CN200991901Y - Three flat-moving orthogonal decoupling paralled connecting micromovement platform - Google Patents
Three flat-moving orthogonal decoupling paralled connecting micromovement platform Download PDFInfo
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- CN200991901Y CN200991901Y CN 200620162291 CN200620162291U CN200991901Y CN 200991901 Y CN200991901 Y CN 200991901Y CN 200620162291 CN200620162291 CN 200620162291 CN 200620162291 U CN200620162291 U CN 200620162291U CN 200991901 Y CN200991901 Y CN 200991901Y
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Abstract
The utility model provides a three translational orthogonally decoupled parallel micro motion bench, comprising a movable workbench, a fixed bench and three fork chains linked between the movable workbench and the fixed bench, wherein both the movable workbench and the fixed bench are provided with three perpendicular planes. The utility model is characterized in that each fork chain comprises a connection rod and a subchain whose one end is connected with the fork chain and each subchain consists of three spring revolute pairs whose rotation axes are parallel; the other end of the subchain is fixedly connected with one of the three perpendicular planes of the movable workbench. The other end of the connection rod is connected with the fixed bench through three spring movable pairs that are distributed on the three perpendicular planes of the fixed bench; the driving motion direction of a spring movable pair is parallel to the axis of the three spring revolute pairs of the corresponding subchain. One end of the micro displacement driving device is connected with the spring movable pairs and the other end is fixedly connected with the fixed bench. The utility model can be applied to achieve completely decoupled 3-DOFtranslational motion and the subchains on the fork chain strengthen the hardness and the carry capacity of the micro motion bench.
Description
Affiliated technical field
The utility model belongs to the manufacturing technology field, specifically relates to a kind of three-translation orthogonal decoupling parallel micromotion platform.
Background technology
Parallel micromotion platform has and does not have friction, no gap, response soon, characteristics such as compact conformation, so be widely used in the trickle field operation such as processing, assembling of chromosome cutting, chip manufacturing, micro electronmechanical product.
Early sixties abroad, Ellis proposes with parallel institution as the fine motion manipulator, and is applied to biotechnology and microsurgery; Magnani and Pernette have studied the flexible hinge form of revolute pair, moving sets, Hooke's hinge and ball pivot; Kallio has developed the three-freedom microoperation parallel robot; Hara and Henimi have studied planar three freedom and six-freedom micro displacement robot; Hudgens and Tesar have studied the six-freedom parallel micromanipulator, are used for the control of accurate error compensation and accurate power; Lee studies realizing a freedom degree parallel connection micromotion mechanism that moves two rotations.At present at home, BJ University of Aeronautics ﹠ Astronautics has developed the six degree of freedom connection in series-parallel micro-manipulating robot of two-stage decoupling zero and the micro-manipulating robot of freedom degree parallel connection Delta mechanism; Harbin Institute of Technology has successively developed 6-PSS and 6-SPS six-freedom parallel Stewart jiggle robot; Hebei University of Technology has developed the 6-PSS type microoperation platform of crossing decoupling structure." new type series-parallel connection jogging robot ", " six-freedom parallel decoupling-structure jogging robot ", " vernier robot with decoupled parallel five freedoms and five-axle structure ", " four-freedom four-shaft structure decoupling parallel jiggle robot ", " vernier robot with decoupled parallel three freedoms and three-axle structure " are disclosed in application number is 01128916.3,99121020.4,00100196.5,00100197.3,00100198.1 patent document.
Although many scholar's research parallel micromotions robot is arranged both at home and abroad, these achievements in research and patented technology satisfy certain kinematic accuracy requirement mostly, do not consider all how micromotion platform effectively improves the problem of its rigidity when large bearing capacity.At some ultraprecise manufacture fields,, need then to guarantee that micromotion platform has very high rigidity and bearing capacity as little processing of high hard material.Although prior art can obtain higher stiffness by the structural parameters that change micromotion platform, so often make platform by volume increase, when driving, expend unnecessary energy to produce the relative motion of flexible hinge.
The utility model content
The purpose of this utility model provides a kind of three-translation orthogonal decoupling parallel micromotion platform that can overcome above-mentioned defective, have higher stiffness and bearing capacity.Its technical scheme is:
A kind of three-translation orthogonal decoupling parallel micromotion platform, comprise motion workbench, fixed platform and be connected in motion workbench and fixed platform between three side chains, wherein motion workbench and fixed platform all have three mutually orthogonal planes, it is characterized in that: every side chain includes the subchain of fixedlying connected with it in connecting rod and an end, wherein every subchain contains 3 elasticity revolute pairs that pivot center is parallel to each other, fixedly connected in one of three orthogonal planes of the subchain other end and motion workbench, the connecting rod other end is the resilient movement pair that is distributed on three orthogonal planes of fixed platform with being connected of fixed platform, and the secondary driving direction of resilient movement is parallel to the axis of 3 elasticity revolute pairs in the corresponding subchain, micro-displacement driving device one end is connected with resilient movement is secondary, and the other end and fixed platform are affixed.
