CN1861328A - Adjustable 3,4,5-SPS type parallel mechanism experiment bench - Google Patents
Adjustable 3,4,5-SPS type parallel mechanism experiment bench Download PDFInfo
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- CN1861328A CN1861328A CN 200510012898 CN200510012898A CN1861328A CN 1861328 A CN1861328 A CN 1861328A CN 200510012898 CN200510012898 CN 200510012898 CN 200510012898 A CN200510012898 A CN 200510012898A CN 1861328 A CN1861328 A CN 1861328A
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Abstract
An adjustable experimental platform with 3,4,5-SPS type parallel mechanism for robot, machine-tool, or sensing element is disclosed. 3,4 or 5 linear drive branches are distributed between upper platform and base in polygonaly symmetrical mode. One of 4 or 5 linear drive braches is arranged in the center of platform and base. The both ends of each branch have a ball set consisting of the rotation set A formed by connecting one end of said branch with ring frame, the rotation set B formed by connecting ring frame with supporter, and the rotation set C formed by connecting supporter with axle sleeve. The vertical and transverse pins are used to change the freedom of ball set.
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, with (P R) represents (ball pair, universal pair, moving sets, revolute pair) in the sub-chain respectively for S, U, and the sub-chain structure is represented in their combination.
Parallel robot has relatively 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.The free degree is less than 6 parallel robot mechanism and has advantages such as simple in structure, easy control relatively, has become robot now and has made the focus of area research.In recent years, three of Tsai moves 3-UPU mechanism, obtains U.S. Pat A No.5656905; Yellow genuine 4DOF 3-URU/SPS parallel institution and 5DOF decoupled parallel machine people structure obtain Chinese patent 1335215A respectively, 1311083A; The 4DOF 2 of Wang Jingsong changes 2 and moves parallel robot mechanism, the 3DOF sphere parallel mechanism in yellow field, and the 5DOF parallel micromotion robot on peak also obtains Chinese patent 1267586A, 1439492A, 1257770A respectively.These lower-mobility parallel institutions differ from one another, but the kinematic pair pose is nonadjustable, and therefore the kinetic characteristic of every kind of few free parallel institution is single, and this is unfavorable for the experimental study of the comprehensive and multiple configuration parallel institution kinetic characteristic of mechanism's experiment.Existing parallel institution theory still can not be explained the redundant autokinesis phenomenon of some lower-mobility parallel institutions, 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 3,4,5 adjustable 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.Adjust linear drives and divide number and arrangement form, can change the number of degrees of freedom, and the configuration of mechanism; Divide under number and the arrangement form prerequisite in given driving, suitably increase the secondary constraint of ball, the ball pair can be transformed into universal pair or revolute pair, also can change their attitude, realize the various lower-mobility parallel mechanism experiment bench of structure, and its mechanism characteristics and kinetic characteristic are carried out experimental study.
This adjustable 3,4,5-SPS type parallel mechanism experiment bench, by upper mounting plate 1, pedestal 2 and connection upper mounting plate 1 and 3 of pedestal 2,4,5 SPS type linear drives branches 3 form, it is characterized in that: there is the ball pair at each linear drives branch 3 two ends, the centre has 1 straight line driving mechanism and 1 stepping motor 4 to form SPS branch, its axis overlaps with the ball sub-center, straight line mobile drive deivce or hydraulic linear mobile drive deivce that linear drives branch 3 is made up of stepper motor 4 and screw pair constitute, and realize the linear drives motion; 3,4,5 linear drives branches 3 are regular polygon and are symmetrically distributed between upper mounting plate 1 and pedestal 2, wherein, 1 linear drives branch 3 of 4,5 linear drives branches 3 is arranged in the center of platform 1 and pedestal 2, and remaining is regular polygon and is symmetrically distributed between upper mounting plate 1 and pedestal 2; Each ball pair is made up of ring stand 5, support 6 and axle sleeve 7, one end of linear drives branch 3 connects the formation revolute pair with ring stand 5, ring stand 5 connects the formation revolute pair with support 6, support 6 connects the formation revolute pair with axle sleeve 7,1 ball pair of the mutually orthogonal formation of these 3 revolute pairs, axle sleeve 7 is connected with upper mounting plate 1 and support 2; Lateral pin 8 is set on the support 6, vertical pin 9 is set on axle sleeve 7, apply suitable constraint, can limit 1 revolute pair of ball pair and rotate, make the ball pair become the universal pair of different azimuth with lateral pin 8 or 9 pairs of ball pairs of vertical pin; Also can limit 2 revolute pairs of ball pair and rotate, make the ball pair become the revolute pair of different azimuth; Thus, the various lower-mobility parallel mechanism experiment bench of synthesis structure.
Description of drawings
In Fig. 1, Fig. 2 and Fig. 3,1. moving platform, 2. pedestal, 3. linear drives branch, 4. stepping motor, 5. ring stand, 6. support, 7. axle sleeve, 8. lateral pin, 9. vertical pin.
