CN201573206U - A four-degree-of-freedom space parallel mechanism with two movements and two rotations - Google Patents

A four-degree-of-freedom space parallel mechanism with two movements and two rotations Download PDF

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CN201573206U
CN201573206U CN2010203005061U CN201020300506U CN201573206U CN 201573206 U CN201573206 U CN 201573206U CN 2010203005061 U CN2010203005061 U CN 2010203005061U CN 201020300506 U CN201020300506 U CN 201020300506U CN 201573206 U CN201573206 U CN 201573206U
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范彩霞
李玉中
刘敬平
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Jiaozuo university
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Abstract

本实用新型公开的一种具有两移动两转动的四自由度空间并联机构,包括静平台、动平台和连接静平台与动平台的四条支路,第一条支路包括从静平台到动平台依次连接的转动副a、移动副a和万向铰a,第二条支路包括从静平台到动平台依次连接的转动副b、移动副b和万向铰b,第三条支路包括从静平台到动平台依次连接的球副a、移动副c和球副b,第四条支路包括从静平台到动平台依次连接的球副c、移动副d和球副d。本实用新型并联机构,动平台具有两维移动两维转动输出,且非期望输出运动为常数,结构紧凑,刚度高,受力特性好,可作为并联机器人、虚轴并联机床、虚轴坐标测量机、游戏杆操纵装置的可选机型。

Figure 201020300506

The utility model discloses a four-degree-of-freedom space parallel mechanism with two movements and two rotations, including a static platform, a dynamic platform, and four branches connecting the static platform and the dynamic platform. Rotating pair a, moving pair a and universal hinge a connected in sequence, the second branch includes rotating pair b, moving pair b and universal hinge b sequentially connected from the static platform to the moving platform, the third branch includes Spherical pair a, moving pair c and spherical pair b are sequentially connected from the static platform to the moving platform, and the fourth branch includes spherical pair c, moving pair d and spherical pair d sequentially connected from the static platform to the moving platform. In the parallel mechanism of the utility model, the moving platform has two-dimensional movement and two-dimensional rotation output, and the undesired output motion is constant, the structure is compact, the rigidity is high, and the force characteristic is good. It can be used as a parallel robot, a virtual axis parallel machine tool, and a virtual axis coordinate measurement. Optional models for machine, joystick controls.

Figure 201020300506

Description

具有两移动两转动的四自由度空间并联机构 A four-degree-of-freedom space parallel mechanism with two movements and two rotations

技术领域technical field

本实用新型属于机器人、机床技术领域,具体涉及一种具有两移动两转动的四自由度空间并联机构。The utility model belongs to the technical field of robots and machine tools, in particular to a four-degree-of-freedom space parallel mechanism with two movements and two rotations.

背景技术Background technique

并联机构是由动平台、静平台以及连接两平台的2-6条支路组成。相对于串联机构,并联机构具有刚度大、承载能力强、精度高、自重负荷比小等优点。而少自由度(自由度小于6)并联机构相对于6自由度并联机构来说,又具有结构简单、造价低、运动学求解相对简单等特点。因而少自由度并联机构在工业机器人、虚轴数控并联机床、坐标测量机、运动模拟器及医用机器人等行业有着广阔的应用前景。The parallel mechanism is composed of a dynamic platform, a static platform and 2-6 branches connecting the two platforms. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, strong bearing capacity, high precision, and small self-weight-to-load ratio. Compared with the parallel mechanism with 6 degrees of freedom, the parallel mechanism with few degrees of freedom (less than 6 degrees of freedom) has the characteristics of simple structure, low cost, and relatively simple kinematics solution. Therefore, the parallel mechanism with few degrees of freedom has broad application prospects in industries such as industrial robots, virtual axis CNC parallel machine tools, coordinate measuring machines, motion simulators, and medical robots.

