CN201824354U - Decoupled six-DOF (degree of freedom) parallel mechanism - Google Patents
Decoupled six-DOF (degree of freedom) parallel mechanism Download PDFInfo
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- CN201824354U CN201824354U CN2010205200764U CN201020520076U CN201824354U CN 201824354 U CN201824354 U CN 201824354U CN 2010205200764 U CN2010205200764 U CN 2010205200764U CN 201020520076 U CN201020520076 U CN 201020520076U CN 201824354 U CN201824354 U CN 201824354U
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Abstract
A decoupled six-DOF parallel mechanism comprises a frame, a mobile platform and three movement branch chains, wherein the three movement branch chains are connected between the frame and the mobile platform and are identical in structure, each movement branch chain comprises a first sliding pair, a second sliding pair, a third sliding pair, a first revolute pair, a second revolute pair and a third revolute pair, the first sliding pair is connected with the frame, the third revolute pair is connected with the mobile platform through a connecting rod, the axial direction of the first sliding pair, the axial direction of the second sliding pair and the axial direction of the third sliding pair are distributed in a 3D (three dimensional) orthogonal manner, the axial direction of the first revolute pair, the axial direction of the second revolute pair and the axial direction of the third revolute pair are distributed in a 3D orthogonal manner, and the first revolute pair and the third sliding pair are connected coaxially. The mechanism has three decoupled sliding DOFs and three decoupled revolute DOFs, is very simple to realize and has excellent linear relationship. Each DOF is solely controlled by a single active pair.
Description
Technical field
The utility model relates to lathe and industrial robot, relates in particular to a kind of six-degree-of-freedom parallel connection mechanism that is used for the decoupling zero of parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot.
Background technology
Parallel institution is widely used in heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation field.Yet, be coupled between each driver element of parallel institution, be that the whole output stage of parallel institution all is that moving of all driver elements is synthetic along moving of either direction, and be non-linear between the motion of each driver element and the parallel institution mass motion (i.e. input and output).This characteristic causes parallel institution control complicated, demarcates difficulty, and has restricted the raising of precision.Therefore, how to realize the parallel institution decoupling zero, to simplify control and to demarcate, improve kinematic accuracy, be a difficulty and challenging subject always.
The mobile decoupling parallel robot is meant that any one free degree of output movement all only relies on single driver element, and other driver element actions do not exert an influence to this free degree.Have that full decoupled parallel institution movement relation is simple, demarcation is easy, control accuracy is high, rigidity is big, have a extensive future at virtual axis machine and robot application.
Patent documentation (publication number: CN1261018A) reported the parallel institution decoupling zero that a position (being initial position) is located in the space, but other positions, be still coupling, so this technology has belonged to instantaneous decoupling zero.Chinese invention patent ZL00100198.1, ZL00100197.3, ZL00100196.5 and ZL99121020.4 have reported that at fine motion field decoupling parallel mechanism along with the increasing of working space, the decoupling zero between each driver element is lost.Publication number is that the patent documentation of CN1462673A has been reported the have ready conditions parallel institution of decoupling zero of unconditional decoupling zero of a kind of five degree of freedom and six degree of freedom, it or not the full decoupled parallel institution of six degree of freedom, publication number is that the patent documentation of CN1263807A has been reported a kind of six degree of freedom decoupling parallel mechanism that is driven by moving sets, though its kinematics is a linear equation, do not rely on single driver but still meet the single output free degree, do not belong to full decoupled six-degree-of-freedom parallel connection mechanism, full decoupled six-degree-of-freedom parallel connection mechanism document, invention do not retrieve at present as yet.
The utility model content
The purpose of this utility model, exactly in order to overcome the defective that above-mentioned prior art exists, provide a kind of simple in structure, easy for installation, demarcate easily, the six-degree-of-freedom parallel connection mechanism of control is simple, cost the is low decoupling zero that is used for virtual axis machine and robot.
