CN201109120Y - Microposition platform for 2dof parallel structure - Google Patents
Microposition platform for 2dof parallel structure Download PDFInfo
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- CN201109120Y CN201109120Y CNU2007200300497U CN200720030049U CN201109120Y CN 201109120 Y CN201109120 Y CN 201109120Y CN U2007200300497 U CNU2007200300497 U CN U2007200300497U CN 200720030049 U CN200720030049 U CN 200720030049U CN 201109120 Y CN201109120 Y CN 201109120Y
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- revolute pair
- fixed platform
- connecting rod
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Abstract
The utility model provides a two-translational parallel structure micro positioning platform which comprises a movable table 7, a fixed platform 1 and two branched chains which are connected between the movable table 7 and the fixed platform 1. The two-translational parallel structure micro positioning platform is characterized in that each branched chain comprises a connecting bar 3 and two connecting bars 5 the ends of which are connected with the connecting bar 3 through a flexible revolute pair 4, wherein, the axial lines of the two connecting bars 5 are mutually parallel, and the other end of each connecting bar 5 is connected with the movable table 7 through a flexible revolute pair 6; the other end of the connecting bar 3 is connected with the fixed platform 1 through a flexible moving pair 2, and the rotating axial lines of the flexible revolute pair 4 and the flexible revolute pair 6 are mutually parallel. One end of a micrometric displacement driving device 8 is connected with the connecting bar 3, and the other end is fixedly connected with the fixed platform 1. Relative to the movable table 7, the two branched chains are arranged symmetrically and perpendicularly. The two-translational parallel structure micro positioning platform can realize two-dimensional micro translation, has the characteristics of simple structure, high sensitivity, etc., and adapts to situations where only the micro movement in plane is needed.
Description
Affiliated technical field
The utility model belongs to the manufacturing technology field, specifically relates to a kind of two translation parallel structure mini positioning platforms.
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, Ellis propose to use parallel institution as the fine motion manipulator, and are 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 " etc. are disclosed in application number is 01128916.3,99121020.4 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, and only need the planar application scenario of Precision trimming for some, the two dimension mini positioning platform just can meet the demands fully, therefore will reduce the cost of equipment greatly.
The utility model content
The purpose of this utility model provides a kind of two simple in structure, highly sensitive translation parallel structure mini positioning platforms.
Technical scheme is: a kind of two translation parallel structure mini positioning platforms, comprise motion workbench, fixed platform and be connected in motion workbench and fixed platform between two side chains, it is characterized in that: every side chain includes first connecting rod and two ends and its second connecting rod that is connected by the elasticity revolute pair, wherein the axis of two second connecting rods is parallel to each other, and the second connecting rod other end all is connected with motion platform by the elasticity revolute pair, the other end of first connecting rod is connected with fixed platform by resilient movement is secondary, the pivot center of flexible revolute pair parallel to each other, micro-displacement driving device one end is connected with first connecting rod, and the other end and fixed platform are affixed.
Described two translation parallel structure mini positioning platforms, two side chains are with respect to the motion platform symmetric arrangement or be arranged vertically.
The utility model compared with prior art, have simple in structure, be easy to advantages such as control, highly sensitive, stable performance, development cost is low.
Description of drawings
Fig. 1 is that the utility model embodiment adopts the structural representation of two side chains with respect to the motion platform symmetric arrangement.
Fig. 2 is that the utility model embodiment adopts two side chains with respect to the vertically arranged structural representation of motion platform.
The specific embodiment
1, fixed platform 2, resilient movement pair 3,5, connecting rod 4,6, elasticity revolute pair 7, motion workbench 8, micro-displacement driving device
In the embodiment shown in fig. 1: comprise motion workbench 7, fixed platform 1 and be connected in motion workbench 7 and fixed platform 1 between two side chains, it is characterized in that: every side chain includes connecting rod 3 and two ends and its connecting rod 5 that is connected by elasticity revolute pair 4, wherein the axis of two connecting rods 5 is parallel to each other, and connecting rod 5 other ends all are connected with motion platform 7 by elasticity revolute pair 6, the other end of connecting rod 3 is connected with fixed platform 1 by resilient movement secondary 2, elasticity revolute pair 4,6 pivot center is parallel to each other, micro-displacement driving device 8 one ends are connected with connecting rod 3, the other end and fixed platform 1 are affixed, and two side chains are with respect to motion platform 7 symmetric arrangement.