The specific embodiment
Fig. 1 is first embodiment disclosed by the invention, 3 SPS linear drives sub-chain structures are identical, be the equilateral triangle symmetrical distribution at upper mounting plate 1 and pedestal 2, there is the ball pair at the two ends of each linear drives branch 3, there are 1 straight line driving mechanism and 1 stepping motor 4 in the centre, its axis overlaps with the ball sub-center, is driven by stepping motor 4, realizes the stretching motion of linear drives branch 3.The ball pair is made up of the revolute pair of 3 axis quadratures; With lateral pin 8 and vertical pin 9, the rotation of 2 revolute pairs in the restriction ball pair, 3 ball pairs that will connect with moving platform 1 become revolute pair, constitute 1 3-SPR parallel mechanism experiment bench, and its free degree of this mechanism is 3.
Fig. 2 is second embodiment disclosed by the invention, has been 4 SPS type linear drives branches with first embodiment difference, is the square symmetrical distribution at upper mounting plate 1 and pedestal 2; With lateral pin 8 and vertical pin 9, the rotation of 2 revolute pairs in the restriction ball pair, 2 contiguous ball pairs that will connect with moving platform 1 become revolute pair, constitute 1 2-SPS/2-SPR parallel mechanism experiment bench, and the free degree of this mechanism is 4.
Adjustable 3,4, two kinds of experiment porch of 5-SPS type parallel institution, except that having the characteristics that parallel institution rigidity is big, carrying is high, it is simple relatively also to have a mechanism, symmetrical configuration, kinematic accuracy height, characteristics such as adjustability is good.They can be used for the experimental study of the comprehensive and motion analysis of the mechanism type of multiple lower-mobility parallel institution, also can be used to design multi-purpose spatial parallel device people, parallel machine, jiggle robot and sensor element etc.
Claims (3)
1. one kind adjustable 3,4,5-SPS type parallel mechanism experiment bench, by 3 of upper mounting plate (1), pedestal (2) and connection upper mounting plate (1) and pedestal (2), 4,5 linear drives branches (3) form, it is characterized in that: 3,4,5 linear drives branches (3) are regular polygon and are symmetrically distributed between upper mounting plate (1) and pedestal (2), wherein, and 4,1 linear drives branch (3) of 5 linear drives branches (3) is arranged in the center of platform (1) and pedestal (2), and all the other are regular polygon and are symmetrically distributed between upper mounting plate (1) and pedestal (2); There is the ball pair at each linear drives branch (3) two ends, and there are 1 straight line driving mechanism and 1 stepper motor (4) in the centre, and its axis overlaps with the ball sub-center.
2. according to claim 1 adjustable 3,4,5-SPS type parallel mechanism experiment bench is characterized in that: straight line mobile drive deivce or hydraulic linear mobile drive deivce formation that linear drives branch (3) is made up of stepping motor (4) and screw pair.
3. according to claim 1 and 2 described adjustable 3,4,5-SPS type parallel mechanism experiment bench, it is characterized in that: each ball pair is made up of ring stand (5), support (6) and axle sleeve (7), drive branch's one end (3) and connect the formation revolute pair with ring stand (5), ring stand (5) connects the formation revolute pair with support (6), and support (6) connects the formation revolute pair with axle sleeve (7), 1 ball pair of the mutually orthogonal formation of these 3 revolute pairs, axle sleeve (7) is connected with upper mounting plate (1) and support (2); Lateral pin (8) is set on the support (6), vertical pin (9) is set on axle sleeve (7), the ball pair is applied suitable constraint, can limit 1 revolute pair of ball pair and rotate, make the ball pair become the universal pair of different azimuth with lateral pin (8) or vertical pin (9); Also can limit 2 revolute pairs of ball pair and rotate, make the ball pair become the revolute pair of different azimuth; Thus, the various lower-mobility parallel mechanism experiment bench of synthesis structure.
