CN2540260Y - Class I three-freedom space prallel robot mechanism - Google Patents

Class I three-freedom space prallel robot mechanism Download PDF

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CN2540260Y
CN2540260Y CN 02232759 CN02232759U CN2540260Y CN 2540260 Y CN2540260 Y CN 2540260Y CN 02232759 CN02232759 CN 02232759 CN 02232759 U CN02232759 U CN 02232759U CN 2540260 Y CN2540260 Y CN 2540260Y
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rod
axis
hinge
hooke
parallel
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刘旭东
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刘旭东
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Abstract

A three-freedom spatial parallel robot belongs to robot and mechanical manufacture technical field, which is composed of a frame, a movable platform, and one guiding driving branch and at least two driving branches connecting the frame and the movable platform. The utility model has various different types, while the movable platform can realize three position freedoms and one inactive rotary freedom. The utility model has less joints and simple structure, which can completely utilize rotary couples to realize high accuracy and rigidity, realize spatial three-coordinate translation machining, and flexibly build various multi-freedom spatial parallel robot, parallel bench, inching robot and sensor or the like, engaged with other rotators.

Description

Three-freedom spatial parallel robot mechanism
Technical field:
The utility model belongs to robot and mechanical manufacturing field, moves and the three-freedom degree spatial parallel robot mechanism of one dimension from rotating but particularly a class implementation space is three-dimensional.
Background technology:
Existing robots mechanism can be decomposed into two class mechanisms, serial mechanism and parallel institution.Serial mechanism belongs to open chain, and each rod member links to each other successively by kinematic pair, and this class mechanism has big working space and flexibility, and shortcoming is that rigidity is low, inertia is big, and dynamic characteristic is poor, precision is low.For avoiding this class shortcoming, the end of several serial mechanisms can be coupled together by a moving platform and constitute a parallel institution, and by these the several serial mechanisms branch of parallel institution (or the be referred to as) end effector of drive installation on moving platform jointly.The benefit of this layout is conspicuous: the free degree that end effector is realized can be driven jointly by each branch, makes the big driver element of weight can be distributed to each branch; And a driver element can only be contained in each branch, and is arranged on the frame or near on the position of frame.This arrangement compactness, load can effectively reduce whole inertia from the anharmonic ratio height, improve dynamic property, improve integral rigidity.Therefore, parallel institution has obtained extensive use in simulator, lathe, robot, sensor, micromotion mechanism.
Parallel institution can chase after north paint spraying apparatus (PollardW to Pollard employing parallel institution in 1938 design in industrial application, Evanston.Position-controlling Apparatus, Application, Serial No.203:633, Apr.22,1938; UnitedState Patent:2,286,571, Jun.1942).The sixties, Stewart is successfully applied to flight simulator with the 6DOF parallel institution, and (180 (Part 1 for Stewart D.A Platform with 6 Degrees of Freedom, Proc.of the Institution of mechanicalengineers, 15), 1965:371-386).Before this, Gough also is applied to same mechanism detection (Gough V E et, Whitehall S G.Universal Tire Test Machine, the In Proceedings 9th Int.TechnicalCongress F.I.S.I.T.A. of tire, May 1962,117:117-135).Therefore, usually this mechanism is referred to as Gough-Stewart platform or Stewart platform.Early stage parallel institution refers to the Stewart platform of 6DOF more, but its space is little, realize that orientation capability is poor, the solution that realizes the different frees degree is lacked flexibility, in theory and practice, remain in a series of problems and be difficult to solution, for example foundation of position normal solution and kinetic model, precision calibration etc.
