CN201824355U - Parallel mechanism of rotating with three degrees of freedom - Google Patents
Parallel mechanism of rotating with three degrees of freedom Download PDFInfo
- Publication number
- CN201824355U CN201824355U CN2010205200800U CN201020520080U CN201824355U CN 201824355 U CN201824355 U CN 201824355U CN 2010205200800 U CN2010205200800 U CN 2010205200800U CN 201020520080 U CN201020520080 U CN 201020520080U CN 201824355 U CN201824355 U CN 201824355U
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- moving platform
- universal coupling
- turning cylinder
- stander
- connecting rod
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Abstract
The utility model provides a parallel mechanism of rotating with three degrees of freedom, comprising a rack, a movable platform and three moving branch chains with identical structure, and the three moving branch chains are connected between the rack and the movable platform, wherein each of the three moving branch chains comprises a rack end connecting bar, a rack end universal hinge, a moving pair, a movable platform end universal hinge and a movable platform end connecting bar which are sequentially connected; a first rotating shaft of the first rack end universal hinge and a first rotating shaft of the third movable platform end universal hinge are positioned on a same axis; a first rotating shaft of the second rack end universal hinge and a first rotating shaft of the first movable platform end universal hinge are positioned on a same axis; and a first rotating shaft of the third rack end universal hinge and a first rotating shaft of the second movable platform end universal hinge are positioned on a same axis. The parallel mechanism of rotating with three degrees of freedom has three decoupling rotational degrees of freedom, is very simple in principle as the rotation degree of freedom only depends on the linear control of the moving pair of the moving branch chains, and has very good linear relationship.
Description
Technical field
The utility model relates to lathe and industrial robot, relates in particular to the parallel institution that a kind of Three Degree Of Freedom that is used for parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot rotates.
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 (moving platform) 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 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 field.
[Hunt K H.Structu ral Kinematics of In-Parallel-Actuated RobotArms, Journal of Mechanisms, Transmissions and Automation in Design, 1983,105:705-712] reported that a kind of two rotate a mobile parallel connection mechanism, mainly by frame, moving platform and be connected in frame and moving platform between three identical movement branched chain of version form, each movement branched chain is made up of revolute pair, moving sets, universal coupling and corresponding rod member successively, and three movement branched chain spaces are symmetrically distributed.Document [Huang Z, Wang J.Fang Y F, Analysis of Instantaneous Motions ofDeficient-Rank 3-RPS Parallel Manipulators.Mechanism and Machine Theory, 2002,37 (2): 229-240.] reported that there is transient motion in the type parallel institution, the axis of its rotational freedom only is present on the hyperboloid of one sheet.
Chinese patent literature CN101036986A reported by moving platform, fixed platform and connect that their four closed loop moving side chains form two rotate a mobile parallel connection mechanism, every spherical mechanism of six bars that the closed loop side chain contains one group of symmetrical structure, moving platform is connected with revolute pair with every side chain with fixed platform.Document [XianwenKong, Clement M.Gosselin Type synthesis of input-output decoupled parallelmanipulators, Transactions of the CSME, Vol.28, Special Edition, 2004] reported to have two parallel institutions that move a rotational freedom in, mixed the movement branched chain of taking by moving platform, fixed platform and connection in series-parallel and form.Document [Li Huiliang, Jin Qiong, Yang Tingli, decoupling parallel mechanism and Displacement Analysis thereof, machine-building and research are rotated in a class one translation two, Feb 2002, (1): 9-12,14] propose a kind of two rotations, one mobile parallel connection mechanism, but the output free degree is controlled by single driver not exclusively with trigonometric ratio decoupling zero characteristic, still belong to the partly decoupled parallel institution, full decoupled Three Degree Of Freedom mechanism document invention does not retrieve at present as yet.
The utility model content
The purpose of this utility model is exactly in order to provide a kind of parallel institution of Three Degree Of Freedom rotation, to overcome complex structure in the prior art, to control the defective inconvenient, that kinematic accuracy is low.
