CN201380496Y - Three-rotation one-movement four-freedom parallel mechanism - Google Patents
Three-rotation one-movement four-freedom parallel mechanism Download PDFInfo
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- CN201380496Y CN201380496Y CN200920115948U CN200920115948U CN201380496Y CN 201380496 Y CN201380496 Y CN 201380496Y CN 200920115948 U CN200920115948 U CN 200920115948U CN 200920115948 U CN200920115948 U CN 200920115948U CN 201380496 Y CN201380496 Y CN 201380496Y
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Abstract
A three-rotation one-movement four-freedom parallel mechanism of the utility model comprises a quadrilateral movable platform, a quadrilateral static platform and four branched chains for connecting corresponding edges of the movable platform and the static platform, wherein three branched chains are unrestrained branched chains with the same structures, one branched chain is a restrained branched chain, each unrestrained branched chain is composed of a first Hooke chain, a first moving pair with two slide bars and a spherical hinge which are connected in turn, the first Hooke chain on each unrestrained branched chain is respectively connected with one edge of the static platform, the spherical hinge is respectively connected with one edge of the movable platform, the restrained branched chain is composed of a rotary pair, a second moving pair with two sliding bars and a second Hooke chain which are connected in turn, the rotary pair on the restrained branched chain is connected with a fourth edge of the static platform, the second Hooke chain is connected with the fourth edge of the movable platform, and the edge length of the movable platform and the edge length of the static platform are not equal. The parallel mechanism not only has strong bearing ability, but also has queer configuration, and has excellent application prospect in the field of medical care, surgery and the like.
Description
Technical field
The utility model relates to a kind of four-freedom parallel mechanism, rotates and the four-freedom parallel mechanism that direction moves in particular for three directions in robot implementation space.
Background technology
Parallel institution has the characteristic of many excellences such as error is little, rigidity is high, bearing capacity is big etc., but himself also exists intrinsic shortcoming, and singularity is exactly one of intrinsic property of parallel institution.Singularity typically refers to when mechanism is positioned at certain certain bits shape for parallel institution, and the moment change can take place the normal free degree of its moving platform.The parallel institution that is under the shape attitude of unusual position can produce many undesirable features, as the instantaneous forfeiture rigidity of mechanism, terminal positioning accuracy reduce, driving force can't the specific generalized force of balance moving platform etc., therefore how to eliminate the singularity of mechanism be the very crucial problem of parallel institution in research.
Summary of the invention
At above-mentioned deficiency, the purpose of this utility model provides a kind of can three directions in implementation space rotating and the four-freedom parallel mechanism that direction moves of singularity of not having.
Three-rotation one-movement four-freedom parallel mechanism of the present utility model, comprise a quadrangle moving platform, a quadrangle silent flatform and four side chains that connect moving platform and silent flatform corresponding sides, wherein three side chains are the identical unconfinement side chain of structure, article one, side chain is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge that connects successively, first moving sets and ball pivot composition and ball pivot composition with two slide bars, first Hooke's hinge on each bar unconfinement side chain links to each other with a limit of silent flatform respectively, ball pivot on each bar unconfinement side chain links to each other with a limit of moving platform respectively, two rotations of first Hooke's hinge all with silent flatform place planes overlapping, the centre of sphere of ball pivot and moving platform place planes overlapping, constrained branched chain is by the revolute that connects successively, second moving sets and second Hooke's hinge with two slide bars are formed, revolute on the constrained branched chain links to each other with the four edges of silent flatform, second Hooke's hinge on the constrained branched chain links to each other with the four edges of moving platform, two rotations of second Hooke's hinge and moving platform place planes overlapping, the axis of revolute is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
Usually, make the length of side of the length of side of moving platform less than silent flatform.
The silent flatform of three-rotation one-movement four-freedom parallel mechanism is fixed on the frame, and first moving sets of three unconfinement side chains is driven by linear electric motors, and the revolute of constrained branched chain is driven by electric rotating machine.After the motion of motor-driven kinematic pair, two slide bars of three unconfinement side chain first moving sets take place to move mutually, and the revolute of constrained branched chain rotates, and four side chains drive moving platform simultaneously and do corresponding motion.Because four side chains remain uneven relation in the process of mechanism kinematic, credit is analysed as can be known according to motion of mechanism, and entire mechanism has four frees degree by four motor-driven, and does not have singularity.
Compare with existing other parallel institutions, the advantage that the utlity model has is:
1. parallel institution is simple in structure, bearing capacity is strong, working space is big, be easy to control.
2. the parallel institution suitable application area is extensive, as can be used as parallel machine, sophisticated sensor, operating robot, rig etc.
3. parallel institution does not have singularity, and the random feeding route of design organization does not in the course of the work have that rigidity on some position disappears and problem that driving force can't the specific generalized force of balance moving platform.
Description of drawings
Fig. 1 is the structural representation of three-rotation one-movement four-freedom parallel mechanism.
