CN1745986A - Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU - Google Patents
Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU Download PDFInfo
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- CN1745986A CN1745986A CN 200510012894 CN200510012894A CN1745986A CN 1745986 A CN1745986 A CN 1745986A CN 200510012894 CN200510012894 CN 200510012894 CN 200510012894 A CN200510012894 A CN 200510012894A CN 1745986 A CN1745986 A CN 1745986A
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Abstract
An experimental platform with adjustable 3-UPU parallel mechanism having 3-4 freedoms features that 3 linearly driven moving sets with same structure are symmetrically arranged on upper platform and base in equilateral triangle mode. Said linearly driven moving set is composed of a linear drive unit and a step motor. Its both ends are respectively linked with a universal joint which consists of a rotary axle connected to said linearly driven moving set to form a rotary set, a supporter connected to said rotary axle to form another rotary set, and a sectorial base. Said supporter is linked to upper platform and base via sectorial base and 4 pins. Its advantages are variable freedom and high moving accuracy.
Description
Technical field
The present invention relates to robot and mechanical manufacturing field.
Background technology
For ease of explanation, divide number with n (n=1,2,3,4,6) expression, represent the ball pair in the sub-chain, universal pair, moving sets and revolute pair respectively with S, U, P and R, the sub-chain structure is represented in their combination.
Parallel robot has that mechanism's rigidity is big, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as does not accumulate at characteristics, is complementary relationship with the serial machine people on using.Compare with 6DOF 6-SPS parallel institution, advantages such as that the lower-mobility parallel institution has relatively is simple in structure, easy control, now, becoming is robot and the focus of making area research.Nineteen eighty-three Hunt proposes 3-RPS mechanism; Advance over year, the 3-UPU mechanism of Tsai obtains U.S. Pat A No.5656905; Yellow genuine freedom degree parallel connection travel mechanism and precise jiggle three-dimensional moving mechanism in parallel obtain Chinese patent CN1311083A respectively, 1539603A.The kinematic pair pose of present various lower-mobility parallel institutions is nonadjustable, and therefore the kinetic characteristic of every kind of parallel institution is single, and this is unfavorable for experimental study multiple configuration parallel institution characteristic and kinetic characteristic.Existing parallel institution theory still can not be explained the autokinesis phenomenon of three translation 3-UPU mechanisms and other lower-mobility parallel institution, need carry out relevant theory and experimental study in a deep going way.
Summary of the invention
The object of the invention is to provide that an a kind of machine is many types of, kinematic accuracy is high, the free degree is 3 and 4 adjustable 3-UPU parallel mechanism experiment bench.It is simple relatively that this invention has mechanism, symmetrical configuration, and working space is relatively large, and it is variable to have a type, and the kinematic pair pose is adjustable, and the free degree is variable, characteristics such as kinematic accuracy height.By adjusting the pose of universal pair, construct multiple novel 3-UPU parallel robot mechanism experiment porch.
This free degree is 3 and 4 adjustable 3-UPU parallel mechanism experiment bench, form by moving platform 1, pedestal 2 and the connection upper mounting plate 1 linear drives moving sets 3 identical with 3 structures of pedestal 2, it is characterized in that: 3 identical linear drives moving sets 3 of structure are equilateral triangle and are symmetrically distributed on upper mounting plate 1 and pedestal 2, in the middle of the said linear drives moving sets 3 straight line driving mechanism and a stepping motor 4 are arranged, its two ends and universal duplicate invoice connect, and the axis of linear drives moving sets 3 overlaps with universal sub-center; Each universal pair is made up of rotating shaft 5, support 6 and fan seat 7, linear drives moving sets 3 one ends connect revolute pair of formation with rotating shaft 5, rotating shaft 5 connects another revolute pair of formation with support 6, two mutually orthogonal and vertical revolute pairs constitute universal pair, and support 6 links by fan seat 7, pin 8, pin 9, centrepin 10 and alignment pin 11 and upper mounting plate 1 and pedestal 2.
Straight line mobile drive deivce or hydraulic linear mobile drive deivce that linear drives moving sets 3 is made up of stepping motor 4 and screw pair constitute.
On the fan seat 7 22.5 °-45 °-67.5 °-90 ° with radius arc such as fan seat center on 4 fans of processing seat pin holes 14, the support of being realized by pin 8 and pin 96 is rotationally connected with fan seat 74 location in 0 ° of-90 ° of scope; On upper mounting plate 1 and pedestal 2 apart from 8 pedestal holes 15 of radius equal angles positions such as centrepin 10 processing, fan seat 7 bottom surfaces and upper mounting plate 1 and pedestal 2 contacted surfaces are provided with alignment pin 11, can realize that by centrepin 10 and alignment pin 11 fan seat 7 and upper mounting plate 1 or pedestal 2 are rotationally connected 8 location in 0 ° of-360 ° of scope.