In order to achieve the above object, the utility model has adopted following technical scheme: the parallel institution that a kind of Three Degree Of Freedom rotates, 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 comprises the first stander end connecting rod, the first stander end universal coupling, first moving sets, the first moving platform end universal coupling and the first moving platform end connecting rod that order links to each other; One end of described first movement branched chain links to each other with frame by the first stander end connecting rod, and the other end links to each other with moving platform by the first moving platform end connecting rod; First turning cylinder of the described first stander end universal coupling is connected on an axis with the first stander end connecting rod, second turning cylinder of the first stander end universal coupling and the axis normal of first moving sets; First turning cylinder of the described first moving platform end universal coupling and the first moving platform end connecting rod are positioned on same the axis, second turning cylinder of the first moving platform end universal coupling and the axis normal of first moving sets and parallel with second turning cylinder of the first stander end universal coupling;
Described second movement branched chain comprises the second stander end connecting rod, the second stander end universal coupling, second moving sets, the second moving platform end universal coupling and the second moving platform end connecting rod that order links to each other; One end of described second movement branched chain links to each other with frame by the second stander end connecting rod, and the other end links to each other with moving platform by the second moving platform end connecting rod; First turning cylinder of the described second stander end universal coupling is connected on an axis with the second stander end connecting rod, second turning cylinder of the second stander end universal coupling and the axis normal of second moving sets; First turning cylinder of the described second moving platform end universal coupling and the second moving platform end connecting rod are positioned on same the axis, second turning cylinder of the second moving platform end universal coupling and the axis normal of second moving sets and parallel with second turning cylinder of the second stander end universal coupling;
Described the 3rd movement branched chain comprises the 3rd stander end connecting rod, the 3rd stander end universal coupling, three moving sets, the 3rd moving platform end universal coupling and the 3rd moving platform end connecting rod that order links to each other; One end of described the 3rd movement branched chain links to each other with frame by the 3rd stander end connecting rod, and the other end links to each other with moving platform by the 3rd moving platform end connecting rod; First turning cylinder of described the 3rd stander end universal coupling is connected on an axis with the 3rd stander end connecting rod, second turning cylinder of the 3rd stander end universal coupling and the axis normal of three moving sets; First turning cylinder of described the 3rd moving platform end universal coupling and the 3rd moving platform end connecting rod are positioned on same the axis, second turning cylinder of the 3rd moving platform end universal coupling and the axis normal of three moving sets and parallel with second turning cylinder of the 3rd stander end universal coupling;
First turning cylinder of first turning cylinder of the described first stander end universal coupling and described the 3rd moving platform end universal coupling is positioned on same the axis;
First turning cylinder of first turning cylinder of the described second stander end universal coupling and the described first moving platform end universal coupling is positioned on same the axis;
First turning cylinder of first turning cylinder of described the 3rd stander end universal coupling and the described second moving platform end universal coupling is positioned on same the axis.
Be respectively equipped with an arched arm corresponding to first turning cylinder on described three moving platform end universal couplings, one end of corresponding moving platform end connecting rod links to each other with the front end of described arched arm, and described moving platform end connecting rod and described first turning cylinder are positioned on same the axis.
The parallel institution that the utility model Three Degree Of Freedom rotates makes it compared with prior art owing to adopted above technical scheme, has following advantage and characteristics:
1, the kinematic pair control that three rotational freedoms that have decoupling zero, rotational freedom only rely on single movement branched chain realizes that principle is very simple, 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 of the parallel institution of the utility model Three Degree Of Freedom rotation.
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 parallel institution that the utility model Three Degree Of Freedom rotates, by frame 1, moving platform 2 and be connected frame and moving platform between first movement branched chain, 3, the second movement branched chain 4 and the 3rd movement branched chain 5 form.
First movement branched chain 3 wherein comprises the first stander end connecting rod 31, the first stander end universal coupling 32, first moving sets 33, the first moving platform end universal coupling 34 and the first moving platform end connecting rod 35 that order links to each other.One end of first movement branched chain links to each other with frame 1 by the first stander end connecting rod 31, and the other end links to each other with moving platform 2 by the first moving platform end connecting rod 35.First turning cylinder 321 of the first stander end universal coupling 32 is connected on an axis with the first stander end connecting rod 32, second turning cylinder 322 of the first stander end universal coupling 32 and the axis normal of first moving sets 33.First turning cylinder 341 of the first moving platform end universal coupling 34 and the first moving platform end connecting rod 35 are positioned on same the axis, second turning cylinder 342 of the first moving platform end universal coupling 34 and the axis normal of first moving sets 33 and parallel with second turning cylinder 322 of the first stander end universal coupling 32.