在现有的四自由度并联机构中,大部分为三移动一转动并联机构,不能满足更广泛的应用要求,如实现两维转动两维平动的四自由度操作。Among the existing four-degree-of-freedom parallel mechanisms, most of them are three-movement-rotation parallel mechanisms, which cannot meet wider application requirements, such as four-degree-of-freedom operations that realize two-dimensional rotation and two-dimensional translation.

实用新型内容Utility model content

本实用新型的目的是提供一种具有两移动两转动的四自由度空间并联机构,可作为并联机器人、虚轴并联机床、虚轴坐标测量机、游戏杆操纵装置的可选机型,克服了现有两移动两转动的四自由度机构类型不足的问题。The purpose of this utility model is to provide a four-degree-of-freedom space parallel mechanism with two movements and two rotations, which can be used as an optional model for a parallel robot, a virtual axis parallel machine tool, a virtual axis coordinate measuring machine, and a joystick control device. The existing four-degree-of-freedom mechanism with two movements and two rotations is insufficient.

本实用新型所采用的技术方案是,一种具有两移动两转动的四自由度空间并联机构,包括静平台、动平台和连接静平台与动平台的四条支路,第一条支路包括从静平台到动平台依次连接的转动副a、移动副a和万向铰a,第二条支路包括从静平台到动平台依次连接的转动副b、移动副b和万向铰b,第三条支路包括从静平台到动平台依次连接的球副a、移动副c和球副b,第四条支路包括从静平台到动平台依次连接的球副c、移动副d和球副d,第一条支路中万向铰a的轴线a和第二条支路中万向铰b的轴线c同轴,第一条支路和第二条支路构成平面回路。The technical solution adopted by the utility model is a four-degree-of-freedom space parallel mechanism with two movements and two rotations, including a static platform, a dynamic platform and four branches connecting the static platform and the dynamic platform. The rotating joint a, moving joint a and universal hinge a connected in sequence from the static platform to the moving platform, the second branch includes the rotating joint b, moving joint b and universal joint b connected sequentially from the static platform to the moving platform, the first The three branches include spherical pair a, moving pair c and spherical pair b connected sequentially from the static platform to the moving platform, and the fourth branch includes spherical pair c, moving pair d and ball pair connected sequentially from the static platform to the moving platform. Auxiliary d, the axis a of the universal hinge a in the first branch and the axis c of the universal hinge b in the second branch are coaxial, and the first branch and the second branch form a planar circuit.

本实用新型的特点还在于,The utility model is also characterized in that,

其中的第一条支路中万向铰a的轴线b、第二条支路中万向铰b的轴线d、第一条支路中转动副a的轴线及第二条支路中转动副b的轴线互相平行且垂直于第一条支路和第二条支路构成的平面回路。The axis b of the universal hinge a in the first branch, the axis d of the universal hinge b in the second branch, the axis of the rotating pair a in the first branch and the rotating pair in the second branch The axes of b are parallel to each other and perpendicular to the planar circuit formed by the first branch and the second branch.

本实用新型的有益效果是:The beneficial effects of the utility model are:

(1)本机构结构紧凑,刚度高;(1) The mechanism has compact structure and high rigidity;

(2)本机构中的动平台具有两维移动两维转动输出,且非期望输出运动为常数;(2) The moving platform in this mechanism has two-dimensional movement and two-dimensional rotation output, and the undesired output motion is constant;

(3)本机构受力特性好。(3) The mechanism has good stress characteristics.

综上所述,本实用新型技术方案具有较高的实用价值和广阔的应用前景,为并联机器人、数控并联机床、坐标测量机等技术领域提供了一种新机型。In summary, the technical solution of the utility model has high practical value and broad application prospects, and provides a new model for the technical fields of parallel robots, numerically controlled parallel machine tools, and coordinate measuring machines.

附图说明Description of drawings

图1是本实用新型具有两移动两转动的四自由度空间并联机构的一种实施例的结构示意图;Fig. 1 is a schematic structural view of an embodiment of the utility model having a four-degree-of-freedom space parallel mechanism with two movements and two rotations;

图2是本实用新型具有两移动两转动的四自由度空间并联机构的另一种实施例的结构示意图。Fig. 2 is a structural schematic diagram of another embodiment of the utility model with a four-degree-of-freedom space parallel mechanism with two movements and two rotations.

