CN205075056U - It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two - Google Patents
It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two Download PDFInfo
- Publication number
- CN205075056U CN205075056U CN201520767012.7U CN201520767012U CN205075056U CN 205075056 U CN205075056 U CN 205075056U CN 201520767012 U CN201520767012 U CN 201520767012U CN 205075056 U CN205075056 U CN 205075056U
- Authority
- CN
- China
- Prior art keywords
- pair
- revolute pair
- axis
- chain
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a spatial mechanism technical field of robot has especially involved an it rotates a removal three freedoms motion decoupling zero parallel mechanism to have two. This it rotates a removal three freedoms motion decoupling zero parallel mechanism to have two is including moving the platform, quiet platform is moving with connecting, two branch's motion chains between the quiet platform, article two, in the branch motion chain one is single open chain, another is the combination chain, wherein the combination chain comprises revolute pair of loop configuration series connection, loop configuration is by first, second sub -branch constitutes, a cylinder pair axis of single open chain is on a parallel with the 6th revolute pair axis of combination chain, and the two is all with the fourth of combination chain, and to remove vice central line perpendicular, the articular input campaign of initiative and move the output movement of platform between be control relation one to one, a CNNP0 axis of single open chain is on a parallel with the 6th revolute pair axis of combination chain.
Description
Technical field
The utility model relates to space mechanism of robot technical field, has particularly related to one and has had two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism.
Background technology
Parallel institution for moving platform and silent flatform by least two independently kinematic chain be connected formed mechanism, mechanism has two or more frees degree, and with a kind of close loop mechanism that parallel way drives.The features such as rigidity is high, bearing capacity is large, accumulated error is little because it has, compact conformation, have broad application prospects in fields such as parallel machine, industrial robot, medical robots.
Limited-DOF Parallel Robot is compared with six-degree-of-freedom parallel robot, and structure is more simple, manufactures and controls cost relatively low, therefore when meeting with its job requirement, Limited-DOF Parallel Robot has its unique advantage.At present, the scholar of China has achieved corresponding achievement at the design aspect of Lower-mobility Parallel Manipulators, and the space three-freedom connection-in-parallel mechanism that such as publication number is CN101025247A, publication date is the mobile decoupling disclosed in the Chinese patent on August 29th, 2007 and publication No. are CN101767335A, date of publication all belongs to the category of lower-mobility robot for the twin-translation-rotation partial decoupling parallel mechanism disclosed in the Chinese patent application on July 7th, 2010.But the kinematics coupling of existing most of parallel robot mechanism is all very strong, is unfavorable for that the actual of parallel institution is applied.
Utility model content
The purpose of this utility model is that three-degree-of-freedom motion decoupling parallel mechanism is moved in two rotations one that have providing a kind of mobile decoupling strong.
In order to solve the problem, of the present utility model have two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism by the following technical solutions: have two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism, comprise moving platform, silent flatform and be connected to dynamic, two sub-chains between silent flatform, one in two sub-chains is single open chain, another is combination chain, described single open chain comprises first cylindrical pair of connecting successively from silent flatform, second cylindrical pair and the 3rd Hooke's hinge, 3rd Hooke's hinge is connected with silent flatform, wherein the axes normal of the first cylindrical pair is in the axis of the second cylindrical pair, the axis of the turning cylinder be connected with the second cylindrical pair in the 3rd Hooke's hinge and the axis being parallel of the first cylindrical pair, in single open chain, first cylindrical pair is driving pair, it is input as primary input with linear displacement, combination chain comprises loop circuit structure and a revolute pair, loop circuit structure comprises the first sub-branch and the second sub-branch, first sub-branch comprises the 4th moving sets of connecting successively from silent flatform, 5th revolute pair, wherein the central axis of the 4th moving sets is in the axis of the 5th revolute pair, second sub-branch comprises the 6th revolute pair of connecting successively from silent flatform, 7th Hooke's hinge, 8th revolute pair and the 9th Hooke's hinge, wherein pivot center adjacent with the 8th revolute pair respectively and the 8th turns auxiliary shaft line parallel in the 7th Hooke's hinge and the 9th Hooke's hinge, two other pivot center is parallel to each other and perpendicular to the axis of the 6th revolute pair, combination chain is connected with moving platform by the tenth revolute pair, in combination chain, the driving pair of the first sub-branch is the 4th moving sets, the driving pair of the second sub-branch is the 6th revolute pair, the axis of ten revolute pair of axis being parallel in combination chain of the turning cylinder be connected with moving platform in the 3rd Hooke's hinge of single open chain.
