CN1944001A - Spacial non-symmetric two freedom rotary parallel mechanism - Google Patents

Spacial non-symmetric two freedom rotary parallel mechanism Download PDF

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Publication number
CN1944001A
CN1944001A CN 200610102017 CN200610102017A CN1944001A CN 1944001 A CN1944001 A CN 1944001A CN 200610102017 CN200610102017 CN 200610102017 CN 200610102017 A CN200610102017 A CN 200610102017A CN 1944001 A CN1944001 A CN 1944001A
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China
Prior art keywords
platform
fixed platform
branch
moving platform
hooke
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CN 200610102017
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Chinese (zh)
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CN100413656C (en
Inventor
赵永生
赵云峰
程丽
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Yanshan University
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Yanshan University
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Priority to CNB2006101020173A priority Critical patent/CN100413656C/en
Publication of CN1944001A publication Critical patent/CN1944001A/en
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Publication of CN100413656C publication Critical patent/CN100413656C/en
Expired - Fee Related legal-status Critical Current
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Abstract

Structurally, the parallel mechanism includes one movable platform, one static platform, two driving branches in the same structure and one constraint branch to connect the movable platform to the static platform. The connection points between these three branches and the static platform form one isosceles rectangular triangle, and so do the connection points between these three branches and the movable platform, with the connection point between the constraint branch and the movable platform or the static platform being in the right angle point. The present invention has high rigidity, simple structure, high bearing capacity, 2D rotation of the movable platform, easy control and other features, and is especially suitable for use in two freedom turning displacement machine.

Description

The asymmetric two freedom rotary parallel mechanism in space
Technical field
The invention belongs to the parallel institution field, particularly a kind of parallel institution with bidimensional rotation.
Background technology
Parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more, compares with serial mechanism, and parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in the aspects such as virtual-shaft machine tool, fine motion operating desk, various motion simulator and sensor except that parallel robot.
Parallel institution present 3,6DOF is used comparatively extensive, but the asymmetric two freedom rotary parallel mechanism in space is less, this parallel institution compact conformation, and the bearing capacity height is specially adapted to two-freedom positioner in parallel.
Summary of the invention
The object of the present invention is to provide a kind of space parallel mechanism that bidimensional rotates that has, it is big that this mechanism has a working space, the bearing capacity height, simple in structure, be easy to advantage such as control.
The technical solution adopted for the present invention to solve the technical problems is: this mechanism is by moving platform, fixed platform and be connected moving platform and two identical driving branches and a bound branch of fixed platform are formed, wherein: in driving branch, moving platform and two posts connect firmly together, each post is connected with small rod by revolute pair, each small rod is connected with last connecting rod by Hooke's hinge, connecting rod is connected by moving sets with lower link on each, and each lower link is connected by Hooke's hinge with fixed platform.In bound branch, big column and fixed platform connect firmly together, and big column is connected by Hooke's hinge with post, and post and moving platform connect firmly together.The tie point of three branches and moving platform and fixed platform is isosceles right triangle and distributes, and the tie point of bound branch and moving platform and fixed platform is positioned at right angle electrical, and the tie point of driving branch and moving platform and fixed platform is positioned at two end points of hypotenuse.
Description of drawings
Fig. 1 is the asymmetric two freedom rotary parallel mechanism schematic diagram in space;
Fig. 2 is the last connecting rod of driving branch of parallel institution of the present invention and the structural representation between the post.
In Fig. 1,1. moving platform, 2. post, 3. revolute pair, 4. small rod, 5. Hooke's hinge is 6. gone up connecting rod, 7. moving sets, 8. lower link, 9. Hooke's hinge, 10. fixed platform, 11. big columns, 12. Hooke's hinges, 13. posts, 14. axle beds.
Accompanying drawing 1 is an embodiment disclosed by the invention.This mechanism is made up of moving platform 1, fixed platform 10 and two identical driving branches and a bound branch of being connected moving platform and fixed platform.In driving branch, moving platform 1 and two posts 2 connect firmly together, each post 2 is connected with small rod 4 by revolute pair 3, small rod 4 is connected with last connecting rod 6 by Hooke's hinge 5, last connecting rod 6 is connected by moving sets 7 with lower link 8, lower link 8 is connected by Hooke's hinge 9 with axle bed 14, and each axle bed 14 connects firmly together with fixed platform 10.In bound branch, big column 11 connects firmly together with fixed platform 10, and big column 11 is connected by Hooke's hinge 12 with post 13, and post 13 connects firmly together with moving platform 1.The axis of revolute pair 3 is by the intersection point of two rotating shafts of Hooke's hinge 5; The tie point of three branches and moving platform 1 and fixed platform 10 is isosceles right triangle and distributes, and the tie point of bound branch and moving platform 1 and fixed platform 10 is positioned at right angle electrical, and the tie point of driving branch and moving platform 1 and fixed platform 10 is positioned at two end points of hypotenuse.
The present invention is the asymmetric two freedom rotary parallel mechanism in space, has asymmetrical structure, has good kinematics performance, bearing capacity is big, rigidity is high and bigger working space; Its kinematics is positive and negative separates very simply, makes control very easy.

