CN1772442A - Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension - Google Patents
Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension Download PDFInfo
- Publication number
- CN1772442A CN1772442A CN 200510101133 CN200510101133A CN1772442A CN 1772442 A CN1772442 A CN 1772442A CN 200510101133 CN200510101133 CN 200510101133 CN 200510101133 A CN200510101133 A CN 200510101133A CN 1772442 A CN1772442 A CN 1772442A
- Authority
- CN
- China
- Prior art keywords
- branch
- dimensional
- pole
- robot 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.)
- Pending
Links
Images
Abstract
The present invention discloses one kind of four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension and including static platform, dynamic platform and branches connecting the static platform and the dynamic platform. The dynamic platform is connected to the static platform through four branches, the static platform has three parallel tracks, two crossed branches, branch I and branch II, are connected to the identical track while other two, branch III and branch IV, are connected separately to one of the other two tracks. Each of the branches includes one shift pair, two Hookes and one branch rod, which has one end connected to the dynamic platform via a Hooke and the other end to the static platform via the composite motion pair comprising a shift pair and a Hooke. The present invention can realize four-freedom platform motion, has enhanced integral rigidity and may be used in operation needing four special motions.
Description
Technical field
The invention belongs to the robot mechanism field, relate in particular to the four-freedom parallel connection robot mechanism that a kind of three-dimensional translation and one-dimensional rotates.
Background technology
In the existing robot of robotize operation, two class mechanisms are arranged: serial mechanism and parallel institution.Serial mechanism has the advantage that working space is big, flexibility is high, and simultaneously, part also comes with some shortcomings: exist the error accumulation of each rod member, terminal precision low; Inertia is big, rigidity is low, dynamic property is relatively poor.
Parallel institution is a kind ofly to have a plurality of freedoms of motion, and driver is distributed in the enclosed multi-loop mechanism on the different loops.The relative serial machine people of parallel robot has series of advantages such as rigidity is big, bearing capacity strong, site error is not accumulated, precision height, the deadweight duty ratio is little, power performance is good.Various equipments based on parallel institution become the important supplement that the tradition series connection is equipped, and play a significant role in a lot of fields.At present, parallel robot is mainly used in fields such as medical surgical equipment, mobile robot, motion simulation, machine-building, automation assembling, Precision Machining and measurement, microelectronics manufacturing and show business, exerts oneself and torque sensor, walker and climbing robot leg and large-scale mine machinery etc. as flight simulator, virtual-shaft machine tool, coordinate measuring machine, jiggle robot, robot.
At present, the about kind more than 100 of the parallel institution that has proposed, but the parallel institution of four-degree-of-freedom is still few.That space lower-mobility parallel robot has relatively is simple in structure, control easily, characteristics such as cost is low.The demarcation of parallel institution and position normal solution have confidential relation, and its solution and result have very big influence to the stated accuracy of mechanism.Lower-mobility as two, three, the normal solution majority of four-freedom parallel mechanism can access its sealing and separate, so lower-mobility mechanism is popular in commercial Application.
Recent years, secondary driving mechanism is the parallel robot mechanism of driving mechanism beyond having occurred.The interior secondary parallel institution that drives is easy to realize the multi-coordinate interlock, and the pose ability of moving platform is stronger, and symmetrical configuration.Outer pair drives with silent flatform and moves (rotation) hinge outward as initiatively cutting with scissors.Compare with the interior secondary parallel institution that drives, the advantage of outer secondary driven Parallel Kinematic Manipulator is: working space and mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good, have the advantage direction of motion.And adopt the sizing bar, and reduced influence of thermal effect to a great extent, reduced the difficulty that is subjected to thermal compensation.
Summary of the invention
The four-freedom parallel connection robot mechanism that the object of the present invention is to provide a kind of three-dimensional translation and one-dimensional to rotate, it the space move and rotation combines, have that precision and rigidity height, inertia are little, high dynamic performance, working space are big, have the advantage direction of motion, forward kinematics solution and instead separate advantages such as simple.