For giving full play to the advantage separately of parallel institution and serial mechanism, people turn to connection in series-parallel hybrid solution based on the lower-mobility parallel institution with research emphasis in recent years, wherein have the parallel institution of pure flat moving and pure rotational freedom owing to can form various multiple degrees of freedom solutions flexibly, have price advantage, have a extensive future in industrial production and other fields.1985, a kind of (Clavel R.Device for Movement andPosition of an Element in Space of three-dimensional translating mechanism that is called Delta mechanism of Clavel utility model, United State Patent:4,976,582, Dec.11,1990), 12 spherical pairs are arranged in this mechanism, two kinds of outer secondary drive forms of moving sets and revolute pair are arranged.Nineteen ninety-five Tsai proposes another kind of Delta (the Tsai L W.Multi-degree-of-freedom mechanisms for machine tools and the like of mechanism, United States Patent:5,656,905, Aug.12,1997), the Delta mechanism of contrast Clavel, the Delta mechanism of Tsai adopts revolute pair fully, and increases side-play amount between rotating shaft, has improved the space/volume ratio of this mechanism when reducing cost.1996, Tsai has studied (the Tsai L W.Kinematics of a Three-DOF Platform with ThreeExtensible Limbs of 3-TPT mechanism of another kind of realization three-dimensional translating, In Recent Advances in Robot Kinematics, Kluwer Academic Publishers, 1996:401-410).Above-mentioned pure flat actuation mechanism adopts the identical branch of structure in same mechanism, or the free degree of passing through hinge in each branch cooperates, or the rotational freedom by the constraint of the plane parallel quadric chain in each branch moving platform, the torque of automatic platform is born jointly by each branch during work.This class mechanism can only satisfy the application of general precision because torsional rigidity and positional precision are lower.Studies show that, different with traditional serial mechanism, parts rigidity in each branch of parallel institution is relevant with the position shape of parallel institution to the influence of end poing rigidity, and possibility difference is very big on the different directions of same position, and hinge, rod member quantity more in the branch are disadvantageous to the integral rigidity of system.
1985, the Neumann utility model a kind of Tricept parallel institution (Neumann K E.Robot, Unitcd States Patent:4,732,525, Mar.22,1988) with three controllable position frees degree.The moving platform of this mechanism is by a rotational freedom with compound hinges of two rotational freedoms and an one-movement-freedom-degree as guider constraint moving platform, by three scalable branch drives moving platforms, every branch is linked to each other with moving platform by a spherical hinge, a Hooke's hinge links to each other with silent flatform, and branch self has a flexible free degree.Tension and compression are only born by three branches in theory, and the torque during work is born by guider, make the rigidity of Tricept mechanism be easy to coupling.Tricept mechanism tip engages two degrees of freedom rotating mechanism can be realized five processing, but involves rotational freedom because the position freedom of being realized has, and has limited its scope as Three Degree Of Freedom mechanism independent utility.1997, utility models such as Cai Guangqi a kind of parallel robot mechanism (Cai Guangqi, Hu Ming that has the three-translational freedom of guider, Guo becomes, elder generation of former institute, and the historian is suitable. a kind of three-freedom parallel robot mechanism, number of patent application: in March, 97229311.6,1999).This mechanism adopts the rotational freedom of double-deck three bar space parallel moving mechanisms as guider constraint moving platform, and moves by three extensible link driving moving platform implementation spaces.But, limited the torsional rigidity of this mechanism because this guider hinge and rod member are more.
The utility model content:
A target of the present utility model provides the parallel institution of a kind of high speed of carrying out three translations processing, high accuracy, high rigidity.
Another target of the present utility model provides that a kind of process structure is simple, easy for installation, Rigidity Matching is easy to parallel institution.
The utility model also has a target to provide a kind of parallel institution seriation solution that can make up Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom and more freedom flexibly.
Final goal of the present utility model is at different cost requirements and required precision, and the seriation solution of multiple choices can be provided.
In order to solve technical problem mentioned in the background technology, realize above-mentioned target, the utility model is divided into guiding with the branch that connects moving platform and frame in the parallel institution and drives branch and drive two kinds in branch.Come the torque of automatic platform to be born by guiding driving branch fully in theory, guiding drives branch can adopt revolute pair fully, and can strengthen rigidity as required; On this basis, the extensible link that driving branch can adopt two power rod type perhaps adopts the revolute pair type of drive to save cost with further raising rigidity.Drive branch and also can have branch's form (as claim 4 or 5 or 6 determined driving branch forms) of five frees degree with further raising rigidity by employing, to reduce assembly difficulty, suitably to relax machining accuracy, the back is a bit especially favourable to main equipment perhaps to adopt branch's form (as claim 8 or 9 determined driving branch forms) of more freedom.