Adjust the angle that each constraint is rotationally connected, can change the pose of universal pair; Most of pose of corresponding universal pair, mechanism freedom is 3, at another pose is installed, mechanism freedom can be changed into 4.
When each rotating shaft 5 that connects with upper mounting plate 1 and support 2 during respectively perpendicular to upper mounting plate 1 and support 1, there are 4 frees degree in mechanism, at this moment, with cover 12 auxiliary motor 13 is connected with a support 6, drives 3 rotations of a linear drives moving sets.
Description of drawings
Fig. 1 free degree is 3 and 4 adjustable 3-UPU parallel institution I experiment porch;
Universal auxiliary structure and the auxiliary drive of the adjustable 3-UPU parallel institution of Fig. 2 I;
Fig. 3 free degree is 3 and 4 adjustable 3-UPU parallel institution II experiment porch.
In Fig. 1, Fig. 2 and Fig. 3,1. moving platform, 2. pedestal 3. drives moving sets, 4. stepping motor, 5. rotating shaft, 6. support, 7. fan seat, 8. pin, 9. pin, 10. centrepin, 11. alignment pins, 12. covers, 13. auxiliary motors, 14. fan seat pin holes, 15. pedestal pin-and-holes.
The specific embodiment
Fig. 1 is first embodiment disclosed by the invention, 3 linear drives sub-chain structures are identical, being equilateral triangle is symmetrically distributed, there is universal pair at each linear drives branch two ends, there is 1 moving sets 3 centre, its axis overlaps with universal sub-center, drives moving sets 3 by the stepper electric driver, realizes stretching motion.Each universal pair is made up of rotating shaft 5, support 6 and fan seat 7, realize that by pin 8 and pin 9 support 6 is 0 ° of location with fan seat 7 and is rotationally connected, realize that by pin 10 and pin 11 fan seat 7 is 0 ° of location with upper mounting plate 1 or pedestal 2 and is rotationally connected, each rotating shaft 5 that has kept connecting with upper mounting plate 1 and support 2 is respectively perpendicular to upper mounting plate and support, at this moment, there are 4 frees degree in mechanism, and with cover 12 auxiliary motor 13 is connected with a support 6, drives 3 rotations of a linear drives moving sets.
Fig. 3 is second embodiment disclosed by the invention, be with first embodiment difference, being implemented in support 6 on the upper mounting plate 1 by pin 8 and pin 9 is 45 ° of rotational positioning with fan seat 7 and is connected, being implemented in support 6 on the support 2 by pin 10 and pin 11 is 90 ° of rotational positioning with fan seat 7 and is connected, fan seat 7 is 0 ° of rotational positioning with upper mounting plate 1 or pedestal 2 and is connected, and there are 3 frees degree in this mechanism.
The free degree is 3 and 4 adjustable 3-UPU parallel institution I and two kinds of experiment porch of II, characteristics such as except that having the characteristics that parallel institution rigidity is big, carrying is high, have also that mechanism is simple relatively, symmetrical configuration, kinematic accuracy height, adjustability are good.They can be used to design multi-purpose spatial parallel device people, parallel machine, jiggle robot and sensor element etc.
Claims (4)
1. a free degree is 3 and 4 adjustable 3-UPU parallel mechanism experiment bench, form by moving platform (1), pedestal (2) and connection upper mounting plate (1) the linear drives moving sets (3) identical with 3 structures of pedestal (2), it is characterized in that: 3 identical linear drives moving sets (3) of structure are equilateral triangle and are symmetrically distributed on upper mounting plate (1) and pedestal (2), said linear drives moving sets (3) has a straight line driving mechanism and a stepping motor (4), its two ends and universal duplicate invoice connect, and the axis of linear drives moving sets (3) overlaps with universal sub-center; Each universal pair is made up of rotating shaft (5), support (6) and fan seat (7), linear drives moving sets (3) one ends connect revolute pair of formation with rotating shaft (5), rotating shaft (5) connects another revolute pair of formation with support (6), two mutually orthogonal and vertical revolute pairs constitute universal pair, and support (6) links by fan seat (7), pin (8), pin (9), centrepin (10) and alignment pin (11) and upper mounting plate (1) and pedestal (2).
2. the free degree according to claim 1 is 3 and 4 adjustable 3-UPU parallel mechanism experiment bench, it is characterized in that: straight line mobile drive deivce or hydraulic linear mobile drive deivce that linear drives moving sets (3) is made up of stepping motor (4) and screw pair constitute.
3. be 3 and 4 adjustable 3-UPU parallel mechanism experiment bench according to the claim 1 and the 2 described frees degree, it is characterized in that: fan seat (7) go up 22.5 °-45 °-67.5 °-90 ° with radius arc such as fan seat center on processing 4 pin-and-holes (14), interior 4 location of (7) 0 ° of-90 ° of scopes of support (6) and fan seat of being realized by pin (8) and pin (9) are rotationally connected; Go up apart from centrepin radius equal angles positions such as (10) processing 8 locating holes (15) at upper mounting plate (1) and pedestal (2), fan seat (7) bottom surface and upper mounting plate (1) and the contacted surface of pedestal (2) alignment pin (11) is set, can realize that by centrepin (10) and alignment pin (11) fan seat (7) and interior 8 location of 0 ° of-360 ° of scope of upper mounting plate (1) or pedestal (2) are rotationally connected.
4. the free degree according to claim 3 is 3 and 4 adjustable 3-UPU parallel mechanism experiment bench, it is characterized in that: when each rotating shaft (5) that connects with upper mounting plate (1) and support (2) during respectively perpendicular to upper mounting plate (1) and support (2), there are 4 frees degree in mechanism, at this moment, with cover (12) auxiliary motor (13) is connected with a support (6), drives a linear drives moving sets (3) and rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200510012894 CN1745986A (en) | 2005-10-10 | 2005-10-10 | Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU |
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| CN 200510012894 CN1745986A (en) | 2005-10-10 | 2005-10-10 | Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101244560B (en) * | 2008-03-22 | 2010-06-23 | 燕山大学 | Three freedoms parallel robot mechanism with different structure drive branches |
| CN102179807A (en) * | 2011-03-08 | 2011-09-14 | 天津大学 | Parallel mechanism with changeable freedom degree |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102645241A (en) * | 2012-04-17 | 2012-08-22 | 燕山大学 | Visual monitoring parallel tripod head |
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN104723304A (en) * | 2015-03-24 | 2015-06-24 | 王俊 | Vehicle-mounted battery installation platform |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation parallel mechanism |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN106041893A (en) * | 2016-07-18 | 2016-10-26 | 燕山大学 | Symmetrical two-rotation-freedom-degree and one-movement-freedom-degree parallel mechanism with multiple continuous rotating shafts |
| CN106625708A (en) * | 2016-12-27 | 2017-05-10 | 东莞市圣荣自动化科技有限公司 | Electric equipment transportation and clamping device capable of doing circular-arc-shaped motion |
| CN108515512A (en) * | 2018-03-23 | 2018-09-11 | 华南理工大学 | A kind of four-degree-of-freedom parallel connection correction platform |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
-
2005
- 2005-10-10 CN CN 200510012894 patent/CN1745986A/en active Pending
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101244560B (en) * | 2008-03-22 | 2010-06-23 | 燕山大学 | Three freedoms parallel robot mechanism with different structure drive branches |
| CN102179807A (en) * | 2011-03-08 | 2011-09-14 | 天津大学 | Parallel mechanism with changeable freedom degree |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102645241A (en) * | 2012-04-17 | 2012-08-22 | 燕山大学 | Visual monitoring parallel tripod head |
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN102990650A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN102990650B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Parallel mechanism containing two identical closed-loop sub-chains |
| CN104723304A (en) * | 2015-03-24 | 2015-06-24 | 王俊 | Vehicle-mounted battery installation platform |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105856197B (en) * | 2016-05-20 | 2018-12-28 | 燕山大学 | Pure translational 3-UPU parallel institution without undesirable rotation |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation parallel mechanism |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN105881508B (en) * | 2016-05-24 | 2019-03-19 | 天津大学 | A kind of novel Three Degree Of Freedom translational parallel connection mechanism |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN106041893A (en) * | 2016-07-18 | 2016-10-26 | 燕山大学 | Symmetrical two-rotation-freedom-degree and one-movement-freedom-degree parallel mechanism with multiple continuous rotating shafts |
| CN106625708B (en) * | 2016-12-27 | 2018-10-30 | 浙江锦源实业有限公司 | It is a kind of can circular movement power equipment transport clamping device |
| CN106625708A (en) * | 2016-12-27 | 2017-05-10 | 东莞市圣荣自动化科技有限公司 | Electric equipment transportation and clamping device capable of doing circular-arc-shaped motion |
| CN108515512A (en) * | 2018-03-23 | 2018-09-11 | 华南理工大学 | A kind of four-degree-of-freedom parallel connection correction platform |
| CN108515512B (en) * | 2018-03-23 | 2023-10-27 | 华南理工大学 | Four-degree-of-freedom parallel correction platform |
| CN110502024A (en) * | 2019-07-23 | 2019-11-26 | 北京控制工程研究所 | A kind of universal posture executing agency of standard based on space parallel mechanism |
| CN110502024B (en) * | 2019-07-23 | 2020-10-20 | 北京控制工程研究所 | Quasi-universal attitude executing mechanism based on space parallel mechanism |
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