Second movement branched chain 4 wherein comprises the second stander end connecting rod 41, the second stander end universal coupling 42, second moving sets 43, the second moving platform end universal coupling 44 and the second moving platform end connecting rod 45 that order links to each other.One end of second movement branched chain 4 links to each other with frame 1 by the second stander end connecting rod 41, and the other end links to each other with moving platform 2 by the second moving platform end connecting rod 45.First turning cylinder 421 of the second stander end universal coupling 42 is connected on an axis with the second stander end connecting rod 41, second turning cylinder 422 of the second stander end universal coupling 42 and the axis normal of second moving sets 43.First turning cylinder 441 of the second moving platform end universal coupling 44 and the second moving platform end connecting rod 45 are positioned on same the axis, second turning cylinder 442 of the second moving platform end universal coupling 44 and the axis normal of second moving sets 43 and parallel with second turning cylinder 422 of the second stander end universal coupling 42.
The 3rd movement branched chain 5 wherein comprises the 3rd stander end connecting rod 51, the 3rd stander end universal coupling 52, three moving sets 53, the 3rd moving platform end universal coupling 54 and the 3rd moving platform end connecting rod 55 that order links to each other.One end of the 3rd movement branched chain 5 links to each other with frame 1 by the 3rd stander end connecting rod 51, and the other end links to each other with moving platform 2 by the 3rd moving platform end connecting rod 55.First turning cylinder 521 of the 3rd stander end universal coupling 52 is connected on an axis with the 3rd stander end connecting rod 51, second turning cylinder 522 of the 3rd stander end universal coupling 52 and the axis normal of three moving sets 53.First turning cylinder 541 of the 3rd moving platform end universal coupling 54 and the 3rd moving platform end connecting rod 55 are positioned on same the axis, second turning cylinder 542 of the 3rd moving platform end universal coupling 54 and the axis normal of three moving sets 53 and parallel with second turning cylinder 522 of the 3rd stander end universal coupling 52.
First turning cylinder 321 of the above-mentioned first stander end universal coupling 32 is positioned on same the axis with first turning cylinder 541 of above-mentioned the 3rd moving platform end universal coupling 54.
First turning cylinder 421 of the above-mentioned second stander end universal coupling 42 is positioned on same the axis with first turning cylinder 341 of the above-mentioned first moving platform end universal coupling 34.
First turning cylinder 521 of above-mentioned the 3rd stander end universal coupling 52 is positioned on same the axis with first turning cylinder 541 of the above-mentioned second moving platform end universal coupling 54.
Be respectively equipped with an arched arm a corresponding to first turning cylinder on above-mentioned three moving platform end universal couplings, an end of corresponding moving platform end connecting rod links to each other with the front end of above-mentioned arched arm, and moving platform end connecting rod and first turning cylinder are positioned on same the axis.
The operation principle of the parallel institution that the utility model Three Degree Of Freedom rotates can be described as follows in conjunction with figure: when first moving sets 33 along axis elongation or shortening, and second moving sets 43 and three moving sets 53 are when motionless, because the moving platform end universal coupling 44 of second movement branched chain 4 and the stander end universal coupling 52 of the 3rd movement branched chain 5 have the rotational freedom perpendicular to first moving sets 33, so moving platform 2 axis around universal coupling 44,52 under first moving sets 33 drives rotates.When second moving sets 43 along axis elongation or shortening, and first moving sets 33 and three moving sets 53 are when motionless, because the moving platform end universal coupling 54 of the 3rd movement branched chain 5 and the stander end universal coupling 32 of first movement branched chain 3 have the rotational freedom perpendicular to second moving sets 43, so moving platform 2 axis around universal coupling 54,32 under second moving sets 43 drives rotates.When the three moving sets 53 of the 3rd movement branched chain 5 along axis elongation or shortening, when first moving sets 33 and second moving sets 43 are motionless, because the rotational freedom that the moving platform end universal coupling 34 of first movement branched chain 3 and the stander end universal coupling 42 of second movement branched chain 4 have perpendicular to three moving sets 53, so moving platform 2 axis around universal coupling 34,42 under three moving sets 53 drives rotates.