图中,1.静平台,2.动平台,3.转动副a,4.移动副a,5.万向铰a,6.转动副b,7.移动副b,8.万向铰b,9.球副a,10.移动副c,11.球副b,12.球副c,13.移动副d,14.球副d,15.轴线a,16.轴线b,17.轴线c,18.轴线d。In the figure, 1. Static platform, 2. Dynamic platform, 3. Rotating pair a, 4. Moving pair a, 5. Universal hinge a, 6. Rotating pair b, 7. Moving pair b, 8. Universal hinge b , 9. Ball pair a, 10. Moving pair c, 11. Ball pair b, 12. Ball pair c, 13. Moving pair d, 14. Ball pair d, 15. Axis a, 16. Axis b, 17. Axis c, 18. axis d.

具体实施方式Detailed ways

下面结合附图和具体实施方式对本实用新型进行详细说明。The utility model will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

本实用新型具有两移动两转动的四自由度空间并联机构的一种实施例,如图1所示,包括静平台1、动平台2和连接静平台1与动平台2的四条支路,第一条支路包括从静平台1到动平台2依次连接的转动副a3、移动副a4和万向铰a5,第二条支路包括从静平台1到动平台2依次连接的转动副b6、移动副b7和万向铰b8,第三条支路包括从静平台1到动平台2依次连接的球副a9、移动副c10和球副b11,第四条支路包括从静平台1到动平台2依次连接的球副c12、移动副d13和球副d14,第一条支路和第二条支路设置在同一侧。其中,第一条支路和第二条支路构成平面回路,第一条支路中万向铰a5的轴线a15和第二条支路中万向铰b8的轴线c17同轴,第一条支路中万向铰a5的轴线b16、第二条支路中万向铰b8的轴线d18、第一条支路中转动副a3的轴线及第二条支路中转动副b6的轴线互相平行且垂直于第一条支路和第二条支路构成的平面。The utility model has an embodiment of a four-degree-of-freedom space parallel mechanism with two movements and two rotations. As shown in Figure 1, it includes a static platform 1, a dynamic platform 2 and four branches connecting the static platform 1 and the dynamic platform 2. One branch includes rotating pair a3, moving pair a4 and universal joint a5 connected sequentially from static platform 1 to moving platform 2, and the second branch includes rotating pair b6, moving pair connected sequentially from static platform 1 to moving platform 2 The moving pair b7 and the universal joint b8, the third branch includes the ball pair a9, the moving pair c10 and the ball pair b11 which are sequentially connected from the static platform 1 to the moving platform 2, and the fourth branch includes the connection from the static platform 1 to the moving platform The ball pair c12, the moving pair d13 and the ball pair d14 connected in turn by the platform 2, the first branch and the second branch are set on the same side. Among them, the first branch and the second branch form a planar circuit, the axis a15 of the universal hinge a5 in the first branch is coaxial with the axis c17 of the universal hinge b8 in the second branch, and the first branch The axis b16 of the universal hinge a5 in the branch, the axis d18 of the universal hinge b8 in the second branch, the axis of the rotating pair a3 in the first branch and the axis of the rotating pair b6 in the second branch are parallel to each other And perpendicular to the plane formed by the first branch and the second branch.