The four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional of the present invention rotates, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by four branches, three guide rails that are parallel to each other are arranged on the described silent flatform, branch one, branch's two mutual arranged crosswise link to each other with same guide rail; Branch three, branch four respectively link to each other with a guide rail; Each branch comprises a moving sets, two Hooke's hinges and a branch pole, divides an end of pole to link to each other with moving platform by Hooke's hinge, and the other end links to each other with silent flatform by connected firmly the compound motion pair of forming by moving sets and Hooke's hinge.
The branch pole of described branch two is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction.
The branch pole of described branch one and the branch pole of branch two form a planar contact pair in crossover sites.
The moving sets of described each branch is the active input of this mechanism; The branch strut lengths of each branch is fixed.
Each branch moves on guide rail separately by moving sets, and the moving platform of this sample mechanism just has three translations and a rotational freedom, can realize the motion of moving platform four-degree-of-freedom.
Because branch one and branch two are guide rails arranged crosswise and shared, the branch pole of the branch pole of branch one and branch two can form a planar contact pair in crossover sites like this, can strengthen the rigidity of entire mechanism.
The present invention has following advantage and beneficial effect:
1. the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional of the present invention rotates is compared with traditional serial mechanism, has the advantage of high accuracy, high rigidity, low inertia, high dynamic performance;
2. the four-freedom parallel connection robot mechanism forward kinematics solution that three-dimensional translation and one-dimensional of the present invention rotates, counter separating simply, normal solution has analytic solutions;
3. the present invention has clear and definite forms of motion to the rotation in space and mobile the combination, and promptly three are moved a rotation;
4. the present invention adopts outer secondary drives structure, working space and mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good;
5. the present invention adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that is subjected to thermal compensation.
Description of drawings
Fig. 1 is the structural representation of the four-freedom parallel connection robot mechanism of three-dimensional translation and one-dimensional rotation of the present invention.
Among the figure: 1-silent flatform 2-moving platform 3,4,5- guide rail 6,7,8, the 10-of 9-branch moving sets 11-Hooke's hinge 12-divide pole
The specific embodiment
In order to understand the present invention better, the present invention is done to describe further below in conjunction with accompanying drawing.
As shown in Figure 1, the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional of the present invention rotates, the branch that comprises silent flatform 1, moving platform 2, connection silent flatform 1 and moving platform 2, moving platform 2 links to each other with silent flatform 1 by four branches, three guide rails that are parallel to each other 3,4,5 are arranged on the described silent flatform 1, branch 6, branch's 7 mutual arranged crosswise link to each other with guide rail 3; Branch 8 links to each other with guide rail 5, and branch 9 links to each other with guide rail 4; Each branch comprises a moving sets 10, two Hooke's hinges 11 and branch poles 12, divides an end of pole 12 to link to each other with moving platform 2 by Hooke's hinge 11, and the other end links to each other with silent flatform 1 by connected firmly the compound motion pair of forming by moving sets 10 and Hooke's hinge 11.
The branch pole of above-mentioned branch 7 is hollow structures, and hollow structure is square; The branch pole of other three branches is a solid construction; Since branch 6 and branch 7 be arranged crosswise and common guide rails 3, the branch pole of branch 6 and the branch pole of branch 7 can form a planar contact pair in crossover sites, have strengthened the rigidity of mechanism's integral body.
The moving sets 10 of each branch is the active input of this mechanism; Branch pole 12 length of each branch are fixed; Each branch moves on guide rail separately by moving sets 10, because Hooke's hinge 11 has two frees degree, the moving platform of this sample mechanism just has three translations and a rotational freedom, can realize the motion of moving platform four-degree-of-freedom.
The present invention is the rotation in space and move combination, has clear and definite forms of motion, and adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that is subjected to thermal compensation; The present invention is owing to adopt outer secondary drives structure in addition, and working space is with mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good, the advantage of have high accuracy, high rigidity, hanging down inertia, high dynamic performance.