In the embodiment shown in Figure 2: comprise motion workbench 7, fixed platform 1 and be connected in motion workbench 7 and fixed platform 1 between two side chains, it is characterized in that: every side chain includes connecting rod 3 and two ends and its connecting rod 5 that is connected by elasticity revolute pair 4, wherein the axis of two connecting rods 5 is parallel to each other, and connecting rod 5 other ends all are connected with motion platform 7 by elasticity revolute pair 6, the other end of connecting rod 3 is connected with fixed platform 1 by resilient movement secondary 2, elasticity revolute pair 4,6 pivot center is parallel to each other, micro-displacement driving device 8 one ends are connected with connecting rod 3, the other end and fixed platform 1 are affixed, and two side chains are arranged vertically with respect to motion platform 7.
Claims (2)
1. translation parallel structure mini positioning platform, comprise motion workbench (7), fixed platform (1) and be connected in motion workbench (7) and fixed platform (1) between two side chains, it is characterized in that: every side chain includes connecting rod (3) and two ends and its connecting rod (5) that is connected by elasticity revolute pair (4), wherein the axis of two connecting rods (5) is parallel to each other, and connecting rod (5) other end all is connected with motion platform (7) by elasticity revolute pair (6), the other end of connecting rod (3) is connected with fixed platform (1) by resilient movement pair (2), elasticity revolute pair (4), (6) pivot center is parallel to each other, micro-displacement driving device (8) one ends are connected with connecting rod (3), and the other end and fixed platform (1) are affixed.
2. two translation parallel structure mini positioning platforms according to claim 1 is characterized in that: two side chains are with respect to motion platform (7) symmetric arrangement or be arranged vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200300497U CN201109120Y (en) | 2007-11-02 | 2007-11-02 | Microposition platform for 2dof parallel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200300497U CN201109120Y (en) | 2007-11-02 | 2007-11-02 | Microposition platform for 2dof parallel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201109120Y true CN201109120Y (en) | 2008-09-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200300497U Expired - Fee Related CN201109120Y (en) | 2007-11-02 | 2007-11-02 | Microposition platform for 2dof parallel structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN201109120Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101837586A (en) * | 2010-05-10 | 2010-09-22 | 武汉大学 | Two-dimensional micromotion stage |
| CN101733754B (en) * | 2009-12-04 | 2011-05-04 | 山东理工大学 | Three-dimensionally moved decoupling micro-manipulating robot |
| CN102062188A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102059693A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Dual-translation microoperating platform comprising quadrate elastic pair |
| CN102962683A (en) * | 2012-11-22 | 2013-03-13 | 上海交通大学 | Two-degree of freedom translational parallel high-bandwidth micro-motion platform |
-
2007
- 2007-11-02 CN CNU2007200300497U patent/CN201109120Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733754B (en) * | 2009-12-04 | 2011-05-04 | 山东理工大学 | Three-dimensionally moved decoupling micro-manipulating robot |
| CN101837586A (en) * | 2010-05-10 | 2010-09-22 | 武汉大学 | Two-dimensional micromotion stage |
| CN102062188A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102059693A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Dual-translation microoperating platform comprising quadrate elastic pair |
| CN102059693B (en) * | 2010-11-05 | 2013-04-10 | 山东理工大学 | Dual-translation microoperating platform comprising quadrate elastic pair |
| CN102062188B (en) * | 2010-11-05 | 2013-04-17 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102962683A (en) * | 2012-11-22 | 2013-03-13 | 上海交通大学 | Two-degree of freedom translational parallel high-bandwidth micro-motion platform |
| CN102962683B (en) * | 2012-11-22 | 2015-03-11 | 上海交通大学 | Two-degree of freedom translational parallel high-bandwidth micro-motion platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080903 Termination date: 20091202 |