The three-freedom spatial parallel robot mechanism that the utility model proposes comprises frame, moving platform, reaches a plurality of branches that connect frame and moving platform; It is characterized in that described branch comprises that a guiding drives branch and at least two driving branches; Can be by three locus frees degree of the control of the driving joint in branch moving platform.
Described guiding drives branch and forms from moving platform, three fixed length connecting rods, six revolute pairs by one; One end of first fixed length connecting rod links to each other with frame by first revolute pair, the other end with link to each other by second revolute pair from moving platform, and first revolute pair is parallel with the axis of second revolute pair; Second connecting rod and the 3rd length of connecting rod equate, are parallel to each other and do not overlap, second connecting rod and the 3rd length of connecting rod equate, are parallel to each other and do not overlap, the two ends of second connecting rod respectively by the 3rd revolute pair being parallel to each other and the 4th revolute pair be connected with moving platform from moving platform, the two ends of the 3rd connecting rod respectively by the 5th revolute pair being parallel to each other and the 6th revolute pair be connected with moving platform from moving platform, and third and fourth, the axis normal of five, six revolute pairs is in the axis of first revolute pair.
Described guiding drives branch and also has another kind of implementation, and guiding drives branch and is made up of three fixed length connecting rods, three revolute pairs and two Hooke's hinges; One end of first fixed length connecting rod connects by first revolute pair with frame; One end of second and the 3rd fixed length connecting rod and moving platform connect by second and the 3rd revolute pair respectively; The axis of second and the 3rd revolute pair is parallel to each other; Second links to each other with first fixed length connecting rod with second Hooke's hinge by first respectively with the other end of the 3rd fixed length connecting rod; The axis coaxial line of the rotating shaft that first links to each other with first fixed length connecting rod with second Hooke's hinge and be parallel to first revolute pair; The axis of the rotating shaft that first Hooke's hinge links to each other with second fixed length connecting rod is parallel to each other with the axis of the 3rd rotating shaft that the fixed length connecting rod links to each other with second Hooke's hinge and is parallel to the axis of second and the 3rd revolute pair.
The rod member of the described driving of any one in described three-freedom degree spatial parallel robot mechanism branch can be extensible link, and the two ends of this rod member are connected by Hooke's hinge with moving platform with frame respectively; Described Hooke's hinge is parallel to each other with the axis of the rotating shaft that frame, moving platform are connected, and is parallel to the axis that described guiding drives the revolute pair that branch links to each other with frame; Hooke's hinge is parallel to each other with the axis of the rotating shaft that described extensible link two ends are connected.
The rod member of the described driving of any one of described three-freedom degree spatial parallel robot mechanism branch can be certain long connecting rod, one end of connecting rod is connected with moving platform by Hooke's hinge, and the other end of connecting rod is connected with moving sets by another Hooke's hinge and links to each other with frame by moving sets; To drive the axis of first revolute pair of branch parallel with described guiding respectively for the axis of the rotating shaft that described Hooke's hinge and moving platform link to each other with moving sets; The axis of the Hooke's hinge rotating shaft that links to each other with described connecting rod two ends also is parallel to each other.
The rod member of the described driving of any one of described three-freedom degree spatial parallel robot mechanism branch can be two fixed length connecting rods, one end of two connecting rods connects by a revolute pair, and an other end of two connecting rods is connected with moving platform with frame respectively by Hooke's hinge; The axis of the rotating shaft that Hooke's hinge and connecting rod link to each other is parallel with the axis of the described revolute pair that is connected two connecting rods; To drive the axis of first revolute pair of branch parallel with described guiding respectively for the axis of the rotating shaft that Hooke's hinge and frame are connected with moving platform.
The connecting rod that links to each other with Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can use two connecting rods that linked to each other by a revolute pair to replace; The axis of the rotating shaft that the axis normal of described revolute pair links to each other with connecting rod in described Hooke's hinge.
Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be replaced by two revolute pairs and an intermediate member, intermediate member is fixedly connected with two revolute pairs, the axis of described two revolute pairs is vertical mutually and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can be non-intersect.
Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be replaced by ball pivot; The ball pivot center overlaps with the intersection point of Hooke's hinge shaft axis.
Kinematic pair in the described three-freedom degree spatial parallel robot mechanism can be by the elastic hinge equivalent substitute.
The utility model compared with prior art has following advantage:
But 1, three position freedoms in moving platform implementation space and rotation direction unique from rotational freedom.When the axis of main shaft on the moving platform is parallel with the rotation direction of moving platform, can be used for the three-dimensional translation processing in space.
2, single-degree-of-freedom or multivariant rotating mechanism are installed on moving platform or workbench, can be derived multiple-degree-of-freedom mechanism, but thereby have an extremely strong regroup by this mechanism.
3, hinge is less, and can adopt revolute pair fully, and technology is simple, cost is low, be easy to rigidity regulates.
4, the rotational freedom of moving platform can suitably be reduced rigidity during the design of other two driving branches by the constraint of guiding driving branch, helps reducing weight, raising speed and precision.
When 5, the Hooke's hinge in driving branch replaces with ball pivot, can relax the processing and the installation accuracy that drive branch and position, support junction, can guarantee mechanism precision fully by the later stage calibration in theory, thereby reduced processing and assembly difficulty, be particularly suitable for being applied to large-scale and huge processing and measure equipment.
Description of drawings:
Fig. 1 is the general structure schematic diagram of one of embodiment of three-freedom degree spatial parallel robot mechanism of the present utility model.
Fig. 2 is two the general structure schematic diagram of the embodiment of three-freedom degree spatial parallel robot mechanism of the present utility model.
Fig. 3 is three the general structure schematic diagram of the embodiment of three-freedom degree spatial parallel robot mechanism of the present utility model.
Fig. 4 is the embodiment of another kind of guide driver of the present utility model.
Fig. 5 is the replacement scheme of a kind of connecting rod of the present utility model.
Fig. 6 is the replacement scheme of a kind of Hooke's hinge of the present utility model.
Among the figure, T represents Hooke's hinge, and t represents the axis of Hooke's hinge rotating shaft, and R represents the single-degree-of-freedom revolute pair, and P represents the single-degree-of-freedom moving sets, and L represents connecting rod.
Below in conjunction with the drawings and specific embodiments the utility model is described in further details.
The specific embodiment: embodiment 1: one of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 1, the moving platform of this mechanism 3 drives branch by a guiding and drives branches and link to each other with frame 1 with two.Wherein, guiding drives the connecting rod L of branch 32And L 33By four single-degree-of-freedom revolute pair R parallel to each other 33, R 34, R 35, R 36Constitute a plane parallel quadrangular mechanism, connecting rod L with moving platform 3 with linking to each other from moving platform 2 31Two ends with from moving platform 2 and the frame 1 revolute pair R by being parallel to each other respectively 31And R 32Link to each other, and R 31, R 32With R 33, R 34, R 35, R 36Vertically; Driving branches into TPT branch, the moving sets P in the branch 1And P 2Respectively by Hooke's hinge T 11, T 12And T 21, T 22Link to each other with moving platform 3 with frame 1, be fixed on the axis t of the Hooke's hinge rotating shaft on frame 1 and the moving platform 3 11, t 13, t 21, t 23And R 31Be parallel to each other, with moving sets P 1The axis t of the Hooke's hinge rotating shaft that links 12And t 14Be parallel to each other, with moving sets P 2The axis t of the Hooke's hinge rotating shaft that links 22And t 24Be parallel to each other.The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R 31The driven free degree that axis direction rotates.Embodiment 2: two of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 2, the moving platform of this mechanism 3 drives branch by a guiding and drives branches and link to each other with frame 1 with two.Wherein, guiding drives the connecting rod L of branch 32, and L 33By four single-degree-of-freedom revolute pair R parallel to each other 33, R 34, R 35, R 36Constitute a plane parallel quadrangular mechanism, connecting rod L with moving platform 3 with linking to each other from moving platform 2 31Two ends with from moving platform 2 and the frame 1 revolute pair R by being parallel to each other respectively 31And R 32Link to each other, and R 31And R 32With R 33, R 34, R 35, R 36Vertically; Driving branches into PTT branch, connecting rod L 1And L 2An end respectively by Hooke's hinge T 11, T 21With moving sets P 1, P 2Connect, link to each other connecting rod L again by described moving sets with frame 1 1And L 2The other end respectively by Hooke's hinge T 12, T 22Link to each other with moving platform 3, be fixed on moving sets P 1, P 2Axis t with Hooke's hinge rotating shaft on the moving platform 3 11, t 13, t 21, t 23And R 31Parallel to each other, with connecting rod L 1The axis t of the rotating shaft of the Hooke's hinge that links to each other 12, t 14Be parallel to each other, with connecting rod L 2The axis t of the rotating shaft of the Hooke's hinge that links to each other 22, t 24Be parallel to each other.The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R 31The driven free degree that axis direction rotates.Embodiment 3: three of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 3, the moving platform of this mechanism 3 drives branch by a guiding and drives branches and link to each other with frame 1 with two.Wherein, guiding drives the connecting rod L of branch 32And L 33By four single-degree-of-freedom revolute pair R parallel to each other 33, R 34, R 35, R 36Constitute a plane parallel quadrangular mechanism, connecting rod L with moving platform 3 with linking to each other from moving platform 2 31Two ends with from moving platform 2 and the frame 1 revolute pair R by being parallel to each other respectively 31And R 32Link to each other, and R 31And R 32With R 33, R 34, R 35, R 36Vertically; Two structures that drive branch are identical, are all RRRT branch, branch into example, two connecting rod L of described branch with one 11, L 12By a revolute pair R 13Link to each other connecting rod L 11The other end and revolute pair R 12Link to each other R 12With R 11Link to each other, and pass through R 11Be connected on the frame 1 connecting rod L 12The other end by Hooke's hinge T 12Be connected on the moving platform 2 revolute pair R 12, R 13Axis and Hooke's hinge T 12Be connected connecting rod L 12On the axis t of rotating shaft 14Parallel and perpendicular to revolute pair R 11Axis and Hooke's hinge T 12Be connected the axis t of the rotating shaft on the moving platform 3 13The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R 31The driven free degree that axis direction rotates.Embodiment 4: another kind of guide driver
The present embodiment general structure as shown in Figure 4, guiding drives the fixed length connecting rod L of branch 31By revolute pair R 31Link to each other with frame 1; Other is two fixed length connecting rod L 32And L 33Pass through revolute pair R respectively with moving platform 3 35With revolute pair R 36Connect; Revolute pair R 36And R 36Axis be parallel to each other; Fixed length connecting rod L 32And L 33Respectively by Hooke's hinge T 31And T 32With fixed length connecting rod L 31Link to each other; Hooke's hinge T 31And T 32With fixed length connecting rod L 31The axis t of the rotating shaft that links to each other 31And t 33Coaxial line and be parallel to revolute pair R 31Hooke's hinge T 31And T 32With fixed length connecting rod L 32And L 33The axis t of the rotating shaft that links to each other 32And t 34Be parallel to each other and be parallel to revolute pair R 35And R 36Axis.Embodiment 5: a kind of replacement scheme of connecting rod
The present embodiment general structure as shown in Figure 5, Hooke's hinge is made up of quiet fork 4, cross axle 5, moving fork 6, wherein t 41And t 42Axis for two rotating shafts of cross axle 5; The connecting rod that links to each other with Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be by passing through a revolute pair R 4The connecting rod L that connects 4With connecting rod L 5Replace the moving fork 6 and the connecting rod L of Hooke's hinge 4Fixedly connected; Revolute pair R 4Axis normal in axis t 42For example, the connecting rod L among Fig. 2 1Can be by L 4, R 4, L 5Replace the Hooke's hinge axis t among Fig. 5 41Corresponding to t 11, t 42Corresponding to t 12Embodiment 6: a kind of replacement scheme of Hooke's hinge
