CN207578396U - A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator - Google Patents
A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator Download PDFInfo
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- CN207578396U CN207578396U CN201721700818.XU CN201721700818U CN207578396U CN 207578396 U CN207578396 U CN 207578396U CN 201721700818 U CN201721700818 U CN 201721700818U CN 207578396 U CN207578396 U CN 207578396U
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Abstract
The utility model is related to a kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulators, including motion platform, silent flatform, the first branch, the second branch, third branch and the 4th branch, the motion platform links together through the first branch, the second branch, third branch and the 4th branch and silent flatform, first branch is UPR type movement branched chains, second branch is UPR type movement branched chains, the third branch is RPS type movement branched chains, and the 4th branch is RPU type movement branched chains.The utility model passes through rational structure design and structure optimization, make mechanism that there is working space big, high bearing capacity, high rigidity and high-precision, it acts not only as self-movement module and realizes 2R1T actions, also it can realize several work by concatenating various forms of end effectors, suffer from being widely applied prospect in high speed, accurate and high rigidity manufacture field.
Description
Technical field
The utility model is related to a kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulators.
Background technology
Parallel robot mechanism is the close loop mechanism being formed by connecting in a certain way by kinematic pair and component.Composition is in parallel
The kinematic pair of robot mechanism can be divided into simple motion pair and secondary two major class of compound motion.Common simple motion pair has：Rotation
Secondary R (revolute pair), prismatic pair P (prismatic pair), screw pair H (helix pair), cylindrical pair C
(cylinder pair), spherical pair S (spherical pair), universal hinge or Hooke's hinge U (universa Uoint).Less certainly
It is simple in structure, tight by its by degree parallel institution, the particularly 3-freedom parallel mechanism with two rotation-translation (2R1T)
It gathers, be easily achieved the advantages that control and manufacture advantage of lower cost, already as the big research hotspot of robot field.Mirror
There is good positioning accuracy, the rigidity of structure, processing performance and dynamic performance in 2R1T parallel institutions, a large amount of five certainly
This kind of design of the mechanism concatenation with two-freedom rotary head or two-freedom x-y mobile platforms is employed by degree series-parallel robot
Scheme, wherein most representative have：It is carried in the Exechon mechanisms that are proposed in patent WO2006054935, patent US4732525
TriVariant mechanisms proposed in the Tricept mechanisms that go out, patent CN1524662A etc..
In these 2R1T parallel institutions, compared to irredundant driven Parallel Kinematic Manipulator, redundantly actuated parallel mechanism, which has, to disappear
Except singular point, improve the advantages of mechanism rigidity and automaticity.In general, parallel institution has two class redundant drives：(1) become quilt
Movable joint is main movable joint；(2) increase the active branched chain of some not changing mechanism degree of freedom.In view of the latter can more significantly improve machine
The rigidity of structure, improves the distribution of force of mechanism, and more and more researchers, which have turned one's attention to, this kind of can meet required fortune
Dynamic form, and the redundantly actuated parallel mechanism with good mechanism performance.In existing mechanism, carried in patent CN106965153
Go out in the parallel machine ontology of actuation redundancy a kind of, patent CN107127738A and proposed hard and soft blend decoupling variation rigidity
Restructural redundant drive broad sense parallel connection mechanism.In this Ji Lei mechanism, mechanism is complex, and moving link number is more, dimension
Protect it is of high cost, it is complicated for operation, cumbersome.
Utility model content
In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to provide a kind of 2R1T Three Degree Of Freedoms
Redundantly actuated parallel mechanism is not only simple in structure, and convenient and efficient.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of 2R1T three freedom redundancies driving
Parallel institution, including motion platform, silent flatform, the first branch, the second branch, third branch and the 4th branch, the movement
Platform links together through the first branch, the second branch, third branch and the 4th branch and silent flatform, and first branch is
UPR type movement branched chains, second branch are UPR type movement branched chains, and the third branch is RPS type movement branched chains, described the
Four branches are RPU type movement branched chains.
Preferably, first branch includes the first Hooke's hinge, first movement pair and the first revolute pair, first tiger
Gram hinge is connected with silent flatform, active movement pair of the first movement pair as mechanism, and first revolute pair is flat with movement
Platform is connected.
Preferably, second branch includes the second Hooke's hinge, the second prismatic pair and the second revolute pair, second tiger
Gram hinge is connected with silent flatform, active movement pair of second prismatic pair as mechanism, and second revolute pair is flat with movement
Platform is connected.
