CN202037603U - Wheel suspension mobile and parallel manipulator mechanism - Google Patents
Wheel suspension mobile and parallel manipulator mechanism Download PDFInfo
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- CN202037603U CN202037603U CN2011201089565U CN201120108956U CN202037603U CN 202037603 U CN202037603 U CN 202037603U CN 2011201089565 U CN2011201089565 U CN 2011201089565U CN 201120108956 U CN201120108956 U CN 201120108956U CN 202037603 U CN202037603 U CN 202037603U
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- manipulator
- mobile
- parallel
- parallel manipulator
- wheel suspension
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Abstract
The utility model discloses a wheel suspension mobile and parallel manipulator mechanism which consists of a wheel suspension mobile carrier and a four-bar parallel manipulator with two degrees of freedom, wherein the mobile carrier comprises an elastic damping suspension; the four-bar parallel manipulator is connected by three revolute pairs; and the parallel manipulator is connected with the mobile carrier by two revolute pairs. The mechanism has the advantages of the wheel suspension mobile manipulator and the parallel manipulator. The mechanism has a simple structure, the parallel manipulator has good rigidity compared to the series manipulator, and a driving motor can be arranged on the mobile carrier, so that the high-speed movement can be realized. Meanwhile, due to the mobile carrier, the working space of the parallel manipulator is expanded, the kinematic pair is a lower pair, the manufacturing and installing are easy, the transmission accuracy is high, and the cost is low. In addition, the normal and inverse solutions are analytic solutions in the kinematics, and the technical problems of track planning, control and correction are simplified.
Description
[technical field]
The present invention relates to advanced manufacturing field, particularly a kind of wheeled suspension mobile parallel connection machinery mobile phone structure.
[background technology]
Parallel robot mechanism may be defined as: go up between the lower platform (fixed platform and motion platform) continuous with two or more movement branched chain, each movement branched chain is made up of connecting rod and kinematic pair, motion platform has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is widely used in technical fields such as large-scale analog machine, robot, Digit Control Machine Tool, sensor, micromanipulator, engraving machine and measuring machine.The Stewart platform is a kind of typical parallel robot mechanism, this mechanism has 6 frees degree, be used for the revolution that parallel robot and Digit Control Machine Tool have been considered to machine tool structure since the twentieth century first, after this, invented multiple 6DOF parallel institution.Because parallel robot has a platform to fix, thereby has limited its working space.
Mobile manipulator is made up of mobile vehicle and series connection manipulator.There are a lot of scholars that mobile manipulator has been carried out big quantity research abroad.When manufacturing and designing, a lot of industry mechanical arms improve its rigidity as far as possible, in order to the vibration of minimizing arm-and-hand system, thus the positioning accuracy that obtains.The raising of manipulator stiffness of structural member is cost to increase material, thereby makes that the quality of member is bigger.To cause a lot of drawbacks like this, improve, increase cost or the like as the raising of limit mechanical hand operated speed, the dimensions that has increased driver, power consumption.Simultaneously, at mobile manipulator, this rigid body manipulator will cause heavy mobile platform (in order to ensure the stability of mobile manipulator in work), like this with increasing energy consumption.Yet mobile manipulator adopts battery as energy source mostly, will shorten the time cycle of its work like this, and under certain operating mode, the rated load of manipulator and the ratio of deadweight are lower or the like.
[summary of the invention]
The purpose of this invention is to provide a kind of simple in structure, control easily, kinematic accuracy is high, cost is lower, infinite space is big wheeled mobile suspension moving parallel connected robot mechanism.
The present invention addresses the above problem the scheme that is adopted to be: this structure has been used for reference the advantage of parallel manipulator and mobile manipulator simultaneously, by wheeled suspension mobile vehicle, have binary four bar parallel manipulators and form; Four bar parallel manipulators connect by three revolute pairs, and this parallel manipulator is connected with mobile vehicle by two revolute pairs.
Described four bar parallel manipulators are connected by revolute pair 1, revolute pair 27, revolute pair 38 by rod member 1, rod member 22, rod member 33, rod member 44, and this four bars parallel manipulator is connected with wheeled suspension mobile vehicle 10 by revolute pair 45, revolute pair 59.