Described three-translation orthogonal decoupling parallel micromotion platform, every side chain comprises one or more subchain.
Described three-translation orthogonal decoupling parallel micromotion platform, many subchains of every side chain are being that the plane of symmetry is symmetrical through connecting rod axle center in this side chain and the vertical face of motion workbench orthogonal plane that is connected with this side chain.
The utility model compared with prior art, its advantage is: (1) adopts flexible hinge as driving-chain, by the side chain quadrature arrangement, can realize full decoupled Three Degree Of Freedom translation, has advantages such as control algolithm is simple, dynamic characteristic is good; (2) three side chains that are arranged in orthogonal plane can contain many subchains, have strengthened the rigidity and the bearing capacity of micromotion platform greatly, satisfy the requirement of Precision Machining and location under the high-bearing capacity.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment.
The specific embodiment
1, micro-displacement driving device 2, resilient movement pair 3, connecting rod 4, elasticity revolute pair 5, motion workbench 6, fixed platform
In the embodiment shown in fig. 1: comprise motion workbench 5, fixed platform 6 and be connected in motion workbench 5 and fixed platform 6 between three side chains, wherein motion workbench 5 and fixed platform 6 all have three mutually orthogonal planes, it is characterized in that: every side chain comprises the subchain of fixedlying connected with it in connecting rod 3 and end, wherein every subchain contains 3 elasticity revolute pairs 4 that pivot center is parallel to each other, the subchain other end is fixedlyed connected with 5 three orthogonal planes of motion workbench respectively, connecting rod 3 other ends are the resilient movement pairs 2 that is distributed on 6 three orthogonal planes of fixed platform with being connected of fixed platform 6, and secondary 2 driving directions of resilient movement are parallel to the axis of 3 elasticity revolute pairs 4 in the corresponding subchain, micro-displacement driving device 1 one ends are connected with resilient movement secondary 2, and the other end and fixed platform 6 are affixed.
Claims (3)
1, a kind of three-translation orthogonal decoupling parallel micromotion platform, comprise motion workbench (5), fixed platform (6) and be connected in motion workbench (5) and fixed platform (6) between three side chains, wherein motion workbench (5) and fixed platform (6) all have three mutually orthogonal planes, it is characterized in that: every side chain includes the subchain of fixedlying connected with it in connecting rod (3) and an end, wherein every subchain contains 3 elasticity revolute pairs (4) that pivot center is parallel to each other, fixedly connected in one of (5) three orthogonal planes of the subchain other end and motion workbench, connecting rod (3) other end is the resilient movement pair (2) that is distributed on (6) three orthogonal planes of fixed platform with being connected of fixed platform (6), and resilient movement pair (2) driving direction is parallel to the axis of 3 the elasticity revolute pairs (4) in the corresponding subchain, micro-displacement driving device (1) one end is connected with resilient movement pair (2), and the other end and fixed platform (6) are affixed.
2, three-translation orthogonal decoupling parallel micromotion platform according to claim 1 is characterized in that: every side chain comprises one or more subchain.
3, three-translation orthogonal decoupling parallel micromotion platform according to claim 1 and 2 is characterized in that: many subchains of every side chain are being that the plane of symmetry is symmetrical through connecting rod (3) axle center in this side chain and the vertical face of motion workbench (5) orthogonal plane that is connected with this side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620162291 CN200991901Y (en) | 2006-12-28 | 2006-12-28 | Three flat-moving orthogonal decoupling paralled connecting micromovement platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620162291 CN200991901Y (en) | 2006-12-28 | 2006-12-28 | Three flat-moving orthogonal decoupling paralled connecting micromovement platform |
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| Publication Number | Publication Date |
|---|---|
| CN200991901Y true CN200991901Y (en) | 2007-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200620162291 Expired - Lifetime CN200991901Y (en) | 2006-12-28 | 2006-12-28 | Three flat-moving orthogonal decoupling paralled connecting micromovement platform |
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| CN (1) | CN200991901Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108742A (en) * | 2015-10-20 | 2015-12-02 | 山东理工大学 | Decoupled two-translation one-rotation parallel robot |
| CN105150197A (en) * | 2015-10-20 | 2015-12-16 | 山东理工大学 | Planar-movement type hybrid drive parallel robot |
-
2006
- 2006-12-28 CN CN 200620162291 patent/CN200991901Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108742A (en) * | 2015-10-20 | 2015-12-02 | 山东理工大学 | Decoupled two-translation one-rotation parallel robot |
| CN105150197A (en) * | 2015-10-20 | 2015-12-16 | 山东理工大学 | Planar-movement type hybrid drive parallel robot |
| CN105108742B (en) * | 2015-10-20 | 2020-05-05 | 山东理工大学 | Decoupling type two-translation one-rotation parallel robot |
| CN105150197B (en) * | 2015-10-20 | 2020-08-04 | 山东理工大学 | Planar motion type hybrid drive parallel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20090506 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |