CN209158375U - A kind of 3-freedom parallel mechanism - Google Patents
A kind of 3-freedom parallel mechanism Download PDFInfo
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- CN209158375U CN209158375U CN201820773060.0U CN201820773060U CN209158375U CN 209158375 U CN209158375 U CN 209158375U CN 201820773060 U CN201820773060 U CN 201820773060U CN 209158375 U CN209158375 U CN 209158375U
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- China
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- revolute pair
- pivot center
- connecting rod
- pair
- moving platform
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Abstract
A kind of 3-freedom parallel mechanism disclosed by the utility model, including moving platform and fixed platform, moving platform pass through three branches respectively and connect with fixed platform.The parallel institution of the utility model has three branches, has the characteristics that load-bearing rigidity is big, accuracy is high and dexterity is strong, can be based on equipment such as the design movement simulation of this mechanism, athletic rehabilitations.
Description
Technical field
The utility model belongs to robot field, is related to a kind of 3-freedom parallel mechanism.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but freedom degree is more,
The cost for then manufacturing and controlling is also relatively high, and is difficult to control, and manufacturing and installation process is complicated.Thus, parallel institution is certainly
Will be so that mechanism structure be more simple by the reduction spent, manufacture and control advantage of lower cost, therefore meeting expected job requirement
In the case where, Limited-DOF Parallel Robot has its unique advantage.
Utility model content
The purpose of this utility model is to provide a kind of 3-freedom parallel mechanisms, have high rigidity, accuracy height and spirit
The strong feature of skilful property.
The technical scheme adopted by the utility model is a kind of 3-freedom parallel mechanism, including moving platform and fixed platform,
Moving platform passes through three branches respectively and connect with fixed platform.
The utility model is also characterized by
Every branch includes the revolute pair Rs connecting with fixed platform, and revolute pair Rs is connected with fourth link, prismatic pair in turn
P, the 5th connecting rod and ball secondary S, ball secondary S are connect with moving platform.
The axis of prismatic pair P passes through ball secondary S.
Revolute pair Rs includes the revolute pair R connecting with fixed platform1With revolute pair R4, revolute pair R1It is connected with the first company in turn
Bar, revolute pair R2, second connecting rod, revolute pair R3And third connecting rod, third connecting rod and revolute pair R4Connection, second connecting rod and the 4th
Connecting rod connection.
Revolute pair R1Pivot center, revolute pair R2Pivot center, revolute pair R3Pivot center and revolute pair R4Turn
Shaft line intersects at a point, the revolute pair R1Pivot center and revolute pair R2Pivot center it is coplanar and angle is 45 °, institute
State revolute pair R2Pivot center and revolute pair R3The angle of pivot center be 60 °, the revolute pair R3Pivot center with turn
Dynamic secondary R4Pivot center it is coplanar and angle is 45 °, the revolute pair R1Pivot center and revolute pair R4Pivot center folder
Angle is 90 °.
Revolute pair R1It is connected with driving motor.
The beneficial effects of the utility model are: a kind of 3-freedom parallel mechanism of the utility model, has three degree of freedom,
Moving platform can attended operation hand, 6 parameters can be used to be described for position and posture of the moving platform in space, and respectively it is empty
Between 3 position coordinates and 3 posture coordinates, the Rs being connected in three branches with fixed platform 6, i.e. space 4R spherical structure,
It can be equivalent to a revolute pair, pivot center is constantly changing with the movement of mechanism, drives revolute pair R1, may make moving platform
Posture and position in space changes.The parallel institution of the utility model has three branches, and the carrying of moving platform is rigid
Degree is big, can be based on equipment such as the design movement simulation of this mechanism, athletic rehabilitations.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of 3-freedom parallel mechanism of the utility model；
Fig. 2 is the structural schematic diagram of the revolute pair Rs of 3-freedom parallel mechanism of the utility model a kind of.
In figure: 1. first connecting rods, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. fixed platforms,
7. moving platform.
Specific embodiment
The specific implementation method of the utility model is made a detailed explanation with reference to the accompanying drawing.
A kind of 3-freedom parallel mechanism of the utility model, as shown in Figure 1, including the moving platform 7 and fixed platform of triangle
6, moving platform 7 is connect by three branches with fixed platform 6 respectively, and the junction of three branches and moving platform 7 is denoted as B respectively1, B2,
B3。
Every branch includes the revolute pair Rs connecting with fixed platform 6, and revolute pair Rs is connected with fourth link 4, movement in turn
Secondary P, the 5th connecting rod 5 and ball secondary S, ball secondary S are connect with moving platform 7, and prismatic pair P axis passes through ball secondary S.
As shown in Fig. 2, revolute pair Rs includes the revolute pair R connecting with fixed platform 61With revolute pair R4, revolute pair R1Successively connect
It is connected to first connecting rod 1, revolute pair R2, second connecting rod 2, revolute pair R3With third connecting rod 3, third connecting rod 3 and revolute pair R4Connection,
Second connecting rod 2 is connect with fourth link 4, revolute pair R1It is connected with rotational drive motor.