Described wheeled suspension mobile vehicle 10 flexible damping suspensions 11.
The invention has the beneficial effects as follows:
1, can infinitely expand the working space of parallel manipulator,, strengthen the stability of the operation of system simultaneously owing to the introducing of elastic damping suspension.
2, owing to the introducing of parallel-connection structure, strengthened the rigidity of manipulator, improved the precision of end effector pursuit path.
3, the robot drives motor is arranged on the mobile vehicle, and kinematic pair is lower pair, and make, install easily, the transmission accuracy height, cost is low.
4, positive and negative the separating of kinematics is analytic solutions, simplified technical problems such as trajectory planning, control, correction.
[description of drawings]
Fig. 1 is wheeled mobile suspension movable parallel robot hand structural representation.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
[specific embodiment]
Wheeled mobile suspension movable parallel robot of the present invention is by wheeled suspension mobile vehicle, have binary four bar parallel manipulators and form; Four bar parallel manipulators connect by three revolute pairs, and this parallel manipulator is connected with mobile vehicle by two revolute pairs.
By wheeled suspension mobile vehicle, have binary four bar parallel manipulators and form; Four bar parallel manipulators connect by three revolute pairs, and this parallel manipulator is connected with mobile vehicle by two revolute pairs.
Described four bar parallel manipulators are connected by revolute pair 1, revolute pair 27, revolute pair 38 by rod member 1, rod member 22, rod member 33, rod member 44, and this four bars parallel manipulator is connected with wheeled suspension mobile vehicle 10 by revolute pair 45, revolute pair 59.
The flexible damping suspension of described wheeled suspension mobile vehicle (10) (11).
The series connection manipulator that relatively moves, this wheeled suspension mobile parallel connection machinery hand can be realized higher speed running and by non-structure environment (uneven road surface), realize track following more accurately simultaneously.
Claims (3)
1. a wheeled suspension mobile parallel connection machinery mobile phone structure is characterized in that, this mechanism by wheeled suspension mobile vehicle, have binary four bar parallel manipulators and form; Four bar parallel manipulators connect by three revolute pairs, and this parallel manipulator is connected with mobile vehicle by two revolute pairs.
2. wheeled suspension mobile parallel connection machinery mobile phone structure as claimed in claim 1, it is characterized in that, described four bar parallel manipulators are connected by revolute pair one (6), revolute pair two (7), revolute pair three (8) by rod member one (1), rod member two (2), rod member three (3), rod member four (4), and this four bars parallel manipulator is connected with wheeled suspension mobile vehicle (10) by revolute pair four (5), revolute pair five (9).
3. wheeled suspension mobile parallel connection machinery mobile phone structure as claimed in claim 1 is characterized in that the flexible damping suspension of described wheeled suspension mobile vehicle (10) (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201089565U CN202037603U (en) | 2011-04-14 | 2011-04-14 | Wheel suspension mobile and parallel manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201089565U CN202037603U (en) | 2011-04-14 | 2011-04-14 | Wheel suspension mobile and parallel manipulator mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202037603U true CN202037603U (en) | 2011-11-16 |
Family
ID=44965067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201089565U Expired - Fee Related CN202037603U (en) | 2011-04-14 | 2011-04-14 | Wheel suspension mobile and parallel manipulator mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202037603U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612251A (en) * | 2013-11-18 | 2014-03-05 | 天津理工大学 | Combination drive type zero-clearance impact wheeled mobile manipulator |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN104626191A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Four-degree-of-freedom connecting rod type controllable moving operation mechanical arm with rotating platform |
| CN113276102A (en) * | 2021-05-07 | 2021-08-20 | 华南理工大学 | Mechanical arm with seven degrees of freedom |
-
2011
- 2011-04-14 CN CN2011201089565U patent/CN202037603U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612251A (en) * | 2013-11-18 | 2014-03-05 | 天津理工大学 | Combination drive type zero-clearance impact wheeled mobile manipulator |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN104626191A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Four-degree-of-freedom connecting rod type controllable moving operation mechanical arm with rotating platform |
| CN113276102A (en) * | 2021-05-07 | 2021-08-20 | 华南理工大学 | Mechanical arm with seven degrees of freedom |
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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: 20111116 Termination date: 20130414 |