Preferably, the third branch include third revolute pair, third prismatic pair and ball pair, the third revolute pair with
Silent flatform is connected, and active movement pair of the third prismatic pair as mechanism, the ball pair is connected with motion platform.
Preferably, the 4th branch include the 4th revolute pair, the 4th prismatic pair and third Hooke's hinge, described 4th turn
Dynamic pair is connected with silent flatform, active movement pair of the 4th prismatic pair as mechanism, and the third Hooke's hinge is flat with movement
Platform is connected.
Preferably, first Hooke's hinge includes pivot centerWith pivot centerThe pivot centerWith rotation
AxisIt intersects vertically；Second Hooke's hinge includes pivot centerWith pivot centerThe pivot centerWith rotation
AxisIt intersects vertically；The pivot centerWith pivot centerIt overlaps, the pivot centerWith pivot centerMutually
It is parallel；The pivot center of first revolute pair isThe pivot center of second revolute pair isThe pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith turning
Shaft lineIt is parallel to each other；The pivot center of the third revolute pair isThe pivot centerIt is parallel to pivot center
With pivot centerThe third Hooke's hinge includes pivot centerWith pivot centerThe pivot centerWith rotation axis
LineIt intersects vertically；The pivot center of 4th revolute pair isThe pivot centerWith pivot centerIt is mutually equal
Row, the pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerAnd pivot center
It is parallel；The mobile axis of the first movement pair isThe mobile axisPerpendicular to pivot centerWith pivot center
The mobile axis of second prismatic pair isThe mobile axisPerpendicular to pivot centerWith pivot centerIt is described
The mobile axis of third prismatic pair isThe mobile axisPerpendicular to pivot centerThe movement of 4th prismatic pair
Axis isThe mobile axisPerpendicular to pivot centerAnd pivot centerThe ball pair includes pivot center
Pivot centerAnd pivot centerThe pivot centerPivot centerAnd pivot centerIntersect at a point and
Antarafacial, the pivot centerCross pivot centerWithIntersection point.
Preferably, the first movement pair, the second prismatic pair, third prismatic pair and the 4th prismatic pair are slided using leading screw
Platform, the first movement pair include the first sliding block, the first leading screw, connect with the matched first straight line guide rail of the first sliding block, first
Bar and the first servo motor for driving the first leading screw, guide of first sliding block as first movement pair, described first
Sliding block is fixedly connected on the first Hooke's hinge, and movement parts of the first straight line guide rail as first movement pair are fixedly connected on
The first connecting rod；When the work of the first servo motor, since first Hooke's hinge is connected with silent flatform, first sliding block
It cannot be moved relative to silent flatform, first leading screw drives first connecting rod to be moved relative to the first sliding block, so as to described
First branch is moved relative to silent flatform.
Preferably, second prismatic pair includes the second sliding block, the second leading screw and the matched second straight line of the second sliding block
Guide rail, second connecting rod and the second servo motor for driving the second leading screw, second sliding block are led as holding for the second prismatic pair
Part, second sliding block are fixedly connected on the second Hooke's hinge, movement parts of the second straight line guide rail as the second prismatic pair,
It is fixedly connected on the second connecting rod；When the work of the second servo motor, since second Hooke's hinge is connected with silent flatform, institute
Stating the second sliding block cannot move relative to silent flatform, and second leading screw drives second connecting rod to be moved with respect to the second sliding block
It is dynamic, so as to which second branch is moved relative to silent flatform.
Preferably, the third prismatic pair includes third sliding block, third leading screw and the matched third straight line of third sliding block
Guide rail, third connecting rod and the third servo motor for driving third leading screw, the third sliding block are led as holding for third prismatic pair
Part, the third sliding block are fixedly connected in third revolute pair, movement parts of the third the linear guide as third prismatic pair,
It is fixedly connected on the third connecting rod；When third servo motor work, since the third revolute pair is connected with silent flatform, therefore
The third sliding block cannot be moved relative to silent flatform, and the third leading screw drives third connecting rod to be moved with respect to third sliding block
It is dynamic, so as to which the third branch is moved relative to silent flatform.
Preferably, the 4th prismatic pair includes Four-slider, the 4th leading screw and matched 4th straight line of Four-slider
Guide rail, fourth link and the 4th servo motor for driving the 4th leading screw, the Four-slider are led as the 4th holding for prismatic pair
Part, the Four-slider are fixedly connected in the 4th revolute pair, movement parts of the 4th the linear guide as the 4th prismatic pair,
It is fixedly connected on the fourth link；When the 4th servo motor work, since the 4th revolute pair is connected with silent flatform, therefore
The Four-slider cannot be moved relative to silent flatform, and the 4th leading screw drives fourth link to be moved with respect to Four-slider
It is dynamic, so as to which the 4th branch is moved relative to silent flatform.
Compared with prior art, the utility model has the advantages that：The utility model realizes that motion platform is opposite
The movement output of silent flatform 2R1T Three Degree Of Freedoms；It is compact-sized, there are four movement branched chains, the mode of redundant drive is conducive to machine
The raising of structure overall stiffness；Large carrying capacity, rigidity are big, the high degree of modularity of precision is high, can both be used as self-movement module
It realizes 2R1T actions, various forms of end effectors can be also concatenated by motion platform and realize several work, in high speed, precision
And high rigidity manufacture field suffers from being widely applied prospect.
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the organigram one of the utility model embodiment.
Fig. 2 is the organigram two (removal motion platform) of the utility model embodiment.
Fig. 3 is the organigram of the first branch in the utility model embodiment.
Fig. 4 is the organigram of the second branch in the utility model embodiment.
Fig. 5 is the organigram of third branch in the utility model embodiment.
Fig. 6 is the organigram of the 4th branch in the utility model embodiment.
In figure：1- motion platforms, 2- silent flatforms, the first branches of 3-, first group of sliding block of 301-, the first leading screws of 302-, 303-
First straight line guide rail, 304- first connecting rods, the first servo motors of 305-, the second branches of 4-, second group of sliding block of 401-, 402- second
Leading screw, 403- second straight line guide rails, 404- second connecting rods, the second servo motors of 405-, 5- third branches, 501- thirds group are slided
Block, 502- third leading screws, 503- third the linear guides, 504- third connecting rods, 505- third servo motors；The 4th branches of 6-,
The 4th group of sliding block of 601-, the 4th leading screws of 602-, the 4th the linear guides of 603-, 604- fourth links, the 4th servo motors of 605-.
The first Hooke's hinges of U1-, P1- first movement pairs, the first revolute pairs of R1-；
The second Hooke's hinges of U2-, the second prismatic pairs of P2-, the second revolute pairs of R2-；
R3- third revolute pairs, P3- third prismatic pairs, S- ball pairs；
The 4th revolute pairs of R4-, the 4th prismatic pairs of P4-, U3- third Hooke's hinges.
Specific embodiment
For allow the utility model features described above and advantage can be clearer and more comprehensible, special embodiment below, and coordinate attached drawing,
It is described in detail below.
As shown in figs. 1 to 6, a kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator, including motion platform 1, silent flatform 2,
First branch 3, the second branch 4,5 and the 4th branch 6 of third branch, the motion platform is through the first branch, the second branch,
Three branches and the 4th branch link together with silent flatform, first branch be UPR type movement branched chains, second branch
For UPR type movement branched chains, the third branch is RPS type movement branched chains, and the 4th branch is RPU type movement branched chains；It is described
Output block of the motion platform 1 as mechanism, under the common driving of four kinematic chains, mechanism realizes the motion platform 1
It is acted relative to the action of 2 liang of rotations of silent flatform and a translation, that is, motion platform 1 with respect to the 2R1T of silent flatform 2.
In the utility model embodiment, first branch 3 includes the first Hooke's hinge U1, first movement secondary P1 and the
One revolute pair R1, the first Hooke's hinge U1 are connected with silent flatform 2, active movements of the first movement secondary P1 as mechanism
Pair, the first revolute pair R1 are connected with motion platform 1.
In the utility model embodiment, second branch 4 includes the second Hooke's hinge U2, the second prismatic pair P2 and the
Two revolute pair R2, the second Hooke's hinge U2 are connected with silent flatform 2, active movements of the second prismatic pair P2 as mechanism
Pair, the second revolute pair R2 are connected with motion platform 1.
In the utility model embodiment, the third branch 5 includes third revolute pair R3, third prismatic pair P3 and ball
Secondary S, the third revolute pair R3 are connected with silent flatform 2, active movement pairs of the third prismatic pair P3 as mechanism, described
Ball secondary S is connected with motion platform 1.
In the utility model embodiment, the 4th branch includes the 4th revolute pair R4, the 4th prismatic pair P4 and the
Three Hooke's hinge U3, the 4th revolute pair are connected with silent flatform, active movement pair of the 4th prismatic pair as mechanism, institute
Third Hooke's hinge is stated with motion platform to be connected.
In the utility model embodiment, first Hooke's hinge includes pivot centerWith pivot centerDescribed turn
Shaft lineWith pivot centerIt intersects vertically；Second Hooke's hinge includes pivot centerWith pivot centerDescribed turn
Shaft lineWith pivot centerIt intersects vertically；The pivot centerWith pivot centerIt overlaps, the pivot centerWith
Pivot centerIt is parallel to each other；The pivot center of first revolute pair isThe pivot center of second revolute pair is
The pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerIt is parallel to each other, described turn
Shaft lineWith pivot centerIt is parallel to each other；The pivot center of the third revolute pair isThe pivot centerIt is parallel
In pivot centerWith pivot centerThe third Hooke's hinge includes pivot centerWith pivot centerThe rotation axis
LineWith pivot centerIt intersects vertically；The pivot center of 4th revolute pair isThe pivot centerWith rotation axis
LineIt is parallel to each other, the pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerWith
Pivot centerIt is parallel；The mobile axis of the first movement pair isThe mobile axisPerpendicular to pivot centerWith
Pivot centerThe mobile axis of second prismatic pair isThe mobile axisPerpendicular to pivot centerWith rotation
AxisThe mobile axis of the third prismatic pair isThe mobile axisPerpendicular to pivot centerDescribed 4th moves
Moving secondary mobile axis isThe mobile axisPerpendicular to pivot centerAnd pivot centerThe ball pair, which includes, to be turned
Shaft linePivot centerAnd pivot centerThe pivot centerPivot centerAnd pivot centerPhase
Meet at any and antarafacial, the pivot centerCross pivot centerWithIntersection point.
In the utility model embodiment, the first movement pair, the second prismatic pair, third prismatic pair and the 4th movement
The screw slide of servo motor driving may be used in pair, can also use by the straight of the drivings such as linear motor, hydraulic pressure, air pressure push rod
Line movement mechanism, axis pin may be used for first revolute pair, the second revolute pair and third revolute pair and bearing is cut with scissors
It connecing, oscillating bearing or three axis combined type cradle heads can be used in the ball secondary S, but not limited to this.
In the utility model embodiment, the first movement pair, the second prismatic pair, third prismatic pair and the 4th movement
It is secondary using screw slide, the first movement pair includes the first sliding block 301, the first leading screw 302, matched with the first sliding block
First straight line guide rail 303, first connecting rod 304 and the first servo motor 305 for driving the first leading screw, the first sliding block conduct
The guide of first movement pair, first sliding block are fixedly connected on the first Hooke's hinge, and the first straight line guide rail is as
The movement parts of one prismatic pair are fixedly connected on the first connecting rod；When the work of the first servo motor, due to first Hooke's hinge
It is connected with silent flatform, first sliding block cannot be moved relative to silent flatform, and first leading screw drives first connecting rod phase
First sliding block is moved, so as to which first branch is moved relative to silent flatform.
In the utility model embodiment, second prismatic pair includes the second sliding block 401, the second leading screw 402 and second
The matched second straight line guide rail 403 of sliding block, second connecting rod 404 and the second servo motor 405 for driving the second leading screw, it is described
Guide of second sliding block as the second prismatic pair, second sliding block are fixedly connected on the second Hooke's hinge, and described second is straight
Movement parts of the line guide rail as the second prismatic pair, are fixedly connected on the second connecting rod；When the work of the second servo motor, by institute
It states the second Hooke's hinge with silent flatform to be connected, second sliding block cannot be moved relative to silent flatform, the second leading screw band
Dynamic second connecting rod is moved relative to the second sliding block, so as to which second branch is moved relative to silent flatform.
In the utility model embodiment, the third prismatic pair includes third sliding block 501, third leading screw 502 and third
The matched third the linear guide 503 of sliding block, third connecting rod 504 and the third servo motor 505 for driving third leading screw, it is described
Guide of the third sliding block as third prismatic pair, the third sliding block are fixedly connected in third revolute pair, and the third is straight
Movement parts of the line guide rail as third prismatic pair, are fixedly connected on the third connecting rod；When the work of third servo motor, by institute
It states third revolute pair with silent flatform to be connected, therefore the third sliding block cannot be moved relative to silent flatform, the third leading screw
Third connecting rod is driven to be moved relative to third sliding block, so as to which the third branch is moved relative to silent flatform；Described 4th
Prismatic pair includes Four-slider 601, the 4th leading screw 602 and matched 4th the linear guide 603 of Four-slider, fourth link
604 and the 4th servo motor 605 of the 4th leading screw is driven, guide of the Four-slider as the 4th prismatic pair be described
Four-slider is fixedly connected in the 4th revolute pair, movement parts of the 4th the linear guide as the 4th prismatic pair, fixed to connect
It is connected on the fourth link；When the 4th servo motor works, since the 4th revolute pair is connected with silent flatform, therefore described the
Four-slider cannot be moved relative to silent flatform, and the 4th leading screw drives fourth link to be moved relative to Four-slider, from
And the 4th branch is moved relative to silent flatform.
In the utility model embodiment, the utility model is made using the silent flatform 2 as mechanism rack, motion platform 1
For output block, the first movement secondary P1, the second prismatic pair P2, the third prismatic pair P3 and the 4th movement
Secondary P4 is the active movement pair of mechanism, realizes motion platform 1 with respect to silent flatform 2 in angle of precession ψ, nutational angle θ and height z directions
Two rotation-translation movement output.
In the utility model embodiment, the center of the first revolute pair R1, the center of the second revolute pair R2, ball secondary S
Center and third Hooke's hinge U3 the flat shape that is formed of center it is unrestricted；The center of the first Hooke's hinge U1,
The flat shape that the center at the center of the second Hooke's hinge U2, third revolute pair R3 and the 4th revolute pair R4 is formed is unrestricted
System；Preferably, the center of the first revolute pair R1, the center of the second revolute pair R2, the center of ball secondary S and third Hooke's hinge
The center of U3 with square profile on motion platform 1, the center of the first Hooke's hinge U1, the center of the second Hooke's hinge U2,
With square profile on silent flatform 2, structural parameters are as follows at the center of third revolute pair R3 and the 4th revolute pair R4：
| d1 | d1min<d1<d1max | d1min | 110mm | d1max | 280mm |
| d2 | d2min<d2<d2max | d2min | 110mm | d2max | 280mm |
| d3 | d3min<d3<d3max | d3min | 110mm | d3max | 280mm |
| d4 | d4min<d4<d4max | d4min | 110mm | d4max | 280mm |
| a | 120mm | b | 70mm |
In table, a represents the center of the first revolute pair R1, the center of the second revolute pair R2, the center of ball secondary S and the
The center of three Hooke's hinge U3 into square circumradius；B represents the center of the first Hooke's hinge U1, the second Hooke's hinge U2
The center at center, third revolute pair R3 and the 4th revolute pair R4 into square circumradius；D1 represents the first rotation
Secondary R1 centers are to the distance at the first Hooke's hinge U1 centers；D2 represent the second revolute pair R2 centers to the second Hooke's hinge U2 centers away from
From；D3 represents ball secondary S centers to the distance at third revolute pair R3 centers；D4 represents third Hooke's hinge U3 centers to the 4th revolute pair
The distance at R4 centers.
Height z represents the center of the first revolute pair R1, the center of the second revolute pair R2, the center of ball secondary S and the
The center of three Hooke's hinge U3 into the center of the center of circle and the first Hooke's hinge U1 of circumscribed circle of square, the second Hooke's hinge U2
Center, third revolute pair R3 and the 4th revolute pair R4 center into the distance between center of circle of circumscribed circle of square.
Such as：With ψ=0 °, θ=0 °, initial poses of the z=110mm as mechanism, d1, d2, d3, d4 are respectively at this time
120.8mm, 120.8mm, 120.8mm, 120.8mm.
(1) if with posture ψ=10 °, θ=15 °, z=130mm, according to the inverse kinematics of mechanism, can be obtained as targeted attitude
D ' 1, d ' 2, d ' 3, d ' 4 is respectively 132.7mm, 155.4mm, 113.3mm, 171.9mm, it can thus be concluded that first movement is secondary, described
The amount of movement Δ d1=11.9mm of second prismatic pair, the third prismatic pair and the 4th prismatic pair, Δ d2=34.6mm, Δ d3
=-7.5mm, Δ d4=51.1mm.
(2) if with posture ψ=- 15 °, θ=- 30 °, z=160mm, can according to the inverse kinematics of mechanism as targeted attitude
It is respectively 209.5mm, 174.7mm, 247.1mm, 129.3mm to obtain d ' 1, d ' 2, d ' 3, d ' 4, it can thus be concluded that first movement is secondary, institute
State the amount of movement Δ d1=88.7mm of the second prismatic pair, the third prismatic pair and the 4th prismatic pair, Δ d2=53.9mm, Δ
D3=126.3mm, Δ d4=8.5mm.
(3) if with posture ψ=10 °, θ=- 25 °, z=200mm, can according to the inverse kinematics of mechanism as targeted attitude
It is respectively 214.7mm, 238.4mm, 274.1mm, 174.3mm to obtain d ' 1, d ' 2, d ' 3, d ' 4, it can thus be concluded that first movement is secondary, institute
The amount of movement Δ d1=93.9mm of the second prismatic pair, the third prismatic pair and the 4th prismatic pair, Δ d2=117.6mm are stated,
Δ d3=153.3mm, Δ d4=53.5mm.
A kind of method of work of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator, carries out according to the following steps：According to parallel machine
Structure movement mechanism, first movement pair, the second prismatic pair, third prismatic pair, the 4th prismatic pair common driving under, uniquely determine
One pose of motion platform, so as to fulfill motion platform relative to the action of the rotation of silent flatform two and a translation.
The utility model is not limited to above-mentioned preferred forms, anyone can obtain under the enlightenment of the utility model
Go out other various forms of 2R1T three freedom redundancies driven Parallel Kinematic Manipulators.It is all to be done according to present utility model application the scope of the claims
Equivalent changes and modifications should all belong to the covering scope of the utility model.
Claims (10)
1. a kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator, it is characterised in that：Including motion platform, silent flatform, first
Chain, the second branch, third branch and the 4th branch, the motion platform through the first branch, the second branch, third branch and
4th branch links together with silent flatform, and first branch is UPR type movement branched chains, and second branch is transported for UPR types
Dynamic branch, the third branch are RPS type movement branched chains, and the 4th branch is RPU type movement branched chains.
2. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 1, it is characterised in that：First branch
Comprising the first Hooke's hinge, first movement is secondary and the first revolute pair, first Hooke's hinge are connected with silent flatform, and described first
Active movement pair of the prismatic pair as mechanism, first revolute pair are connected with motion platform.
3. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 2, it is characterised in that：Second branch
Comprising the second Hooke's hinge, the second prismatic pair and the second revolute pair, second Hooke's hinge is connected with silent flatform, and described second
Active movement pair of the prismatic pair as mechanism, second revolute pair are connected with motion platform.
4. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 3, it is characterised in that：The third branch
Comprising third revolute pair, third prismatic pair and ball pair, the third revolute pair is connected with silent flatform, the third prismatic pair
As the active movement pair of mechanism, the ball pair is connected with motion platform.
5. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 4, it is characterised in that：4th branch
Comprising the 4th revolute pair, the 4th prismatic pair and third Hooke's hinge, the 4th revolute pair is connected with silent flatform, and the described 4th
Active movement pair of the prismatic pair as mechanism, the third Hooke's hinge are connected with motion platform.
6. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 5, it is characterised in that：First Hooke
Hinge includes pivot centerWith pivot centerThe pivot centerWith pivot centerIt intersects vertically；Second Hooke
Hinge includes pivot centerWith pivot centerThe pivot centerWith pivot centerIt intersects vertically；The pivot centerWith pivot centerIt overlaps, the pivot centerWith pivot centerIt is parallel to each other；The rotation axis of first revolute pair
Line isThe pivot center of second revolute pair isThe pivot centerWith pivot centerIt is parallel to each other, it is described
Pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot centerIt is parallel to each other；The third turns
Moving secondary pivot center isThe pivot centerIt is parallel to pivot centerWith pivot centerThe third Hooke's hinge
Include pivot centerWith pivot centerThe pivot centerWith pivot centerIt intersects vertically；4th revolute pair
Pivot center beThe pivot centerWith pivot centerIt is parallel to each other, the pivot centerWith pivot center
It is parallel to each other, the pivot centerWith pivot centerAnd pivot centerIt is parallel；The mobile axis of the first movement pair
ForThe mobile axisPerpendicular to pivot centerWith pivot centerThe mobile axis of second prismatic pair isThe mobile axisPerpendicular to pivot centerWith pivot centerThe mobile axis of the third prismatic pair is
The mobile axisPerpendicular to pivot centerThe mobile axis of 4th prismatic pair isThe mobile axisIt hangs down
Directly in pivot centerAnd pivot centerThe ball pair includes pivot centerPivot centerAnd pivot center
The pivot centerPivot centerAnd pivot centerIt intersects at a point and antarafacial, the pivot centerIt crosses and turns
Shaft lineWithIntersection point.
7. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 5, it is characterised in that：The first movement
Using screw slide, the first movement pair includes first and slides for pair, the second prismatic pair, third prismatic pair and the 4th prismatic pair
Block, the first leading screw, the first servo with the first leading screw of the matched first straight line guide rail of the first sliding block, first connecting rod and driving
Motor, guide of first sliding block as first movement pair, first sliding block are fixedly connected on the first Hooke's hinge, institute
Movement parts of the first straight line guide rail as first movement pair are stated, are fixedly connected on the first connecting rod；When the first servo motor work
Make, since first Hooke's hinge is connected with silent flatform, first sliding block cannot be moved relative to silent flatform, and described the
One leading screw drives first connecting rod to be moved relative to the first sliding block, so as to which first branch is moved relative to silent flatform.
8. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 5, it is characterised in that：Second movement
Pair includes the second sliding block, the second leading screw and the matched second straight line guide rail of the second sliding block, second connecting rod and driving second
Second servo motor of thick stick, guide of second sliding block as the second prismatic pair, second sliding block are fixedly connected on
On two Hooke's hinges, movement parts of the second straight line guide rail as the second prismatic pair are fixedly connected on the second connecting rod；When
Two servo motors work, and since second Hooke's hinge is connected with silent flatform, second sliding block cannot be sent out with respect to silent flatform
Raw movement, second leading screw drive second connecting rod to be moved relative to the second sliding block, so as to which second branch is relatively quiet flat
Platform moves.
9. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 5, it is characterised in that：The third movement
Pair includes third sliding block, third leading screw and the matched third the linear guide of third sliding block, third connecting rod and driving third silk
The third servo motor of thick stick, guide of the third sliding block as third prismatic pair, the third sliding block are fixedly connected on
In three revolute pairs, movement parts of the third the linear guide as third prismatic pair are fixedly connected on the third connecting rod；When
Three servo motors work, and since the third revolute pair is connected with silent flatform, therefore the third sliding block cannot be with respect to silent flatform
It moves, the third leading screw drives third connecting rod to be moved relative to third sliding block, so as to which the third branch is relatively quiet
Platform moves.
10. 2R1T three freedom redundancies driven Parallel Kinematic Manipulator according to claim 5, it is characterised in that：Described 4th moves
Dynamic pair includes Four-slider, the 4th leading screw and matched 4th the linear guide of Four-slider, fourth link and driving the 4th
4th servo motor of leading screw, guide of the Four-slider as the 4th prismatic pair, the Four-slider are fixedly connected on
In 4th revolute pair, movement parts of the 4th the linear guide as the 4th prismatic pair are fixedly connected on the fourth link；When
4th servo motor works, and since the 4th revolute pair is connected with silent flatform, therefore the Four-slider cannot be relatively quiet flat
Platform moves, and the 4th leading screw drives fourth link to be moved relative to Four-slider, so as to which the 4th branch is opposite
Silent flatform moves.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838909A (en) * | 2017-12-08 | 2018-03-27 | 福州大学 | A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator and its method of work |
| CN109079757A (en) * | 2018-08-24 | 2018-12-25 | 北京机械设备研究所 | A kind of 3-freedom parallel mechanism applied to the main hand of remote operating |
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2017
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838909A (en) * | 2017-12-08 | 2018-03-27 | 福州大学 | A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator and its method of work |
| CN107838909B (en) * | 2017-12-08 | 2023-03-14 | 福州大学 | 2R1T three-degree-of-freedom redundant drive parallel mechanism and working method thereof |
| CN109079757A (en) * | 2018-08-24 | 2018-12-25 | 北京机械设备研究所 | A kind of 3-freedom parallel mechanism applied to the main hand of remote operating |
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