Among the figure: 1. moving platform, 2. silent flatform, 3. unconfinement side chain, 4. revolute, 5. first moving sets, 6-1. first slide bar, 6-2. second slide bar, 7. first Hooke's hinge, 8. ball pivot, 9-1. the 3rd slide bar, 9-2. the 4th slide bar, 10. second moving sets, 11. second Hooke's hinges, 12. unconfinement side chains.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail:
With reference to Fig. 1, three-rotation one-movement four-freedom parallel mechanism of the present utility model, comprise a quadrangle moving platform 1, a quadrangle silent flatform 2 and four side chains that connect moving platform 1 and silent flatform 2 corresponding sides, wherein three side chains 3 are the identical unconfinement side chain of structure, article one, side chain 12 is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge 7 that connects successively, have two slide bar 6-1, first moving sets 5 of 6-2 and ball pivot 8 are formed, first Hooke's hinge 7 on each treaty bundle branch chain 3 links to each other with a limit of silent flatform 2 respectively, ball pivot 8 on each bar unconfinement side chain links to each other with a limit of moving platform 1 respectively, two rotations of first Hooke's hinge 7 all with silent flatform 2 place planes overlapping, the centre of sphere of ball pivot 8 and moving platform place planes overlapping, constrained branched chain 12 is by the revolute 4 that connects successively, have two slide bar 9-1, second moving sets 10 of 9-2 and second Hooke's hinge 11 are formed, revolute 4 on the constrained branched chain 12 links to each other with the four edges of silent flatform 2, second Hooke's hinge 11 on the constrained branched chain links to each other with the four edges of moving platform 1, two rotations of second Hooke's hinge 11 and moving platform place planes overlapping, the axis of revolute 4 is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
In the legend, the length of side of moving platform is less than the length of side of silent flatform.
Operation principle is as follows: first moving sets 5 of three unconfinement side chains 3 of parallel institution makes two slide bars that relative slippage take place under linear electric motors drive, and makes the unconfinement side chain to stretch.The revolute 4 of constrained branched chain 12 can be rotated under the electric rotating machine effect, makes constrained branched chain to rotate.Because silent flatform 2 is fixed on the frame, article four, an end of side chain is fixed on the silent flatform 2 by kinematic pair, the other end links to each other with moving platform 1 by kinematic pair, and moving platform under the acting in conjunction of four side chains the rotation of three directions and the moving of a direction in space can take place.Promptly can rotate around two rotating shafts of revolute 4, second Hooke's hinge 11 and moving along the O-o direction.Entire mechanism has four frees degree, and does not have singularity.
Claims (2)
1. three-rotation one-movement four-freedom parallel mechanism, it is characterized in that comprising a quadrangle moving platform (1), a quadrangle silent flatform (2) and four side chains that connect moving platform (1) and silent flatform (2) corresponding sides, wherein three side chains (3) are the identical unconfinement side chain of structure, article one, side chain (12) is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge (7) that connects successively, have two slide bar (6-1, first moving sets (5) 6-2) and ball pivot (8) are formed, first Hooke's hinge (7) on each bar unconfinement side chain (3) links to each other with a limit of silent flatform (2) respectively, ball pivot (8) on each bar unconfinement side chain links to each other with a limit of moving platform (1) respectively, two rotations of first Hooke's hinge (7) all with silent flatform (2) place planes overlapping, the centre of sphere of ball pivot (8) and moving platform place planes overlapping, constrained branched chain (12) is by the revolute (4) that connects successively, have two slide bar (9-1, second moving sets (10) 9-2) and second Hooke's hinge (11) are formed, revolute (4) on the constrained branched chain (12) links to each other with the four edges of silent flatform (2), second Hooke's hinge (11) on the constrained branched chain links to each other with the four edges of moving platform (1), two rotations of second Hooke's hinge (11) and moving platform place planes overlapping, the axis of revolute (4) is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
2. require 1 described a kind of three-rotation one-movement four-freedom parallel mechanism according to power, it is characterized in that the length of side of the length of side of moving platform less than silent flatform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920115948U CN201380496Y (en) | 2009-03-19 | 2009-03-19 | Three-rotation one-movement four-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920115948U CN201380496Y (en) | 2009-03-19 | 2009-03-19 | Three-rotation one-movement four-freedom parallel mechanism |
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| CN201380496Y true CN201380496Y (en) | 2010-01-13 |
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| CN200920115948U Expired - Fee Related CN201380496Y (en) | 2009-03-19 | 2009-03-19 | Three-rotation one-movement four-freedom parallel mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
| CN105711676A (en) * | 2016-01-25 | 2016-06-29 | 山东大学（威海） | Four-degree-of-freedom series-parallel hybrid robot leg configuration and walking robot |
| CN105856192A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes |
| CN109107880A (en) * | 2018-08-31 | 2019-01-01 | 昆明理工大学 | A kind of four-freedom parallel mechanism for vibrating screen |
| CN109938933A (en) * | 2019-03-27 | 2019-06-28 | 上海工程技术大学 | A kind of mobile transferring platform of self-balancing |
| CN113664857A (en) * | 2021-10-15 | 2021-11-19 | 辽宁工程技术大学 | Three-rotation one-translation four-freedom-degree parallel robot |
-
2009
- 2009-03-19 CN CN200920115948U patent/CN201380496Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586862A (en) * | 2013-10-22 | 2014-02-19 | 上海交通大学 | Novel three-branched-chain six-degree-of-freedom robot |
| CN105711676A (en) * | 2016-01-25 | 2016-06-29 | 山东大学（威海） | Four-degree-of-freedom series-parallel hybrid robot leg configuration and walking robot |
| CN105711676B (en) * | 2016-01-25 | 2017-08-29 | 山东大学（威海） | Four-degree-of-freedom serial-parallel mirror robot leg configuration and walking robot |
| CN105856192A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes |
| CN109107880A (en) * | 2018-08-31 | 2019-01-01 | 昆明理工大学 | A kind of four-freedom parallel mechanism for vibrating screen |
| CN109107880B (en) * | 2018-08-31 | 2023-09-26 | 昆明理工大学 | Four-degree-of-freedom parallel mechanism for vibrating screen |
| CN109938933A (en) * | 2019-03-27 | 2019-06-28 | 上海工程技术大学 | A kind of mobile transferring platform of self-balancing |
| CN113664857A (en) * | 2021-10-15 | 2021-11-19 | 辽宁工程技术大学 | Three-rotation one-translation four-freedom-degree parallel robot |
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| Date | Code | Title | Description |
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| 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: 20100113 Termination date: 20130319 |