CN202241279U - Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain - Google Patents
Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain Download PDFInfo
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- CN202241279U CN202241279U CN2011203574777U CN201120357477U CN202241279U CN 202241279 U CN202241279 U CN 202241279U CN 2011203574777 U CN2011203574777 U CN 2011203574777U CN 201120357477 U CN201120357477 U CN 201120357477U CN 202241279 U CN202241279 U CN 202241279U
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Abstract
The utility model relates to a two-degree-of-freedom parallel-connection mechanism comprising a 5R closed-loop sub-chain. The two-degree-of-freedom parallel-connection mechanism comprises a five-rod mechanism closed-loop sub-chain and an execution mechanism sub-chain. The five-rod mechanism closed-loop sub-chain can control a first turntable to move within the plane on which the five-rod mechanism closed-loop sub-chain stays, and the movement of the first turntable can realize the space two-degree-of-freedom movement of a platform. The closed-loop sub-chain is used for controlling the two-degree-of-freedom movement output of a movable platform, so direct problems and inverse problems of the kinematics of mechanism are easy to solve and are convenient to control; and a drive motor is installed on a stander, a light rod be made of a the rod piece, so the weight of the mechanism can be effectively reduced, the mechanism rigidness is good, the inertia is small, and the dynamics performance is good.
Description
Technical field
The utility model relates to the robot field, particularly a kind of two-degree-of-freedom parallel mechanism that contains 5R closed loop subchain.
Background technology
Parallel institution is that a kind of moving platform is connected through at least two independent motion chains with fixed platform; Two or more frees degree are arranged; And mechanism with the parallel way driving; Have advantages such as precision is higher, compact conformation, rigidity is high, bearing capacity is strong greatly, obtained preferably at aspects such as motion simulator, parallel machine, micro-manipulating robot, extracting robots and used.But existing parallel institution basically all is a branch does not contain closed loop; For the parallel institution of number of degrees of freedom, greater than the side chain number; Some side chain must be provided with two or more driving links, this joint of side chain of just having to motor is installed in, thus cause problems such as mechanism's poor rigidity, inertia are big, joint error accumulation; The mechanism dynamic poor-performing, the control difficulty.
Summary of the invention
The purpose of the utility model is to provide a kind of two-degree-of-freedom parallel mechanism of the 5R of containing closed loop subchain, solves problems such as traditional number of degrees of freedom, is big greater than the parallel institution poor rigidity of side chain number, inertia, joint error accumulation.
The utility model achieves the above object through following technical scheme: a kind of two-degree-of-freedom parallel mechanism of the 5R of containing closed loop subchain comprises five-rod closed loop subchain and executing agency's subchain.
Said five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame.First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair; The first connecting rod other end is connected with second connecting rod through the 3rd revolute pair; The second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair, and first driving lever and the motion of second driving lever drive first connecting rod and the second connecting rod motion can be controlled the motion of first turntable in plane, five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform.First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with third connecting rod through the 6th revolute pair; First turntable is connected with the 4th connecting rod through the 7th revolute pair; The third connecting rod other end is connected with the 5th connecting rod with moving platform through the 8th revolute pair, and the 4th connecting rod other end is connected with moving platform through the 9th revolute pair, and moving platform is connected with the 6th connecting rod through the tenth revolute pair; The 5th connecting rod other end is connected with second turntable through the 11 revolute pair; The 6th connecting rod other end is connected with second turntable through the 12 revolute pair, and second turntable is connected with frame through the 13 revolute pair, and the motion of first turntable in the plane, place can realize the space two-freedom motion of moving platform.
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 13 revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th connecting rod.
The outstanding advantage of the utility model is:
1, drive motors is installed on the frame, and rod member can be made lighter bar, effectively reduces mechanism's weight, and mechanism's good rigidly, inertia are little, and dynamic performance is good;
2, through closed loop subchain control moving platform motion output, kinematics of mechanism just, inverse problem finds the solution easily, and control conveniently;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used on fields such as extracting, carrying, piling.
Description of drawings
Fig. 1 is said a kind of first structural representation that contains the two-degree-of-freedom parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 2 is said a kind of second structural representation that contains the two-degree-of-freedom parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 3 is the said a kind of first work sketch map that contains the two-degree-of-freedom parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 4 is the said a kind of second work sketch map that contains the two-degree-of-freedom parallel mechanism of 5R closed loop subchain of the utility model.
Fig. 5 is said a kind of the 3rd work sketch map that contains the two-degree-of-freedom parallel mechanism of 5R closed loop subchain of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
Said five-rod closed loop subchain is formed by connecting first driving lever 11, second driving lever 3, first connecting rod 9, second connecting rod 5 and frame 1.First driving lever, 11 1 ends are connected on the frame 1 through first revolute pair 10; First driving lever, 11 other ends are connected with first connecting rod 9 through second revolute pair 12; First connecting rod 9 other ends are connected with second connecting rod 5 through the 3rd revolute pair 25; Second connecting rod 5 other ends are connected with second driving lever 3 through the 4th revolute pair 4; Second driving lever, 3 other ends are connected with frame 1 through the 5th revolute pair 2, and first driving lever 11 and 3 motions of second driving lever drive first connecting rod 9 and second connecting rod 5 motions can be controlled the motion of first turntable 6 in plane, five-rod closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 6, second turntable 21, third connecting rod 14, the 4th connecting rod 13, the 5th connecting rod 19, the 6th connecting rod 20 and moving platform 15.First turntable 6 is connected with first connecting rod 9 through the 3rd revolute pair 25; First turntable 6 is connected with third connecting rod 14 through the 6th revolute pair 8; First turntable 6 is connected with the 4th connecting rod 13 through the 7th revolute pair 7; Third connecting rod 14 other ends are connected with the 5th connecting rod 19 with moving platform 15 through the 8th revolute pair 17, and the 4th connecting rod 13 other ends are connected with moving platform 15 through the 9th revolute pair 16, and moving platform 15 is connected with the 6th connecting rod 20 through the tenth revolute pair 18; The 5th connecting rod 19 other ends are connected with second turntable 21 through the 11 revolute pair 22; The 6th connecting rod 20 other ends are connected with second turntable 21 through the 12 revolute pair 23, and second turntable 21 is connected with frame 1 through the 13 revolute pair 24, and the motion of first turntable 6 in the plane, place can realize the space two-freedom motion of moving platform 15.
The rotation of said first revolute pair 10, second revolute pair 12, the 3rd revolute pair 25, the 4th revolute pair 4, the 5th revolute pair 2, the 13 revolute pair 24 is parallel to each other; Third connecting rod 14 is isometric parallel with the 4th connecting rod 13, and the 5th connecting rod 19 is isometric parallel with the 6th connecting rod 20.
Claims (1)
1. a two-degree-of-freedom parallel mechanism that contains 5R closed loop subchain comprises five-rod closed loop subchain and executing agency's subchain, and its structure and connected mode are:
Said five-rod closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through second revolute pair, and the first connecting rod other end is connected with second connecting rod through the 3rd revolute pair, and the second connecting rod other end is connected with second driving lever through the 4th revolute pair; The second driving lever other end is connected with frame through the 5th revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and moving platform; First turntable is connected with first connecting rod through the 3rd revolute pair; First turntable is connected with third connecting rod through the 6th revolute pair, and first turntable is connected with the 4th connecting rod through the 7th revolute pair, and the third connecting rod other end is connected with the 5th connecting rod with moving platform through the 8th revolute pair; The 4th connecting rod other end is connected with moving platform through the 9th revolute pair; Moving platform is connected with the 6th connecting rod through the tenth revolute pair, and the 5th connecting rod other end is connected with second turntable through the 11 revolute pair, and the 6th connecting rod other end is connected with second turntable through the 12 revolute pair; Second turntable is connected with frame through the 13 revolute pair
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 13 revolute pair is parallel to each other, and third connecting rod is isometric parallel with the 4th connecting rod, and the 5th connecting rod is isometric parallel with the 6th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203574777U CN202241279U (en) | 2011-09-22 | 2011-09-22 | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203574777U CN202241279U (en) | 2011-09-22 | 2011-09-22 | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain |
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| Publication Number | Publication Date |
|---|---|
| CN202241279U true CN202241279U (en) | 2012-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203574777U Expired - Fee Related CN202241279U (en) | 2011-09-22 | 2011-09-22 | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain |
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| Country | Link |
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| CN (1) | CN202241279U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
| CN103342331A (en) * | 2013-06-20 | 2013-10-09 | 河南工业大学 | Silicon micro parallel-connection five-rod mechanism |
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
-
2011
- 2011-09-22 CN CN2011203574777U patent/CN202241279U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
| CN103342331A (en) * | 2013-06-20 | 2013-10-09 | 河南工业大学 | Silicon micro parallel-connection five-rod mechanism |
| CN103342331B (en) * | 2013-06-20 | 2017-02-08 | 河南工业大学 | Silicon micro parallel-connection five-rod mechanism |
| CN106671066A (en) * | 2017-03-01 | 2017-05-17 | 东北大学 | Vertical type reconfigurable multifunctional parallel mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120530 Termination date: 20150922 |
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| EXPY | Termination of patent right or utility model |