Claims (5)
1. the four-freedom parallel connection robot mechanism that rotates of a three-dimensional translation and one-dimensional, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by four branches, it is characterized in that three guide rails that are parallel to each other are arranged on the described silent flatform, branch one, branch's two mutual arranged crosswise link to each other with same guide rail; Branch three, branch four respectively link to each other with a guide rail; Each branch comprises a moving sets, two Hooke's hinges and a branch pole, divides an end of pole to link to each other with moving platform by Hooke's hinge, and the other end links to each other with silent flatform by connected firmly the compound motion pair of forming by moving sets and Hooke's hinge.
2. the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional according to claim 1 rotates is characterized in that the branch pole of described branch two is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction.
3. the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional according to claim 2 rotates is characterized in that the branch pole of described branch one and the branch pole of branch two form a planar contact pair in crossover sites.
4. the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional according to claim 1 rotates, the moving sets that it is characterized in that described each branch is the active input of this mechanism.
5. the four-freedom parallel connection robot mechanism that three-dimensional translation and one-dimensional according to claim 1 rotates is characterized in that the branch strut lengths of described each branch is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510101133 CN1772442A (en) | 2005-11-11 | 2005-11-11 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510101133 CN1772442A (en) | 2005-11-11 | 2005-11-11 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1772442A true CN1772442A (en) | 2006-05-17 |
Family
ID=36759674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510101133 Pending CN1772442A (en) | 2005-11-11 | 2005-11-11 | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1772442A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804629A (en) * | 2010-04-17 | 2010-08-18 | 浙江理工大学 | Crossed two-freedom-degree parallel mechanism |
| CN102145719A (en) * | 2011-03-15 | 2011-08-10 | 北京交通大学 | Rolling robot |
| CN102848376A (en) * | 2012-09-21 | 2013-01-02 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN105196278A (en) * | 2015-11-11 | 2015-12-30 | 山东理工大学 | Six-degree-of-freedom parallel robot with planar contact pair |
| CN105992677A (en) * | 2014-03-18 | 2016-10-05 | Abb瑞士股份有限公司 | A compact parallel kinematics robot |
-
2005
- 2005-11-11 CN CN 200510101133 patent/CN1772442A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804629A (en) * | 2010-04-17 | 2010-08-18 | 浙江理工大学 | Crossed two-freedom-degree parallel mechanism |
| CN101804629B (en) * | 2010-04-17 | 2011-06-15 | 浙江理工大学 | Crossed two-freedom-degree parallel mechanism |
| CN102145719A (en) * | 2011-03-15 | 2011-08-10 | 北京交通大学 | Rolling robot |
| CN102145719B (en) * | 2011-03-15 | 2012-06-13 | 北京交通大学 | Rolling robot |
| CN102848376A (en) * | 2012-09-21 | 2013-01-02 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN102848376B (en) * | 2012-09-21 | 2014-12-24 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN105992677A (en) * | 2014-03-18 | 2016-10-05 | Abb瑞士股份有限公司 | A compact parallel kinematics robot |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN105196278A (en) * | 2015-11-11 | 2015-12-30 | 山东理工大学 | Six-degree-of-freedom parallel robot with planar contact pair |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100411826C (en) | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions | |
| CN100395086C (en) | Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type | |
| CN2936617Y (en) | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism | |
| CN108555889B (en) | Space five-degree-of-freedom series-parallel processing equipment containing redundancy constraint and use method thereof | |
| CN1772442A (en) | Four-freedom parallel robot mechanism with three translational dimensions and one rotational dimension | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN103381601A (en) | Six- free-degree 3-3 orthogonal type parallel robot | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN100427276C (en) | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions | |
| CN103302659A (en) | Single-degree-of-freedom metamorphic mechanism | |
| CN102398264A (en) | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism | |
| CN102922515A (en) | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling | |
| CN1381338A (en) | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN103302661B (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN105904441A (en) | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN1803411A (en) | Three freedom degrees decoupling sphere parallel mechanism | |
| CN102579137A (en) | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally | |
| CN110815184A (en) | Four-freedom-degree high-speed parallel robot mechanism | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN104772751B (en) | The parallel institution of Three Degree Of Freedom | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| CN101733753B (en) | Redundant parallel mechanism containing compound spherical hinge | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |