOF space symmetry moving parallel connected robot mechanism with two sets of parallel of the present invention.
Revolute pair 8 in all branches among the 1st the of the present invention 3DOF space symmetry moving parallel connected robot mechanism embodiment with two sets of parallel is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Accompanying drawing 3 is the 1st embodiment (see figure 3) of 4DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Moving platform 1 and fixed platform 11 all are triangles, and moving platform 1 is connected with fixed platform 11 by 3 identical in structure branches, and the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9; Revolute pair 8 connects connecting rod 9 and connecting rod 7; Revolute pair 6 connects connecting rod 7 and connecting rod 5; Revolute pair 4 connects connecting rod 5 and connecting rod 3; Revolute pair 2 connects connecting rod 3 and moving platform 1.Revolute pair 6,8 and 10 axis are parallel to fixed platform 11; The axis normal of revolute pair 2 and revolute pair 4 is in fixed platform.
Accompanying drawing 4 is the 2nd embodiment (see figure 3) of 4DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Revolute pair 8 in all branches among the 1st the of the present invention 4DOF space symmetry parallel robot mechanism embodiment with two sets of parallel is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Accompanying drawing 5 is the 3rd embodiment (see figure 5) of 4DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Moving platform 1 and fixed platform 11 all are quadrangles, and moving platform 1 is connected with fixed platform 11 by 4 identical in structure branches, and the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9; Revolute pair 8 connects connecting rod 9 and connecting rod 7; Revolute pair 6 connects connecting rod 7 and connecting rod 5; Revolute pair 4 connects connecting rod 5 and connecting rod 3; Revolute pair 2 connects connecting rod 3 and moving platform 1.Revolute pair 6,8 and 10 axis are parallel to fixed platform 11; The axis normal of revolute pair 2 and revolute pair 4 is in fixed platform.
Accompanying drawing 6 is the 4th embodiment (see figure 6) of 4DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Revolute pair 8 in all branches among the 3rd the of the present invention 4DOF space symmetry parallel robot mechanism embodiment with two sets of parallel is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Accompanying drawing 7 is the 1st embodiment (see figure 7) of 5DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Moving platform 1 and fixed platform 11 all are triangles, and moving platform 1 is connected with fixed platform 11 by 3 identical in structure branches, and the revolute pair 10 of all branches connects fixed platform 11 and connecting rod 9; Revolute pair 8 connects connecting rod 9 and connecting rod 7; Revolute pair 6 connects connecting rod 7 and connecting rod 5; Revolute pair 4 connects connecting rod 5 and connecting rod 3; Revolute pair 2 connects connecting rod 3 and moving platform 1.Revolute pair 6,8 and 10 axis are parallel to fixed platform 11; The axis of revolute pair 2 and revolute pair 4 is parallel to moving platform 1, but perpendicular to the axis of revolute pair 6,8 and 10.The axis of the revolute pair 10 in all branches is all parallel each other on fixed platform 11.The axis of the revolute pair 2 in all branches is all parallel each other on moving platform 1.
Accompanying drawing 8 is the 2nd embodiment (see figure 8) of 5DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Revolute pair 8 in all branches among the 1st the of the present invention 5DOF space symmetry parallel robot mechanism embodiment with two sets of parallel is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Accompanying drawing 9 is the 3rd embodiment (see figure 9) of 5DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Accompanying drawing 10 is the 4th embodiment (see figure 10) of 5DOF space symmetry parallel robot mechanism with two sets of parallel of the present invention.
Revolute pair 8 in all branches among the 3rd the of the present invention 5DOF space symmetry parallel robot mechanism embodiment with two sets of parallel is replaced with moving sets 12, and the axis normal of this moving sets 12 is in the axis of revolute pair 6 and revolute pair 10.
Of the present invention have two sets of parallel 3,4,5DOF space symmetry parallel robot mechanism, have good kinematics performance, high rigidity and bigger working space; Its kinematics is positive and negative separates very simply, is easy to control; 3DOF parallel robot mechanism wherein can be implemented in 3 of the space and moves; 4DOF parallel robot mechanism can the implementation space 3 moves and 1 rotation; The 5DOF parallel robot mechanism can be implemented in three-dimensional 3 and moves and 2 rotations.They can be employed as robot, fine motion and make device, parallel machine and flight simulator etc.
Claims (11)
1, a kind of have two sets of parallel 3,4,5DOF space symmetry parallel robot mechanism, comprise moving platform (1), fixed platform (11) and be connected moving platform (1) and the identical in structure branch of fixed platform (11) forms, it is characterized in that: moving platform (1) is connected with fixed platform (11) by 3,4 or 5 identical in structure branches, be revolute pair from preceding 2 kinematic pairs (2) and (4) that moving platform (1) begins to count in each branch, their axis is parallel to each other; Revolute pair in each branch (6) and (10) their axis are parallel to each other, and all are parallel to fixed platform (11); Moving platform (1) and fixed platform (11) can be triangle, quadrangle or pentagon.
2, the 3DOF space symmetry moving parallel connected robot mechanism with two sets of parallel according to claim 1, it is characterized in that: fixed platform (11) and moving platform (1) all are triangles, are connected by 3 identical in structure branches.The axis of all 3 branch's revolute pairs (4) is not parallel to moving platform (1), also is diagonal to the axis of revolute pair (6), and the axis of revolute pair (8) is parallel to fixed platform (11).
3, the 3DOF space symmetry moving parallel connected robot mechanism with two sets of parallel according to claim 1, it is characterized in that: fixed platform (11) and moving platform (1) all are triangles, be connected by 3 identical in structure branches, preceding 3 kinematic pairs (6), (12) and (10) that all branches begin to count from fixed platform (11) are respectively revolute pair, moving sets and revolute pair, and the axis normal of moving sets (12) is in the axis of revolute pair (6) and (10).
4, the 4DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are triangles, moving platform (1) is connected with fixed platform (11) by 3 identical in structure branches, the axis of revolute pair (8) is parallel to fixed platform, and the axis of revolute pair (2) and (4) is all perpendicular to moving platform (1).
5,4DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are triangles, moving platform (1) is connected with fixed platform (11) by 3 identical in structure branches, preceding 3 kinematic pairs (10) that all branches begin to count from fixed platform (11), (12) and (6) be respectively revolute pair, moving sets and revolute pair, the axis normal of moving sets (10) is in the axis of revolute pair (6) and (10), and the axis of revolute pair (2) and (4) is all perpendicular to fixed platform (11).
6, the 4DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are quadrangles, moving platform (1) is connected with fixed platform (11) by 4 identical in structure branches, the axis of revolute pair (8) is parallel to fixed platform, and the axis of revolute pair (2) and (4) is all perpendicular to moving platform (1).
7,4DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are quadrangles, moving platform (1) is connected with fixed platform (11) by 4 identical in structure branches, preceding 3 kinematic pairs (10) that all branches begin to count from fixed platform (11), (12) and (6) be respectively revolute pair, moving sets and revolute pair, the axis normal of moving sets (10) is in the axis of revolute pair (6) and (10), and the axis of revolute pair (2) and (4) is all perpendicular to fixed platform (11).
8,5DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are triangles, moving platform (1) is connected with fixed platform (11) by 3 identical in structure branches, the axis of revolute pair (8) is parallel to fixed platform (11), the axis of revolute pair (2) and revolute pair (4) is parallel to moving platform (1), but perpendicular to revolute pair (6), (8) and the axis of (10), the axis of the revolute pair in all branches (10) is all parallel each other on fixed platform (11), and the axis of the revolute pair in all branches (2) is all parallel each other on moving platform (1).
9,5DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: moving platform (1) and fixed platform (11) all are triangles, moving platform (1) is connected with fixed platform (11) by 3 identical in structure branches, preceding 3 kinematic pairs (10) that all branches begin to count from fixed platform (11), (12) and (6) be respectively revolute pair, moving sets and revolute pair, the axis normal of moving sets (12) is in the axis of revolute pair (6) and (10), the axis of revolute pair (2) and revolute pair (4) is parallel to moving platform (1), but axis perpendicular to revolute pair (6) and (10), the axis of the revolute pair in all branches (10) is all parallel each other, and the axis of the revolute pair in all branches (2) is all parallel each other on moving platform (1).
10, the 5DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: fixed platform (11) is a pentagon, moving platform (1) is a triangle, be connected by 5 identical in structure branches, in 3 summits of moving platform (1), have 1 summit to connect 1 branch, all the other 2 summits respectively connect 2 branches; The axis of revolute pair (8) is parallel to fixed platform (11), and the axis of revolute pair (2) and revolute pair (4) is parallel to moving platform (1), but perpendicular to the axis of revolute pair (6), (8) and (10); The axis of the revolute pair in all branches (10) is all parallel each other on fixed platform (11), and the axis of the revolute pair in all branches (2) is all parallel each other at moving platform (1).
11, the 5DOF space symmetry parallel robot mechanism with two sets of parallel according to claim 1, it is characterized in that: fixed platform (11) is a pentagon, moving platform (1) is a triangle, be connected by 5 identical in structure branches, in 3 summits of moving platform (1), have 1 summit to connect 1 branch, all the other 2 summits respectively connect 2 branches; Preceding 3 kinematic pairs (10), (12) and (6) that all branches begin to count from fixed platform (11) are respectively revolute pair, moving sets and revolute pair, and the axis normal of moving sets (12) is in the axis of revolute pair (6) and (10); The axis of revolute pair (2) and revolute pair (4) is parallel to moving platform (1), but axis perpendicular to revolute pair (6) and (10), the axis of the revolute pair in all branches (10) is all parallel each other, and the axis of the revolute pair in all branches (2) is all parallel each other on moving platform (1).
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| CNB021049181A CN100486782C (en) | 2002-03-09 | 2002-03-09 | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms |
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| CNB021049181A CN100486782C (en) | 2002-03-09 | 2002-03-09 | Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms |
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| CN100486782C CN100486782C (en) | 2009-05-13 |
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| DE19840886C2 (en) * | 1998-09-08 | 2003-03-13 | Juergen Hesselbach | Movement device with parallel structure |
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| CN106112973A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of symmetry two turn with rotation continuously moves parallel institution |
| CN107344358A (en) * | 2017-06-15 | 2017-11-14 | 燕山大学 | A kind of constant Jacobi parallel institution of branch containing four-degree-of-freedom |
| CN109015597A (en) * | 2018-07-15 | 2018-12-18 | 燕山大学 | A kind of parallel institution of novel three translations branch's non complete symmetry |
| CN109015597B (en) * | 2018-07-15 | 2021-05-28 | 燕山大学 | Novel parallel mechanism with three translation branches incompletely symmetrical |
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| CN100486782C (en) | 2009-05-13 |
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