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244560B (en) * | 2008-03-22 | 2010-06-23 | 燕山大学 | Three freedoms parallel robot mechanism with different structure drive branches |
| CN102501248A (en) * | 2011-11-28 | 2012-06-20 | 燕山大学 | Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103433934A (en) * | 2013-09-16 | 2013-12-11 | 胡明建 | Designing method of externally-driven magnetic-latching parallel stepping oscillation plane |
| CN103490687A (en) * | 2013-09-24 | 2014-01-01 | 胡明建 | Method for designing magnetism-keeping parallel stepping swinging stretchy joint |
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN104608130A (en) * | 2014-12-01 | 2015-05-13 | 燕山大学 | 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism |
| CN105082172A (en) * | 2015-06-17 | 2015-11-25 | 北京交通大学 | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators |
| CN105328693A (en) * | 2015-09-28 | 2016-02-17 | 上海宇航系统工程研究所 | Seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing |
| CN105538300A (en) * | 2015-11-05 | 2016-05-04 | 广东工业大学 | Full-automatic plate installation manipulator device |
| 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 |
| CN105973532A (en) * | 2016-04-28 | 2016-09-28 | 哈尔滨工业大学 | Inertial parameter test equipment based on 3-URU parallel mechanism |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108904237A (en) * | 2018-08-13 | 2018-11-30 | 邢志平 | A kind of automation scraping bed |
| CN110000756A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | With three mobile and a two mobile screw modes parallel institutions |
| CN110270983A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of 2R1T type parallel institution with spherical rotation kinematic pair |
| CN110270981A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of RPR type parallel institution with spherical rotation kinematic pair |
| CN112192444A (en) * | 2020-09-04 | 2021-01-08 | 太仓臻溢科技有限公司 | Multi-dimensional constant force control device |
| TWI761887B (en) * | 2020-07-20 | 2022-04-21 | 財團法人國家實驗研究院 | Adjustable optical element supporting structure |
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2005
- 2005-10-10 CN CN 200510012898 patent/CN1861328A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244560B (en) * | 2008-03-22 | 2010-06-23 | 燕山大学 | Three freedoms parallel robot mechanism with different structure drive branches |
| CN102501248A (en) * | 2011-11-28 | 2012-06-20 | 燕山大学 | Inner and outer ring nesting dynamic connection redundantly constrained hybrid mechanism |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103177636B (en) * | 2013-03-26 | 2014-10-08 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103433934A (en) * | 2013-09-16 | 2013-12-11 | 胡明建 | Designing method of externally-driven magnetic-latching parallel stepping oscillation plane |
| CN103433934B (en) * | 2013-09-16 | 2016-01-20 | 胡明建 | A kind of outer method for designing of driving magnetic and keeping parallel stepping plane of oscillation |
| CN103490687B (en) * | 2013-09-24 | 2016-01-20 | 胡明建 | A kind of magnetic keeps the method for designing in parallel stepping swinging, telescopic joint |
| CN103490687A (en) * | 2013-09-24 | 2014-01-01 | 胡明建 | Method for designing magnetism-keeping parallel stepping swinging stretchy joint |
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN104608130A (en) * | 2014-12-01 | 2015-05-13 | 燕山大学 | 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism |
| CN104608130B (en) * | 2014-12-01 | 2016-05-18 | 燕山大学 | A kind of 3SPS+2SPR+R type five-freedom parallel structure |
| CN105082172A (en) * | 2015-06-17 | 2015-11-25 | 北京交通大学 | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators |
| CN105328693A (en) * | 2015-09-28 | 2016-02-17 | 上海宇航系统工程研究所 | Seven-freedom-degree three-branch parallel symmetric mechanism for plate splicing |
| CN105328693B (en) * | 2015-09-28 | 2017-03-29 | 上海宇航系统工程研究所 | A kind of three side chain of seven freedom parallel connection symmetrical mechanism for plate splicing |
| CN105538300A (en) * | 2015-11-05 | 2016-05-04 | 广东工业大学 | Full-automatic plate installation manipulator device |
| CN105973532B (en) * | 2016-04-28 | 2018-03-27 | 哈尔滨工业大学 | A kind of inertial parameter test equipment based on 3 URU parallel institutions |
| CN105973532A (en) * | 2016-04-28 | 2016-09-28 | 哈尔滨工业大学 | Inertial parameter test equipment based on 3-URU parallel mechanism |
| CN105881508A (en) * | 2016-05-24 | 2016-08-24 | 天津大学 | Novel three-degree-of-freedom translational parallel mechanism |
| CN105798888A (en) * | 2016-05-24 | 2016-07-27 | 天津大学 | Novel space translation 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 |
| CN106363610A (en) * | 2016-11-24 | 2017-02-01 | 天津大学 | Novel three-freedom-degree translational motion parallel mechanism |
| CN107972018A (en) * | 2018-01-24 | 2018-05-01 | 天津工业大学 | A kind of four side chain parallel institutions |
| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108904237A (en) * | 2018-08-13 | 2018-11-30 | 邢志平 | A kind of automation scraping bed |
| CN108904237B (en) * | 2018-08-13 | 2021-01-08 | 周伟 | Automatic change popular treatment for sunstroke by scraping patient's neck, chest or back bed |
| CN110000756B (en) * | 2019-04-01 | 2021-02-12 | 西安工程大学 | Parallel mechanism with three-movement and two-movement one-spiral movement modes |
| CN110000756A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | With three mobile and a two mobile screw modes parallel institutions |
| CN110270981A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of RPR type parallel institution with spherical rotation kinematic pair |
| CN110270983A (en) * | 2019-05-06 | 2019-09-24 | 西安工程大学 | A kind of 2R1T type parallel institution with spherical rotation kinematic pair |
| CN110270983B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | 2R1T type parallel mechanism with spherical rotary motion pair |
| CN110270981B (en) * | 2019-05-06 | 2021-06-01 | 西安工程大学 | RPR type parallel mechanism with spherical rotary kinematic pair |
| TWI761887B (en) * | 2020-07-20 | 2022-04-21 | 財團法人國家實驗研究院 | Adjustable optical element supporting structure |
| CN112192444A (en) * | 2020-09-04 | 2021-01-08 | 太仓臻溢科技有限公司 | Multi-dimensional constant force control device |
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