本实用新型具有两移动两转动的四自由度空间并联机构的另一种实施例,如图2所示,包括静平台1、动平台2和连接静平台1与动平台2的四条支路,第一条支路包括从静平台1到动平台2依次连接的转动副a3、移动副a4和万向铰a5,第二条支路包括从静平台1到动平台2依次连接的转动副b6、移动副b7和万向铰b8,第三条支路包括从静平台1到动平台2依次连接的球副a9、移动副c10和球副b11,第四条支路包括从静平台1到动平台2依次连接的球副c12、移动副d13和球副d14,第一条支路和第二条支路沿对角线设置。其中,第一条支路和第二条支路构成平面回路,第一条支路中万向铰a5的轴线a15和第二条支路中万向铰b8的轴线c17同轴,第一条支路中万向铰a5的轴线b16、第二条支路中万向铰b8的轴线d18、第一条支路中转动副a3的轴线及第二条支路中转动副b6的轴线互相平行且垂直于第一条支路和第二条支路构成的平面。The utility model has another embodiment of a four-degree-of-freedom space parallel mechanism with two movements and two rotations, as shown in Figure 2, including a static platform 1, a dynamic platform 2 and four branches connecting the static platform 1 and the dynamic platform 2, The first branch includes the rotating pair a3, the moving pair a4, and the universal hinge a5 that are sequentially connected from the static platform 1 to the moving platform 2, and the second branch includes the rotating pair b6 that is sequentially connected from the static platform 1 to the moving platform 2 , the moving pair b7 and the universal joint b8, the third branch includes the ball pair a9, the moving pair c10 and the ball pair b11 which are sequentially connected from the static platform 1 to the moving platform 2, and the fourth branch includes the connection from the static platform 1 to the moving platform 2 The moving platform 2 is sequentially connected with the ball pair c12, the moving pair d13 and the ball pair d14, and the first branch and the second branch are arranged along the diagonal. Among them, the first branch and the second branch form a planar circuit, the axis a15 of the universal hinge a5 in the first branch is coaxial with the axis c17 of the universal hinge b8 in the second branch, and the first branch The axis b16 of the universal hinge a5 in the branch, the axis d18 of the universal hinge b8 in the second branch, the axis of the rotating pair a3 in the first branch and the axis of the rotating pair b6 in the second branch are parallel to each other And perpendicular to the plane formed by the first branch and the second branch.

本实用新型的工作过程为,控制四条支路上的移动副a4、移动副b7、移动副c10和移动副d13的输入,动平台2即可实现两移动和两转动输出,其中两个移动自由度是动平台2可在第一条支路和第二条支路构成的平面上移动,其中两个转动自由度是动平台2可以绕万向铰a5的轴线a15及轴线b16所在的平面内的任何直线作为转轴转动。将本机构所述的每条支路的移动副由液压驱动,将刀具或操作手安装在动平台上,便可作为数控机床、机器人和测量机的末端执行机构。The working process of the utility model is to control the input of the moving pair a4, the moving pair b7, the moving pair c10 and the moving pair d13 on the four branches, and the moving platform 2 can realize two moving and two rotating outputs, wherein two moving degrees of freedom The moving platform 2 can move on the plane formed by the first branch and the second branch, and the two degrees of freedom of rotation are in the plane where the moving platform 2 can revolve around the axis a15 and the axis b16 of the universal joint a5 Any straight line turns as the axis of rotation. The moving pair of each branch described in this mechanism is driven by hydraulic pressure, and the tool or operator is installed on the moving platform, which can be used as the end effector of CNC machine tools, robots and measuring machines.

Claims (2)