First cylindrical pair of single open chain is located on silent flatform by a stand.
First cylindrical pair take linear displacement as primary input, and its driving mechanism is the drive unit that ball screw framework adds guide rail composition, and the driving mechanism of the 4th moving sets is the screw-nut body of driven by motor, and the driving mechanism of the 6th revolute pair is the reductor of driven by motor.
Dynamic and static platform is connected with a single open chain by a combination chain by the utility model, first cylindrical pair axis being parallel of single open chain is in the 6th revolute pair axis of combination chain, and the two all with the central axis of the 4th moving sets of combination chain, therefore main is man-to-man control planning between diarthrodial input motion and the output campaign of moving platform, has excellent kinematic decoupling.
Accompanying drawing explanation
Fig. 1 has the schematic diagram that the embodiment of three-degree-of-freedom motion decoupling parallel mechanism is moved in two rotations one;
Fig. 2 has the structural representation that the embodiment of three-degree-of-freedom motion decoupling parallel mechanism is moved in two rotations one.
Detailed description of the invention
There is the embodiment that three-degree-of-freedom motion decoupling parallel mechanism is moved in two rotations one, as shown in Figure 1-2, this mechanism comprises moving platform 101, silent flatform 102 and connects two sub-chains of moving platform 101 and silent flatform 102, and moving platform and silent flatform are rectangular structure; One in two described sub-chains is single open chain 103, another is combination chain 104.
That single open chain 103 is connected successively from silent flatform is the first cylindrical pair C1, the second cylindrical pair C2, the 3rd Hooke's hinge U3, according to said sequence, connects between adjacent two respectively by first connecting rod 1, second connecting rod 2; Second cylindrical pair C2 axes normal is in the first cylindrical pair C1 axis, and pivot center adjacent with the second cylindrical pair C2 in the 3rd Hooke's hinge U3 is parallel to the axis of the first cylindrical pair C1.In addition, in the present embodiment, need it is emphasized that the first cylindrical pair of single open chain is located on silent flatform by a support 105, its entire length can be shortened when the effective length of guarantee first cylindrical pair like this, and then ensure its reliability.
A loop circuit structure and a revolute pair is comprised in combination chain 104, and loop circuit structure comprises the first sub-branch 1041 and the second sub-branch 1042, that the first sub-branch connects successively from silent flatform is the 4th moving sets P4, the 5th revolute pair R5, be connected by third connecting rod 3 between 4th moving sets P4 with the 5th revolute pair R5, the 5th revolute pair R5 axes normal is in the 4th moving sets P4 center line.That the second sub-branch connects successively from silent flatform is the 6th revolute pair R6, the 7th Hooke's hinge U7, the 8th revolute pair R8, the 9th Hooke's hinge U9, and according to said sequence, they are connected by double leval jib 4, the 5th connecting rod 5 six-bar linkage 6 between adjacent two.Wherein pivot center adjacent with the 8th revolute pair R8 respectively and the 8th revolute pair R8 axis being parallel in the 7th Hooke's hinge U7 and the 9th Hooke's hinge U9, two other pivot center is parallel to each other and vertical and the 6th revolute pair R6 axis.
Single open chain is connected with moving platform with the tenth revolute pair R10 respectively by the 3rd Hooke's hinge U3 with combination chain, be connected by seven-link assembly 7 between tenth revolute pair R10 with the 9th Hooke's hinge, and the pivot center be connected with moving platform in the 3rd Hooke's hinge U3 is parallel to the axis of the tenth revolute pair R10.The driving pair of single open chain is the first cylindrical pair C1, and the driving pair of the first sub-branch is the 4th moving sets P4, and the driving pair of the second sub-branch is the 6th revolute pair R6, and wherein the first cylindrical pair C1 take linear displacement as primary input.First cylindrical pair axis being parallel is in the 6th revolute pair axis, and two axial lines is all perpendicular to the 4th moving sets center line.Therefore, parallel institution moving platform of the present utility model can realize bidimensional and rotate one-dimensional movement output motion.