In order to achieve the above object, the utility model has adopted following technical scheme: a kind of six-degree-of-freedom parallel connection mechanism of decoupling zero, by frame, moving platform and be connected frame and moving platform between first movement branched chain, second movement branched chain and the 3rd movement branched chain are formed;
Described first movement branched chain, second movement branched chain are identical with the 3rd movement branched chain structure, respectively comprise first moving sets, second moving sets, three moving sets and first revolute pair, second revolute pair and the 3rd revolute pair that link to each other in proper order by corresponding connecting rod; First moving sets wherein links to each other with frame, and the 3rd revolute pair links to each other with moving platform by connecting rod; The axis direction of the axis direction of described first moving sets, second moving sets and the axis direction of three moving sets are three-dimensional orthogonal and distribute; The axis direction of the axis direction of the axis direction of described first revolute pair, second revolute pair and the 3rd revolute pair is three-dimensional orthogonal and distributes; First revolute pair links to each other with three moving sets is coaxial.
First revolute pair in described first movement branched chain, the 3rd revolute pair in second movement branched chain and second revolute pair in the 3rd movement branched chain are positioned on same the axis;
Second revolute pair in described first movement branched chain, first revolute pair in second movement branched chain and the 3rd revolute pair in the 3rd movement branched chain are positioned on same the axis;
The 3rd revolute pair in described first movement branched chain, second revolute pair in second movement branched chain and first revolute pair in the 3rd movement branched chain are positioned on same the axis;
Above-mentioned three axes intersect are in a bit, and this point is the center of moving platform.
The axis direction of three first revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three second revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three the 3rd revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes.
First moving sets in described first movement branched chain is vertical and parallel with first moving sets in the 3rd movement branched chain with first moving sets in second movement branched chain; Second moving sets in described first movement branched chain is parallel with second moving sets in second movement branched chain and vertical with second moving sets in the 3rd movement branched chain; The axis direction of the three moving sets in described first movement branched chain, the three moving sets in second movement branched chain and the three moving sets in the 3rd movement branched chain is three-dimensional orthogonal and distributes.
The six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero makes it compared with prior art owing to adopted above technical scheme, has following advantage and characteristics:
1, have full decoupled three rotational freedoms and three one-movement-freedom-degrees, each free degree only relies on single driving pair and controls, and move the position of mechanism and attitude changes isolation fully, has extraordinary linear relationship;
2, only contain the small motion pair, simple in structure, easy for installation, rotary inertia is little, the motion response is fast.
3, mobile decoupling, the single substantially output free degree only needs to control single driver element, demarcates easily, and control is simple, thereby has reduced development cost.
Description of drawings
Fig. 1 is the perspective view (wherein having omitted frame) of the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Accompanying drawing is depicted as a preferred embodiment of the present utility model, and the technical solution of the utility model is not limited to present embodiment.
Referring to Fig. 1, the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero, by frame (not shown come out), moving platform 4 and be connected frame and moving platform between first movement branched chain, 1, the second movement branched chain 2 and the 3rd movement branched chain 3 form.
First movement branched chain 1 in the utility model, second movement branched chain 2 are identical with the 3rd movement branched chain 3 structures.
First movement branched chain 1 wherein comprises first moving sets 11, second moving sets 12, three moving sets 13 and first revolute pair 14, second revolute pair 15 and the 3rd revolute pair 16 that links to each other in proper order by corresponding connecting rod; First moving sets 11 wherein links to each other with frame, and the 3rd revolute pair 16 links to each other with moving platform 4 by connecting rod.The axis direction of the axis direction of first moving sets 11, second moving sets 12 and the axis direction of three moving sets 13 are three-dimensional orthogonal and distribute; The axis direction of the axis direction of the axis direction of first revolute pair 14, second revolute pair 15 and the 3rd revolute pair 16 is three-dimensional orthogonal and distributes; First revolute pair 14 and 16 coaxial linking to each other of three moving sets.
Second movement branched chain 2 comprises first moving sets 21, second moving sets 22, three moving sets 23 and first revolute pair 24, second revolute pair 25 and the 3rd revolute pair 26 that links to each other in proper order by corresponding connecting rod; First moving sets 21 wherein links to each other with frame, and the 3rd revolute pair 26 links to each other with moving platform 4 by connecting rod.The axis direction of the axis direction of first moving sets 21, second moving sets 22 and the axis direction of three moving sets 23 are three-dimensional orthogonal and distribute; The axis direction of the axis direction of the axis direction of first revolute pair 24, second revolute pair 25 and the 3rd revolute pair 26 is three-dimensional orthogonal and distributes; First revolute pair 24 and 26 coaxial linking to each other of three moving sets.