1.一种具有两移动两转动的四自由度空间并联机构,其特征在于,包括静平台(1)、动平台(2)和连接静平台(1)与动平台(2)的四条支路,第一条支路包括从静平台(1)到动平台(2)依次连接的转动副a(3)、移动副a(4)和万向铰a(5),第二条支路包括从静平台(1)到动平台(2)依次连接的转动副b(6)、移动副b(7)和万向铰b(8),第三条支路包括从静平台(1)到动平台(2)依次连接的球副a(9)、移动副c(10)和球副b(11),第四条支路包括从静平台(1)到动平台(2)依次连接的球副c(12)、移动副d(13)和球副d(14),所述的第一条支路中万向铰a(5)的轴线a(15)和第二条支路中万向铰b(8)的轴线c(17)同轴,所述的第一条支路和第二条支路构成平面回路。1. A four-degree-of-freedom space parallel mechanism with two movements and two rotations is characterized in that it comprises a static platform (1), a dynamic platform (2) and four branches connecting the static platform (1) and the dynamic platform (2) , the first branch includes the rotary joint a(3), the moving joint a(4) and the universal joint a(5), which are sequentially connected from the static platform (1) to the moving platform (2), and the second branch includes The rotating pair b(6), moving pair b(7) and universal joint b(8) are connected sequentially from the static platform (1) to the moving platform (2), and the third branch includes from the static platform (1) to The moving platform (2) is sequentially connected to the ball pair a (9), the moving pair c (10) and the ball pair b (11), and the fourth branch includes the sequential connection from the static platform (1) to the moving platform (2). Ball pair c (12), moving pair d (13) and ball pair d (14), the axis a (15) of the universal joint a (5) in the first branch and the second branch The axis c (17) of the universal hinge b (8) is coaxial, and the first branch and the second branch form a planar circuit. 2.根据权利要求1所述的具有两移动两转动的四自由度空间并联机构,其特征在于,所述的第一条支路中万向铰a(5)的轴线b(16)、第二条支路中万向铰b(8)的轴线d(18)、第一条支路中转动副a(3)的轴线及第二条支路中转动副b(6)的轴线互相平行且垂直于第一条支路和第二条支路构成的平面回路。2. The four-degree-of-freedom space parallel mechanism with two movements and two rotations according to claim 1, characterized in that, the axis b (16) of the universal joint a (5) in the first branch, the second The axis d(18) of the universal joint b(8) in the two branches, the axis of the rotating pair a(3) in the first branch and the axis of the rotating pair b(6) in the second branch are parallel to each other And perpendicular to the planar circuit formed by the first branch and the second branch.
CN2010203005061U 2010-01-12 2010-01-12 A four-degree-of-freedom space parallel mechanism with two movements and two rotations Expired - Fee Related CN201573206U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563467A (en) * 2016-02-02 2016-05-11 常州大学 Four-degree-of-freedom posture leveling mechanism
CN107175654A (en) * 2017-06-26 2017-09-19 北京交通大学 A kind of structural redundancy parallel institution that there are two rotations two to move
CN107283400A (en) * 2017-06-20 2017-10-24 北京交通大学 A kind of relative freedom is four structural redundancy parallel robot mechanism
CN108058158A (en) * 2017-12-14 2018-05-22 天津理工大学 Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved
CN110813729A (en) * 2019-10-31 2020-02-21 江苏大学 A 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism
CN113701013A (en) * 2021-07-27 2021-11-26 北京空间飞行器总体设计部 Kinematics supporting mechanism suitable for long and thin structure

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105563467A (en) * 2016-02-02 2016-05-11 常州大学 Four-degree-of-freedom posture leveling mechanism
CN107283400A (en) * 2017-06-20 2017-10-24 北京交通大学 A kind of relative freedom is four structural redundancy parallel robot mechanism
CN107283400B (en) * 2017-06-20 2020-04-28 北京交通大学 Structure redundancy parallel robot mechanism with four relative degrees of freedom
CN107175654A (en) * 2017-06-26 2017-09-19 北京交通大学 A kind of structural redundancy parallel institution that there are two rotations two to move
CN108058158A (en) * 2017-12-14 2018-05-22 天津理工大学 Two four-freedom parallel mechanisms for rotating the movement of two moved decouplings can be achieved
CN110813729A (en) * 2019-10-31 2020-02-21 江苏大学 A 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism
CN110813729B (en) * 2019-10-31 2022-07-22 江苏大学 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism
CN113701013A (en) * 2021-07-27 2021-11-26 北京空间飞行器总体设计部 Kinematics supporting mechanism suitable for long and thin structure
CN113701013B (en) * 2021-07-27 2023-01-31 北京空间飞行器总体设计部 A Kinematic Support Mechanism for Slender Structures

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