Claims (2)
1. the parallel institution that rotates of a Three Degree Of Freedom, 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 comprises the first stander end connecting rod, the first stander end universal coupling, first moving sets, the first moving platform end universal coupling and the first moving platform end connecting rod that order links to each other; One end of described first movement branched chain links to each other with frame by the first stander end connecting rod, and the other end links to each other with moving platform by the first moving platform end connecting rod; First turning cylinder of the described first stander end universal coupling is connected on an axis with the first stander end connecting rod, second turning cylinder of the first stander end universal coupling and the axis normal of first moving sets; First turning cylinder of the described first moving platform end universal coupling and the first moving platform end connecting rod are positioned on same the axis, second turning cylinder of the first moving platform end universal coupling and the axis normal of first moving sets and parallel with second turning cylinder of the first stander end universal coupling;
Described second movement branched chain comprises the second stander end connecting rod, the second stander end universal coupling, second moving sets, the second moving platform end universal coupling and the second moving platform end connecting rod that order links to each other; One end of described second movement branched chain links to each other with frame by the second stander end connecting rod, and the other end links to each other with moving platform by the second moving platform end connecting rod; First turning cylinder of the described second stander end universal coupling is connected on an axis with the second stander end connecting rod, second turning cylinder of the second stander end universal coupling and the axis normal of second moving sets; First turning cylinder of the described second moving platform end universal coupling and the second moving platform end connecting rod are positioned on same the axis, second turning cylinder of the second moving platform end universal coupling and the axis normal of second moving sets and parallel with second turning cylinder of the second stander end universal coupling;
Described the 3rd movement branched chain comprises the 3rd stander end connecting rod, the 3rd stander end universal coupling, three moving sets, the 3rd moving platform end universal coupling and the 3rd moving platform end connecting rod that order links to each other; One end of described the 3rd movement branched chain links to each other with frame by the 3rd stander end connecting rod, and the other end links to each other with moving platform by the 3rd moving platform end connecting rod; First turning cylinder of described the 3rd stander end universal coupling is connected on an axis with the 3rd stander end connecting rod, second turning cylinder of the 3rd stander end universal coupling and the axis normal of three moving sets; First turning cylinder of described the 3rd moving platform end universal coupling and the 3rd moving platform end connecting rod are positioned on same the axis, second turning cylinder of the 3rd moving platform end universal coupling and the axis normal of three moving sets and parallel with second turning cylinder of the 3rd stander end universal coupling;
First turning cylinder of first turning cylinder of the described first stander end universal coupling and described the 3rd moving platform end universal coupling is positioned on same the axis;
First turning cylinder of first turning cylinder of the described second stander end universal coupling and the described first moving platform end universal coupling is positioned on same the axis;
First turning cylinder of first turning cylinder of described the 3rd stander end universal coupling and the described second moving platform end universal coupling is positioned on same the axis.
2. the parallel institution that Three Degree Of Freedom as claimed in claim 1 rotates, it is characterized in that: be respectively equipped with an arched arm corresponding to first turning cylinder on described three moving platform end universal couplings, one end of corresponding moving platform end connecting rod links to each other with the front end of described arched arm, and described moving platform end connecting rod and described first turning cylinder are positioned on same the axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205200800U CN201824355U (en) | 2010-09-07 | 2010-09-07 | Parallel mechanism of rotating with three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205200800U CN201824355U (en) | 2010-09-07 | 2010-09-07 | Parallel mechanism of rotating with three degrees of freedom |
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| Publication Number | Publication Date |
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| CN201824355U true CN201824355U (en) | 2011-05-11 |
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| CN2010205200800U Expired - Fee Related CN201824355U (en) | 2010-09-07 | 2010-09-07 | Parallel mechanism of rotating with three degrees of freedom |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN104985588A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN112025740A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Force feedback device for tensioning integral structure |
| CN112026951A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
-
2010
- 2010-09-07 CN CN2010205200800U patent/CN201824355U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626920A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102626920B (en) * | 2012-03-22 | 2014-07-23 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN104985588A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN104985588B (en) * | 2015-07-02 | 2017-01-11 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN112025740A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Force feedback device for tensioning integral structure |
| CN112026951A (en) * | 2020-07-29 | 2020-12-04 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
| CN112026951B (en) * | 2020-07-29 | 2022-04-19 | 天津大学 | Multi-legged robot with modular tensioning overall structure |
| CN112025740B (en) * | 2020-07-29 | 2022-07-05 | 天津大学 | Force feedback device for tensioning integral structure |
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Legal Events
| 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: 20110511 Termination date: 20130907 |