Revolute pair R1Pivot center, revolute pair R2Pivot center, revolute pair R3Pivot center and revolute pair R4Turn
Shaft line intersects at a point, revolute pair R1Pivot center and revolute pair R2Pivot center it is coplanar and angle is 45 °, revolute pair
R1Pivot center and revolute pair R2Pivot center be formed by plane perpendicular to horizontal plane, and the plane is denoted as π1, revolute pair
R2Pivot center and revolute pair R3The angle of pivot center be 60 °, revolute pair R3Pivot center and revolute pair R4Rotation
Axis co-planar and angle are 45 °, revolute pair R3Pivot center and revolute pair R4Pivot center be formed by plane perpendicular to water
Plane, and the plane is denoted as π2, plane π1With plane π2Intersection, intersection are axis R ', and axis R ' is the instantaneous of second connecting rod 2
The axis of rotation, revolute pair R1Pivot center and revolute pair R4The angle of pivot center be 90 °, revolute pair R1Rotation axis
Line and revolute pair R4Pivot center formed plane be parallel to horizontal plane, revolute pair R1, revolute pair R2, revolute pair R3And rotation
Secondary R4 forms space 4R spherical structure.
The working principle or process of a kind of 3-freedom parallel mechanism of the utility model: as shown in Figure 1, starting driving electricity
Machine, the revolute pair R1 rotation in three branches, changes the moving direction of the prismatic pair P in three branches and moving distance
Become, so that the position of the ball secondary S of connection moving platform 7 be driven to change, the position of final moving platform 7 and posture change.
A kind of 3-freedom parallel mechanism of the utility model, have three degree of freedom, moving platform 7 can attended operation hand, move
Position and posture of the platform in space, 6 parameters can be used to be described, respectively the 3 of its space position coordinates and 3 appearances
State coordinate, in 6 parameters only 3 be it is independent, learn any of them 3 parameters, can be asked according to the constraint equation of mechanism
Obtain other 3 parameters.The Rs being connected in three branches with fixed platform 6, i.e. space 4R spherical structure can be equivalent to one and turn
Dynamic pair, pivot center are constantly changing with the movement of mechanism, drive revolute pair R1, may make the appearance of moving platform 7 in space
State and position change.The parallel institution of the utility model has three branches, and the load-bearing rigidity of moving platform is big, uses 3
Revolute pair R1 may make 6 positions, attitude parameters of moving platform 6 to change, and using this feature, can be based on this mechanism
The equipment such as design movement simulation, athletic rehabilitation.Under some special occasions, it is only necessary to 3 independences of control mechanism moving platform 7
Parameter, when other 3 parameters are not required, the utility model parallel institution can also be used as the mechanism configuration of equipment.
Claims (4)
1. a kind of 3-freedom parallel mechanism, it is characterised in that: including moving platform (7) and fixed platform (6), the moving platform (7)
It is connect respectively by three branches with fixed platform (6)；
Every branch includes that the revolute pair Rs, the revolute pair Rs connecting with fixed platform (6) are connected with fourth link in turn
(4), prismatic pair P, the 5th connecting rod (5) and ball secondary S, the ball secondary S are connect with moving platform (7)；
The axis of the prismatic pair P passes through ball secondary S.
2. a kind of 3-freedom parallel mechanism according to claim 1, it is characterised in that: the revolute pair Rs includes and determines
The revolute pair R1 and revolute pair R4 of platform (6) connection, the revolute pair R1 are connected with first connecting rod (1), revolute pair R2, the in turn
Two connecting rods (2), revolute pair R3 and third connecting rod (3), the third connecting rod (3) connect with revolute pair R4, the second connecting rod (2)
It is connect with fourth link (4).
3. a kind of 3-freedom parallel mechanism according to claim 2, it is characterised in that: the rotation axis of the revolute pair R1
Line, the pivot center of revolute pair R2, the pivot center of revolute pair R3 and revolute pair R4 pivot center intersect at a point, described turn
The pivot center of dynamic secondary R1 is coplanar with the pivot center of revolute pair R2 and angle is 45 °, the pivot center of the revolute pair R2 and
The angle of the pivot center of revolute pair R3 is 60 °, and the pivot center of the revolute pair R3 is coplanar with the pivot center of revolute pair R4
And angle is 45 °, the angle of the pivot center of the pivot center and revolute pair R4 of the revolute pair R1 is 90 °.
4. a kind of 3-freedom parallel mechanism according to claim 2 or 3, it is characterised in that: the revolute pair R1 connection
There is driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820773060.0U CN209158375U (en) | 2018-05-23 | 2018-05-23 | A kind of 3-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820773060.0U CN209158375U (en) | 2018-05-23 | 2018-05-23 | A kind of 3-freedom parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
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| CN209158375U true CN209158375U (en) | 2019-07-26 |
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ID=67326739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820773060.0U Expired - Fee Related CN209158375U (en) | 2018-05-23 | 2018-05-23 | A kind of 3-freedom parallel mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN209158375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749158A (en) * | 2023-08-16 | 2023-09-15 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
-
2018
- 2018-05-23 CN CN201820773060.0U patent/CN209158375U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749158A (en) * | 2023-08-16 | 2023-09-15 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
| CN116749158B (en) * | 2023-08-16 | 2023-10-13 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190726 Termination date: 20200523 |
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| CF01 | Termination of patent right due to non-payment of annual fee |