The present embodiment general structure as shown in Figure 6, the Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be by two revolute pair R 5, R 6With an intermediate member L 7Replace intermediate member L 7With two revolute pair R 5And R 6Fixedly connected; Revolute pair R 5With revolute pair R 6Axis mutually vertical and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can intersect also can be non-intersect; L 6And L 8Be the member that connects by described Hooke's hinge in the original mechanism.For example, the Hooke's hinge T among Fig. 2 12After this programme replacement, revolute pair R 5Axis and t 13The direction unanimity, revolute pair R 6Axis and t 14The direction unanimity, member L 6Corresponding to moving platform 3, member L 8Corresponding to connecting rod L 1
Other application forms of the present utility model can comprise: (a) two-freedom or Three Degree Of Freedom direction mechanism are installed in five coordinates or the six coordinate serial parallel mechanisms that constitute on the mobile platform 3 of described three-freedom degree spatial parallel robot mechanism; (b) pedestal of a two-freedom or Three Degree Of Freedom direction mechanism is fixed on five coordinates or six coordinate serial parallel mechanisms on the frame 1 of described three-freedom degree spatial parallel robot mechanism; (c) wrist joint of a single-degree-of-freedom is installed in 4-coordinate parallel institution on the moving platform 3 of described three-freedom degree spatial parallel robot mechanism.
Though Fig. 1, Fig. 2, parallel institution shown in Figure 3 have three branches, any theoretically branch more than three all can be used for realizing same purpose.When using a guiding to drive branch and two driving branches, the mode of recommendation is that a driver is installed in each branch; When using four or when more driving branch, have only three branches wherein to need to drive, and other branches provide extra rigidity for mechanism, do not change its free degree.It should be noted that the installation site of driver is arbitrarily under the prerequisite that satisfies the theory of mechanisms motion principle.These mechanisms can use rotation and linear actuator.For example, straight line ball-screw or hydraulic unit driver can be installed between the frame 1 of parallel robot mechanism and the connecting rod L11 in the branch (as shown in Figure 3) in order to control the rotation of this connecting rod.
It should be noted that at last: the specific embodiment of the utility model of above introduction and configuration, only unrestricted the technical solution of the utility model in order to explanation; Although the utility model is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that, also have various variations, and these change and all to have followed described spirit of the utility model and category, still can make amendment or are equal to replacement the utility model; And not breaking away from any modification or partial replacement of spirit and scope of the present utility model, it all should be encompassed in the middle of the claim scope of the present utility model.

Claims (10)

1, three-freedom spatial parallel robot mechanism belongs to robot and mechanical manufacturing field, by frame, moving platform, and a plurality of branches that connect frame and moving platform constitute; It is characterized in that described branch comprises that a guiding drives branch and at least two driving branches; Can be by three locus frees degree of the control of the driving joint in branch moving platform.
2, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, described guiding drives branch and can form from moving platform, three fixed length connecting rods, six revolute pairs by one; One end of first fixed length connecting rod links to each other with frame by first revolute pair, the other end with link to each other by second revolute pair from moving platform, and first revolute pair is parallel with the axis of second revolute pair; Second connecting rod and the 3rd length of connecting rod equate, are parallel to each other and do not overlap, the two ends of second connecting rod respectively by the 3rd revolute pair being parallel to each other and the 4th revolute pair be connected with moving platform from moving platform, the two ends of the 3rd connecting rod respectively by the 5th revolute pair being parallel to each other and the 6th revolute pair be connected with moving platform from moving platform, and third and fourth, the axis normal of five, six revolute pairs is in the axis of first revolute pair.
3, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, described guiding drives branch and can be made up of three fixed length connecting rods, three revolute pairs and two Hooke's hinges; One end of first fixed length connecting rod connects by first revolute pair with frame; One end of second and the 3rd fixed length connecting rod and moving platform connect by second and the 3rd revolute pair respectively; The axis of second and the 3rd revolute pair is parallel to each other; Second links to each other with first fixed length connecting rod with second Hooke's hinge by first respectively with the other end of the 3rd fixed length connecting rod; The axis coaxial line of the rotating shaft that first links to each other with first fixed length connecting rod with second Hooke's hinge and be parallel to first revolute pair; The axis of the rotating shaft that first Hooke's hinge links to each other with second fixed length connecting rod is parallel to each other with the axis of the 3rd rotating shaft that the fixed length connecting rod links to each other with second Hooke's hinge and is parallel to the axis of second and the 3rd revolute pair.
According to claim 1 or 2 or 3 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that 4, any one described rod member that drives branch can be extensible link, the two ends of this rod member are connected by Hooke's hinge with moving platform with frame respectively; Described Hooke's hinge is parallel to each other with the axis of the rotating shaft that frame, moving platform are connected, and is parallel to the axis that described guiding drives the revolute pair that branch links to each other with frame; Hooke's hinge is parallel to each other with the axis of the rotating shaft that described extensible link two ends are connected.
5, according to claim 1 or 2 or 3 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that, any one described rod member that drives branch can be certain long connecting rod, one end of connecting rod is connected with moving platform by Hooke's hinge, and the other end of connecting rod is connected with moving sets by another Hooke's hinge and links to each other with frame by moving sets; To drive the axis of first revolute pair of branch parallel with described guiding respectively for the axis of the rotating shaft that described Hooke's hinge and moving platform link to each other with moving sets; The axis of the Hooke's hinge rotating shaft that links to each other with described connecting rod two ends also is parallel to each other.
6, according to claim 1 or 2 or 3 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that, any one described rod member that drives branch can be two fixed length connecting rods, one end of two connecting rods connects by a revolute pair, and an other end of two connecting rods is connected with moving platform with frame respectively by Hooke's hinge; The axis of the rotating shaft that Hooke's hinge and connecting rod link to each other is parallel with the axis of the described revolute pair that is connected two connecting rods; To drive the axis of first revolute pair of branch parallel with described guiding respectively for the axis of the rotating shaft that Hooke's hinge and frame are connected with moving platform.
7, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, the connecting rod that links to each other with Hooke's hinge in the described mechanism can use two connecting rods that linked to each other by a revolute pair to replace; The axis of the rotating shaft that the axis normal of described revolute pair links to each other with connecting rod in described Hooke's hinge.
8, three-freedom degree spatial parallel robot mechanism according to claim 1, it is characterized in that, Hooke's hinge in the described mechanism can be replaced by two revolute pairs and an intermediate member, intermediate member is fixedly connected with two revolute pairs, the axis of described two revolute pairs is vertical mutually and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can be non-intersect.
9, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, the Hooke's hinge in the described mechanism can be replaced by ball pivot; The ball pivot center overlaps with the intersection point of Hooke's hinge shaft axis.
10, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, the kinematic pair in the described mechanism can be by the elastic hinge equivalent substitute.
CN 02232759 2002-04-22 2002-04-22 Class I three-freedom space prallel robot mechanism Expired - Lifetime CN2540260Y (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100364729C (en) * 2003-12-16 2008-01-30 广东工业大学 Two degrees of freedom moving planar parallel mechanism
CN102633116A (en) * 2012-04-12 2012-08-15 天津四通汇恒科技有限公司 Bionic multi-joint mechanical arm for carrying

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100364729C (en) * 2003-12-16 2008-01-30 广东工业大学 Two degrees of freedom moving planar parallel mechanism
CN102633116A (en) * 2012-04-12 2012-08-15 天津四通汇恒科技有限公司 Bionic multi-joint mechanical arm for carrying

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