The 3rd movement branched chain 3 comprises first moving sets 31, second moving sets 32, three moving sets 33 and first revolute pair 34, second revolute pair 35 and the 3rd revolute pair 36 that links to each other in proper order by corresponding connecting rod; First moving sets 31 wherein links to each other with frame, and the 3rd revolute pair 36 links to each other with moving platform 4 by connecting rod.The axis direction of the axis direction of first moving sets 31, second moving sets 32 and the axis direction of three moving sets 33 are three-dimensional orthogonal and distribute; The axis direction of the axis direction of the axis direction of first revolute pair 34, second revolute pair 35 and the 3rd revolute pair 36 is three-dimensional orthogonal and distributes; First revolute pair 34 and 36 coaxial linking to each other of three moving sets.
First revolute pair 14 in above-mentioned first movement branched chain 1, the 3rd revolute pair 26 in second movement branched chain 2 and second revolute pair 35 in the 3rd movement branched chain are positioned on same the axis.
Second revolute pair 15 in above-mentioned first movement branched chain 1, first revolute pair 24 in second movement branched chain 2 and the 3rd revolute pair 36 in the 3rd movement branched chain 3 are positioned on same the axis.
The 3rd revolute pair 16 in above-mentioned first movement branched chain 1, second revolute pair 25 in second movement branched chain 2 and first revolute pair 34 in the 3rd movement branched chain 3 are positioned on same the axis.
Above-mentioned three axes intersect are in a bit, and this point is the center of moving platform 4.
The axis direction of three first revolute pairs 14,24,34 of above-mentioned three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three second revolute pairs 15,25,35 of three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three the 3rd revolute pairs 16,26,36 of three movement branched chain is three-dimensional orthogonal and distributes.
First moving sets 11 in above-mentioned first movement branched chain 1 is vertical and parallel with first moving sets 31 in the 3rd movement branched chain 3 with first moving sets 21 in second movement branched chain 2; Second moving sets 22 in second moving sets 12 in first movement branched chain 1 and second movement branched chain 2 is parallel and vertical with second moving sets 32 in the 3rd movement branched chain 3; The axis direction of the three moving sets 13 in first movement branched chain 1, the three moving sets 23 in second movement branched chain 2 and the three moving sets 33 in the 3rd movement branched chain 3 is three-dimensional orthogonal and distributes.
But the operation principle accompanying drawings of the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero is as follows: when first moving sets 11 of first movement branched chain 1 along axis elongation or when shortening, because second movement branched chain 2 has the identical three moving sets 23 of axis direction, the 3rd movement branched chain 3 has the first identical moving sets 31 of axis direction, therefore, first moving sets 11 of first movement branched chain 1 can drive moving platform 4 and moves along the axis direction of first moving sets 11.
In like manner, when first moving sets 21 of second movement branched chain 1 along axis elongation or when shortening, because first movement branched chain 1 has the identical three moving sets 13 of axis direction, the 3rd movement branched chain 3 has the second identical moving sets 32 of axis direction, therefore, first moving sets 21 of second movement branched chain 2 can drive moving platform 4 and moves along the axis direction of second moving sets 21.When first moving sets 31 of the 3rd movement branched chain 1 along axis elongation or when shortening, because first movement branched chain 1 has the identical three moving sets 11 of axis direction, second movement branched chain 2 has the identical three moving sets 23 of axis direction, therefore, first moving sets 31 of the 3rd movement branched chain 3 can drive moving platform 4 axis directions along three moving sets 31 and moves.This shows that the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero has the one-movement-freedom-degree of three decoupling zeros.
When first revolute pair 14 of first movement branched chain 1 when axis rotates, because the 3rd revolute pair 26 of second movement branched chain 2 and second revolute pair 35 of the 3rd movement branched chain 3 are positioned on same the axis with first revolute pair 14 of first movement branched chain 1, so moving platform 4 can be around its axis rotation under the driving of first revolute pair 14 of first movement branched chain 1.In like manner, when first revolute pair 24 of second movement branched chain 2 when axis rotates, or when first revolute pair 34 of the 3rd movement branched chain 3 when axis rotates, can drive moving platform 4 and rotate along the axis around corresponding revolute pair respectively.Therefore, the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero has the rotational freedom of three decoupling zeros.