Claims (2)

1. asymmetric two freedom rotary parallel mechanism in space, form by moving platform (1), fixed platform (10) and three branches being connected moving platform and fixed platform, it is characterized in that: in described three branches, two is identical driving branch, and one is bound branch; In driving branch, moving platform (1) connects firmly together with post (2), post (2) is connected with small rod (4) by revolute pair (3), small rod (4) is connected with last connecting rod (6) by Hooke's hinge (5), last connecting rod (6) is connected by moving sets (7) with lower link (8), lower link (8) is connected by Hooke's hinge (9) with axle bed (14), and axle bed (14) connects firmly together with fixed platform (10); In bound branch, big column (11) connects firmly together with fixed platform (10), and big column (11) is connected by Hooke's hinge (12) with post (13), and post (13) connects firmly together with moving platform (1); The axis of revolute pair (3) is by the intersection point of two rotating shafts of Hooke's hinge (5);
2. the asymmetric two freedom rotary parallel mechanism in space according to claim 1, it is characterized in that: the tie point of three branches and moving platform (1) and fixed platform (10) is isosceles right triangle and distributes, the tie point of bound branch and moving platform (1) and fixed platform (10) is positioned at the right angle electrical of this isosceles right angled triangle, and two tie points that drive branch and moving platform (1) and fixed platform (10) are positioned at two end points of this isosceles hypotenuse.
CNB2006101020173A 2006-10-13 2006-10-13 Spacial non-symmetric two freedom rotary parallel mechanism Expired - Fee Related CN100413656C (en)

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Application Number Priority Date Filing Date Title
CNB2006101020173A CN100413656C (en) 2006-10-13 2006-10-13 Spacial non-symmetric two freedom rotary parallel mechanism

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Application Number Priority Date Filing Date Title
CNB2006101020173A CN100413656C (en) 2006-10-13 2006-10-13 Spacial non-symmetric two freedom rotary parallel mechanism

Publications (2)

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CN1944001A true CN1944001A (en) 2007-04-11
CN100413656C CN100413656C (en) 2008-08-27

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Cited By (18)

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CN101830272A (en) * 2010-05-13 2010-09-15 天津大学 Spatial redundant drive swinging experiment table with two degrees of freedom
CN101863017A (en) * 2010-04-30 2010-10-20 苏州博实机器人技术有限公司 Six-freedom-degree parallel connection simulator
CN101642907B (en) * 2009-09-04 2011-05-25 深圳职业技术学院 Two-degrees-of-freedom translation parallel robot mechanism
CN102097020A (en) * 2011-01-17 2011-06-15 浙江大学 Worm gear pair-based simulator platform capable of infinitely rotating around Z axis
CN102513254A (en) * 2011-12-28 2012-06-27 广西大学 Eight-spatial-degree-of-motion spraying robot
CN102528817A (en) * 2012-01-13 2012-07-04 燕山大学 Three-degree-of-freedom parallel-connection mechanical wrist
CN103050047A (en) * 2012-12-11 2013-04-17 燕山大学 Self-balanced parallel movement simulator of two-freedom degree closed loop
CN103144095A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric decoupling parallel mechanism with two rotations and one movement
CN103144096A (en) * 2013-03-13 2013-06-12 燕山大学 Overconstraint-free asymmetric parallel mechanism with two rotations and one movement
CN103144097A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric parallel robot mechanism with two rotations and one movement
CN104227698A (en) * 2013-06-19 2014-12-24 上海瀚创机器人技术有限公司 Parallel displacement mechanism with two degrees of freedom
CN104985585A (en) * 2015-05-12 2015-10-21 北京理工大学 Bionic waist mechanism of humanoid robot and with telescoping driving devices
CN105252525A (en) * 2015-11-30 2016-01-20 中国科学院光电技术研究所 Two-degree-of-freedom spherical parallel mechanism
CN106301176A (en) * 2016-08-26 2017-01-04 清华大学 A kind of big angle rotary condenser support frame mechanism
CN109262603A (en) * 2018-10-29 2019-01-25 燕山大学 Rope driving manipulator refers to and its manipulator
CN110238875A (en) * 2019-06-24 2019-09-17 华中科技大学 It is a kind of with the biped robot's arm for turning Shoulder Function
CN111059431A (en) * 2019-12-24 2020-04-24 燕山大学 Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device
CN111332718A (en) * 2020-03-20 2020-06-26 翁观华 Four-way unloading express sorting trolley with overturning direction controlled by air cylinder

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2736327B2 (en) * 1995-09-28 1998-04-02 工業技術院長 Robot manipulator
CN1537704A (en) * 2003-10-24 2004-10-20 清华大学 Paralel robot mechanism with bidimension rotating mono-dimension moving
CN1544210A (en) * 2003-11-28 2004-11-10 清华大学 Rotating parallel robot mechanism with two degrees of freedom
CN1238156C (en) * 2004-07-22 2006-01-25 北京航空航天大学 Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101642907B (en) * 2009-09-04 2011-05-25 深圳职业技术学院 Two-degrees-of-freedom translation parallel robot mechanism
CN101863017A (en) * 2010-04-30 2010-10-20 苏州博实机器人技术有限公司 Six-freedom-degree parallel connection simulator
CN101830272A (en) * 2010-05-13 2010-09-15 天津大学 Spatial redundant drive swinging experiment table with two degrees of freedom
CN101830272B (en) * 2010-05-13 2012-07-04 天津大学 Spatial redundant drive swinging experiment table with two degrees of freedom
CN102097020A (en) * 2011-01-17 2011-06-15 浙江大学 Worm gear pair-based simulator platform capable of infinitely rotating around Z axis
CN102513254A (en) * 2011-12-28 2012-06-27 广西大学 Eight-spatial-degree-of-motion spraying robot
CN102528817A (en) * 2012-01-13 2012-07-04 燕山大学 Three-degree-of-freedom parallel-connection mechanical wrist
CN102528817B (en) * 2012-01-13 2014-01-22 燕山大学 Three-degree-of-freedom parallel-connection mechanical wrist
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
CN103144095B (en) * 2013-03-13 2015-01-07 燕山大学 Asymmetric decoupling parallel mechanism with two rotations and one movement
CN103144096A (en) * 2013-03-13 2013-06-12 燕山大学 Overconstraint-free asymmetric parallel mechanism with two rotations and one movement
CN103144097A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric parallel robot mechanism with two rotations and one movement
CN103144095A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric decoupling parallel mechanism with two rotations and one movement
CN104227698A (en) * 2013-06-19 2014-12-24 上海瀚创机器人技术有限公司 Parallel displacement mechanism with two degrees of freedom
CN104985585B (en) * 2015-05-12 2017-06-16 北京理工大学 A kind of bionical waist mechanism of the anthropomorphic robot of telescopic drive
CN104985585A (en) * 2015-05-12 2015-10-21 北京理工大学 Bionic waist mechanism of humanoid robot and with telescoping driving devices
CN105252525A (en) * 2015-11-30 2016-01-20 中国科学院光电技术研究所 Two-degree-of-freedom spherical parallel mechanism
CN106301176A (en) * 2016-08-26 2017-01-04 清华大学 A kind of big angle rotary condenser support frame mechanism
CN109262603A (en) * 2018-10-29 2019-01-25 燕山大学 Rope driving manipulator refers to and its manipulator
CN110238875A (en) * 2019-06-24 2019-09-17 华中科技大学 It is a kind of with the biped robot's arm for turning Shoulder Function
CN111059431A (en) * 2019-12-24 2020-04-24 燕山大学 Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device
CN111332718A (en) * 2020-03-20 2020-06-26 翁观华 Four-way unloading express sorting trolley with overturning direction controlled by air cylinder

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