Claims (3)
1. there are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism, comprise moving platform, silent flatform and be connected to dynamic, two sub-chains between silent flatform, it is characterized in that, one in two sub-chains is single open chain, another is combination chain, described single open chain comprises first cylindrical pair of connecting successively from silent flatform, second cylindrical pair and the 3rd Hooke's hinge, 3rd Hooke's hinge is connected with silent flatform, wherein the axes normal of the first cylindrical pair is in the axis of the second cylindrical pair, the axis of the turning cylinder be connected with the second cylindrical pair in the 3rd Hooke's hinge and the axis being parallel of the first cylindrical pair, in single open chain, first cylindrical pair is driving pair, it is input as initiatively input with linear displacement, combination chain comprises loop circuit structure and a revolute pair, loop circuit structure comprises the first sub-branch and the second sub-branch, first sub-branch comprises the 4th moving sets of connecting successively from silent flatform, 5th revolute pair, wherein the central axis of the 4th moving sets is in the axis of the 5th revolute pair, second sub-branch comprises the 6th revolute pair of connecting successively from silent flatform, 7th Hooke's hinge, 8th revolute pair and the 9th Hooke's hinge, wherein pivot center adjacent with the 8th revolute pair respectively and the 8th turns auxiliary shaft line parallel in the 7th Hooke's hinge and the 9th Hooke's hinge, two other pivot center is parallel to each other and perpendicular to the 6th revolute pair axis, combination chain is connected with moving platform by the tenth revolute pair, in combination chain, the driving pair of the first sub-branch is the 4th moving sets, the driving pair of the second sub-branch is the 6th revolute pair, the axis of ten revolute pair of axis being parallel in combination chain of the turning cylinder be connected with moving platform in the 3rd Hooke's hinge of single open chain.
2. according to claim 1 have two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism, and it is characterized in that, the first cylindrical pair of single open chain is located on silent flatform by a stand.
3. according to claim 1 and 2 have two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism, it is characterized in that, first cylindrical pair take linear displacement as primary input, its driving mechanism is the drive unit that ball screw framework adds guide rail composition, the driving mechanism of the 4th moving sets is the screw-nut body of driven by motor, and the driving mechanism of the 6th revolute pair is the reductor of driven by motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520767012.7U CN205075056U (en) | 2015-09-30 | 2015-09-30 | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520767012.7U CN205075056U (en) | 2015-09-30 | 2015-09-30 | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205075056U true CN205075056U (en) | 2016-03-09 |
Family
ID=55427493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520767012.7U Withdrawn - After Issue CN205075056U (en) | 2015-09-30 | 2015-09-30 | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205075056U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
-
2015
- 2015-09-30 CN CN201520767012.7U patent/CN205075056U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101407059B (en) | Four-freedom degree industrial robot | |
| CN105215974A (en) | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism | |
| CN108972509B (en) | Three-degree-of-freedom parallel mechanism with multiple operation modes | |
| CN103072132A (en) | Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure | |
| CN105215975B (en) | Asymmetric parallel institution with two turn of one shift three degrees of freedom | |
| CN102009414B (en) | Wrist device for three degree of freedom (TDOF) underactuated robot | |
| CN101927491B (en) | Completely isotropic three-freedom degree spatial parallel robot mechanism | |
| CN103707292A (en) | Six-degree-of-freedom industrial robot based on X-Y-Z rectangular coordinate joint and posture wrist | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN102825595A (en) | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism | |
| CN102699908A (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN103846911A (en) | High-speed parallel manipulator with six degrees of freedom | |
| CN105904441A (en) | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism | |
| CN205702834U (en) | A kind of agitating friction weldering parallel robot of redundant drive | |
| CN205075056U (en) | It rotates a removal three freedoms motion decoupling zero parallel mechanism to have two | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN205129850U (en) | Move secondary drive's four degree of freedom parallel transfer robots | |
| CN114227648A (en) | High-rigidity five-degree-of-freedom parallel drive robot | |
| CN207747038U (en) | A kind of plane grasping mechanism | |
| CN104858856A (en) | 2PU and CRS spatial parallel robot mechanism | |
| CN103934824B (en) | A kind of robot parallel-crank mechanism and three-axis series-multiple connection mechanism industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160309 Effective date of abandoning: 20171219 |
|
| AV01 | Patent right actively abandoned |