CN205630632U - Redundant drive parallel mechanism of three translations in space - Google Patents
Redundant drive parallel mechanism of three translations in space Download PDFInfo
- Publication number
- CN205630632U CN205630632U CN201620424647.1U CN201620424647U CN205630632U CN 205630632 U CN205630632 U CN 205630632U CN 201620424647 U CN201620424647 U CN 201620424647U CN 205630632 U CN205630632 U CN 205630632U
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- China
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- side chain
- connecting rod
- pair
- parallel
- revolute pair
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Abstract
The utility model provides a redundant drive parallel mechanism of three translations in space belongs to the parallel robot field, and is main including moving platform, frame and connecting above -mentioned five side chains that the structure is the same between them. From the frame to allocating the platform, first side chain is in proper order by cylinder pair, revolute pair, revolute pair and connect their connecting rod composition, its cylinder pair's the axis and the fixed guide axial coincidence of place frame to be parallel to each other with the axis of two revolute pairs, platform place plane is perpendicular with moving, and the connected mode of second side chain, third side chain is all the same with first side chain, the fourth side chain is in proper order by cylinder pair, revolute pair, revolute pair and connect their connecting rod composition, its cylinder pair's the axis and the fixed guide axial coincidence of place frame to be parallel to each other with the axis of two revolute pairs, platform place plane is parallel with moving, and the connected mode of the 5th side chain is the same with the fourth side chain. The utility model discloses easily manufacturing, the precision is high, the bearing capacity is big, but wide application in fields such as digit control machine tool, manufacturing and measuring engine.
Description
Technical field
This utility model belongs to robot field, translates redundantly actuated parallel mechanism particularly to a kind of space three.
Background technology
Parallel institution has the advantages such as inertia is little, bearing capacity is high, rigidity is big, power performance is good compared to serial mechanism, is widely used in the every field such as processing and manufacturing, medical science, various motion simulator, micro-positioning robot.But there is no need with mechanism in six degree of freedom under a lot of practical situations, and minority carrier generation lifetime has simple in construction, low cost, the advantage, especially 3-freedom parallel mechanism such as easily controllable, it applies more and more extensive in actual production.But the research for space three-freedom connection-in-parallel mechanism mostly is nonredundancy drive mechanism at present, and the research about the redundantly actuated parallel mechanism of space three-freedom is less, and redundant drive can be improved the robust motion of former mechanism, improve precision and bearing capacity etc..
Utility model content
The purpose of this utility model is to provide the space three that a kind of bearing capacity is strong to translate redundantly actuated parallel mechanism.This utility model be the technical scheme is that this mechanism includes moving platform, frame and connects five identical side chains of the two.First side chain is made up of connecting rod a and connecting rod b, and one end of connecting rod a is connected with frame by cylindrical pair, and its other end is connected with connecting rod b by revolute pair R1, and the other end of this connecting rod b is connected with moving platform by revolute pair R2.The axis of this side chain cylindrical pair is axially coincident with the fixing guide rail of place frame, and is parallel to each other with the axis of revolute pair R1, revolute pair R2, vertical with moving platform place plane.Second side chain, the 3rd side chain connected mode identical with the first side chain.
4th side chain is made up of connecting rod c and connecting rod d, and one end of connecting rod c is connected with frame by cylindrical pair, and its other end is connected with connecting rod d by revolute pair R3, and the other end of this connecting rod d is connected with moving platform by revolute pair R4.The axis of this side chain cylindrical pair is axially coincident with the fixing guide rail of place frame, and is parallel to each other with the axis of revolute pair R3, revolute pair R4, parallel with moving platform place plane.The connected mode of the 5th side chain is identical with the 4th side chain.
The utility model has the advantage of: this three translation parallel mechanism contains five and drives branch, belong to redundancy actuating mechanism, stationarity is good, precision is high, bearing capacity is strong, and the kinematic pair in mechanism is moving sets and revolute pair, manufacture and install simply, low cost, can be widely applied to the fields such as Digit Control Machine Tool, processing and manufacturing and measuring machine.