Therefore, the six-degree-of-freedom parallel connection mechanism of the utility model decoupling zero has full decoupled three rotational freedoms and three one-movement-freedom-degrees, have six-freedom degree altogether, each free degree only relies on single driving pair control, and the position of mechanism is moved with attitude and is changed isolation fully, has extraordinary linear relationship.
Claims (4)
1. the six-degree-of-freedom parallel connection mechanism of a decoupling zero, by frame, moving platform and be connected frame and moving platform between first movement branched chain, second movement branched chain and the 3rd movement branched chain are formed; It is characterized in that:
Described first movement branched chain, second movement branched chain are identical with the 3rd movement branched chain structure, respectively comprise first moving sets, second moving sets, three moving sets and first revolute pair, second revolute pair and the 3rd revolute pair that link to each other in proper order by corresponding connecting rod; First moving sets wherein links to each other with frame, and the 3rd revolute pair links to each other with moving platform by connecting rod; The axis direction of the axis direction of described first moving sets, second moving sets and the axis direction of three moving sets are three-dimensional orthogonal and distribute; The axis direction of the axis direction of the axis direction of described first revolute pair, second revolute pair and the 3rd revolute pair is three-dimensional orthogonal and distributes; First revolute pair links to each other with three moving sets is coaxial.
2. the six-degree-of-freedom parallel connection mechanism of decoupling zero as claimed in claim 1, it is characterized in that: first revolute pair in described first movement branched chain, the 3rd revolute pair in second movement branched chain and second revolute pair in the 3rd movement branched chain are positioned on same the axis;
Second revolute pair in described first movement branched chain, first revolute pair in second movement branched chain and the 3rd revolute pair in the 3rd movement branched chain are positioned on same the axis;
The 3rd revolute pair in described first movement branched chain, second revolute pair in second movement branched chain and first revolute pair in the 3rd movement branched chain are positioned on same the axis;
Above-mentioned three axes intersect are in a bit, and this point is the center of moving platform.
3. the six-degree-of-freedom parallel connection mechanism of decoupling zero as claimed in claim 1 is characterized in that: the axis direction of three first revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three second revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes; The axis direction of three the 3rd revolute pairs of described three movement branched chain is three-dimensional orthogonal and distributes.
4. the six-degree-of-freedom parallel connection mechanism of decoupling zero as claimed in claim 1 is characterized in that: first moving sets in described first movement branched chain is vertical and parallel with first moving sets in the 3rd movement branched chain with first moving sets in second movement branched chain; Second moving sets in described first movement branched chain is parallel with second moving sets in second movement branched chain and vertical with second moving sets in the 3rd movement branched chain; The axis direction of the three moving sets in described first movement branched chain, the three moving sets in second movement branched chain and the three moving sets in the 3rd movement branched chain is three-dimensional orthogonal and distributes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010205200764U CN201824354U (en) | 2010-09-07 | 2010-09-07 | Decoupled six-DOF (degree of freedom) parallel mechanism |
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| CN2010205200764U CN201824354U (en) | 2010-09-07 | 2010-09-07 | Decoupled six-DOF (degree of freedom) parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284868A (en) * | 2011-06-02 | 2011-12-21 | 常州大学 | Six-freedom-degree space series-parallel operating platform |
| CN106697330A (en) * | 2016-12-14 | 2017-05-24 | 哈尔滨工业大学 | Space six-degree-of-freedom rigid-flexible dynamics decoupling device |
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2010
- 2010-09-07 CN CN2010205200764U patent/CN201824354U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284868A (en) * | 2011-06-02 | 2011-12-21 | 常州大学 | Six-freedom-degree space series-parallel operating platform |
| CN102284868B (en) * | 2011-06-02 | 2013-03-20 | 常州大学 | Six-freedom-degree space series-parallel operating platform |
| CN106697330A (en) * | 2016-12-14 | 2017-05-24 | 哈尔滨工业大学 | Space six-degree-of-freedom rigid-flexible dynamics decoupling device |
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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: 20110511 Termination date: 20130907 |