Accompanying drawing explanation
The utility model is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is this utility model structural representation.
Detailed description of the invention
As it is shown in figure 1, a kind of space three translates redundantly actuated parallel mechanism, this mechanism is made up of moving platform 12, frame 1 and connection five identical side chains of the two.First side chain a1 is made up of connecting rod a 8 and connecting rod b 10, and one end of connecting rod a 8 is connected with frame 1 by cylindrical pair 2, and its other end is connected with connecting rod b 10 by revolute pair R1 9, and the other end of this connecting rod b 10 is connected with moving platform 12 by revolute pair R2 11.The axis of this side chain cylindrical pair 2 is axially coincident with the fixing guide rail of place frame 1, and is parallel to each other with the axis of revolute pair R1 9, revolute pair R2 11, vertical with moving platform 12 place plane.Second side chain a2, the 3rd side chain a3 connected mode identical with the first side chain a1.
4th side chain a4 is made up of connecting rod c 3 and connecting rod d 5, and one end of connecting rod c 3 is connected with frame 1 by cylindrical pair 7, and its other end is connected with connecting rod d 5 by revolute pair R3 4, and the other end of this connecting rod d 5 is connected with moving platform 12 by revolute pair R4 6.The axis of this side chain cylindrical pair 7 is axially coincident with the fixing guide rail of place frame 1, and is parallel to each other with the axis of revolute pair R3 4, revolute pair R4 6, parallel with frame 1 place plane.The connected mode of the 5th side chain a5 is identical with the 4th side chain a4.
Claims (1)
1. a space three translates redundantly actuated parallel mechanism, it includes moving platform, frame and connects five identical side chains of the two, it is characterized in that: the first side chain is made up of with even b connecting rod a, one end of connecting rod a is connected with frame by cylindrical pair, its other end is connected with connecting rod b by revolute pair R1, the other end of this connecting rod b is connected with moving platform by revolute pair R2, the axis of this side chain cylindrical pair is axially coincident with the fixing guide rail of place frame, and it is parallel to each other with the axis of revolute pair R1, revolute pair R2, vertical with moving platform place plane；Second side chain, the 3rd side chain connected mode identical with the first side chain；4th side chain is made up of connecting rod c and connecting rod d, one end of connecting rod c is connected with frame by cylindrical pair, its other end is connected with connecting rod d by revolute pair R3, the other end of this connecting rod d is connected with moving platform by revolute pair R4, the axis of this side chain cylindrical pair is axially coincident with the fixing guide rail of place frame, and it is parallel to each other with the axis of revolute pair R3, revolute pair R4, parallel with moving platform place plane；The connected mode of the 5th side chain is identical with the 4th side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620424647.1U CN205630632U (en) | 2016-05-11 | 2016-05-11 | Redundant drive parallel mechanism of three translations in space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620424647.1U CN205630632U (en) | 2016-05-11 | 2016-05-11 | Redundant drive parallel mechanism of three translations in space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205630632U true CN205630632U (en) | 2016-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620424647.1U Expired - Fee Related CN205630632U (en) | 2016-05-11 | 2016-05-11 | Redundant drive parallel mechanism of three translations in space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205630632U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267076A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | High-rigidity redundant drive parallel mechanism |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
| CN114905530A (en) * | 2022-06-02 | 2022-08-16 | 连云港杰瑞自动化有限公司 | Five-branch three-freedom industrial robot with three-dimensional movement |
-
2016
- 2016-05-11 CN CN201620424647.1U patent/CN205630632U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267076A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | High-rigidity redundant drive parallel mechanism |
| CN111267076B (en) * | 2020-04-02 | 2021-05-04 | 燕山大学 | High-rigidity redundant drive parallel mechanism |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
| CN114905530A (en) * | 2022-06-02 | 2022-08-16 | 连云港杰瑞自动化有限公司 | Five-branch three-freedom industrial robot with three-dimensional movement |
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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: 20161012 Termination date: 20170511 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |