CN103624559B - A kind of two rotate full decoupled parallel institution - Google Patents

A kind of two rotate full decoupled parallel institution Download PDF

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Publication number
CN103624559B
CN103624559B CN201310600845.XA CN201310600845A CN103624559B CN 103624559 B CN103624559 B CN 103624559B CN 201310600845 A CN201310600845 A CN 201310600845A CN 103624559 B CN103624559 B CN 103624559B
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CN
China
Prior art keywords
branch
revolute pair
connecting rod
revolute
platform
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Expired - Fee Related
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CN201310600845.XA
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Chinese (zh)
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CN103624559A (en
Inventor
曾达幸
卢文娟
胡志涛
苏永林
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Yanshan University
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Yanshan University
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Priority to CN201310600845.XA priority Critical patent/CN103624559B/en
Publication of CN103624559A publication Critical patent/CN103624559A/en
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Publication of CN103624559B publication Critical patent/CN103624559B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics

Abstract

A kind of two rotate full decoupled parallel institution, and it mainly comprises three branches of these two platforms of moving platform, fixed platform and connection. Wherein branch one is identical with the structure of branch two, by four revolute pairs and three connecting rod compositions, in Gai Liangge branch, one end of connecting rod one is connected with fixed platform by revolute pair one, the other end of this connecting rod one is connected with one end of connecting rod two by revolute pair two, the other end of this connecting rod two is connected with one end of connecting rod three by revolute pair three, and the other end of this connecting rod three is connected with moving platform by revolute pair four; Branch three is made up of two revolute pairs and a moving sets, and this branch is connected respectively with fixed platform with moving platform with revolute pair six by two vertical revolute pairs five of axis. That the present invention has is simple in structure, be easy to process and assemble, mobile decoupling, easily control, the advantage such as dynamic property is good.

Description

A kind of two rotate full decoupled parallel institution
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Parallel robot mechanism has space multiple degrees of freedom and encircles closed chain more, compares parallel institution with serial mechanismThere is the features such as rigidity is large, bearing capacity is large, accumulated error is little, dynamic characteristic is good, compact conformation. At present,Parallel institution is widely used in virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensorAspect.
The free degree of parallel institution does not change not etc. from 2~6, at present, and to the research of 6DOF parallel institutionFor comprehensively, with deep, that in industry, also applies is comparatively extensive. But lower-mobility parallel institution is simple in structure,Manufacture and control cost lowlyer, therefore meeting expection job requirement in the situation that, lower-mobility parallel institution hasThe advantage that it is unique.
Close coupling is the outstanding feature of parallel institution, parallel institution is had and be different from the special of serial mechanismCharacter, such as bearing capacity is strong, cumulative errors are little, rigidity is large etc.; Also close coupling makes parallel machine justThere is very large difficulty, one in the exploitation of Configuration Design, analytical calculation, mechanism's assembling and the control system of structure etc.Determine to have affected in degree its range of application and result of use. If parallel institution can realize motion full decoupled orPerson's partly decoupled, its rigidity and bearing capacity etc. are still better than serial mechanism, and mechanism's theory analysis is simplerClean, working space is larger, isotropism is better, it is convenient to assemble, control easily, motion essence that can Da GenggaoDegree.
The utility model patent " one group of two rotating decoupling parallel robot mechanism " that State Intellectual Property Office is authorized(CN101058186A), this mechanism comprises three branches of silent flatform, moving platform and the dynamic and static platform of connection,The first branch has a kinematic pair, and the second branch has three kinematic pairs, and first and second branch forms planeGuide-bar mechanism or plane hinge mechanism, the 3rd branches into the side chain with space six-freedom degree. StructureComplexity, manufacturing cost is high.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, be easy to process and assemble, mobile decoupling, easily controlSystem, the full decoupled parallel institution of two rotations that dynamic property is good. The present invention mainly comprises moving platform, fixed platformWith three branches that are connected these two platforms. Wherein branch one is identical with the structure of branch two, by fourIndividual revolute pair and three connecting rod compositions, in Gai Liangge branch, one end of connecting rod one is by revolute pair one and fixed platformConnect, the other end of this connecting rod one is connected with one end of connecting rod two by revolute pair two, another of this connecting rod twoEnd is connected with one end of connecting rod three by revolute pair three, and the other end of this connecting rod three is by revolute pair four and moving flatPlatform connects, and the axis of the revolute pair one being connected with fixed platform in this branch is perpendicular to the axle of other three revolute pairsLine, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform; Branch three by two revolute pairs andMoving sets composition, this branch by the vertical revolute pair five of two axis and revolute pair six and moving platform andFixed platform is connected respectively, in the axis of the revolute pair five being wherein connected with moving platform and branch one, two, puts down with movingThe axis of the connected revolute pair four of platform is parallel to each other, the revolute pair one being connected with fixed platform in branch one, twoAxis conllinear is also parallel to the axis of the revolute pair six that branch three is connected with fixed platform. In described branch one, twoBe connected with fixed platform the available Hooke's hinge of revolute pair one that is perpendicular to one another of two axis substitute.
The present invention compared with prior art has the following advantages:
1, simple in structure, process and assemble performance is good.
2, have two rotational freedoms, and mechanism's Jacobian matrix is diagonal matrix, mobile decoupling, therefore movingThe flexible performance of platform is high, easily controls, and demarcates simple.
Brief description of the drawings
Fig. 1 is the perspective view of the embodiment of the present invention 1.
Fig. 2 is the perspective view of the embodiment of the present invention 2.
Detailed description of the invention
Embodiment 1
Rotate in full decoupled parallel institution schematic diagram branch 1 and branch two in the one two shown in Fig. 115 structure is identical, and in Gai Liangge branch, one end of connecting rod 1 is by revolute pair 1 and fixed platform 14Connect, the other end of this connecting rod 1 is connected with one end of connecting rod 25 by revolute pair 24, this connecting rod 25The other end be connected with one end of connecting rod 37 by revolute pair 36, the other end of this connecting rod 37 is by turningMoving secondary 48 are connected with moving platform 9, the axis of the revolute pair 1 being connected with fixed platform in this branch perpendicular toThe axis of other three revolute pairs, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform; PointProp up moving sets 11 two ends connection of rotatings pair 5 10, revolute pair 6 12 respectively in 3 13, and by two axisThe revolute pair five being perpendicular to one another is connected respectively with fixed platform with moving platform with revolute pair six; In branch three, put down with movingThe axis of the connected revolute pair five of platform is parallel with the revolute pair four axistyle of branch one, two; In branch one, two withThe axis conllinear of the connected revolute pair one of fixed platform is also parallel to revolute pair six that branch three is connected with fixed platformAxis.
Embodiment 2
Rotate in full decoupled parallel institution schematic diagram branch 1 and branch two in the one two shown in Fig. 215 structure is identical, and in Gai Liangge branch, one end of connecting rod 1 is by Hooke's hinge 1 and fixed platform14 connect, and the annexation of other rod member is identical with Fig. 1.

Claims (2)

  1. Two rotate a full decoupled parallel institution, its mainly comprise moving platform, fixed platform and connection this twoThree branches of individual platform, is characterized in that: wherein branch one is identical with the structure of branch two, byFour revolute pairs and three connecting rods compositions, in Gai Liangge branch one end of connecting rod one by revolute pair one with allocatePlatform connects, and the other end of this connecting rod one is connected with one end of connecting rod two by revolute pair two, this connecting rod two separatelyOne end is connected with one end of connecting rod three by revolute pair three, and the other end of this connecting rod three is by revolute pair four and movingPlatform connects, and the axis of the revolute pair one being connected with fixed platform in this branch is perpendicular to other three revolute pairsAxis, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform; Branch three is by two revolute pairsWith a moving sets composition, this branch is connected with moving platform by revolute pair five, and this branch passes through revolute pairSix are connected with fixed platform, and revolute pair five is vertical with the axis of revolute pair six, the rotation being wherein connected with moving platformSecondary five axis is parallel to each other with the revolute pair four axistyle being connected with moving platform in branch one, branch two, branchThe axis conllinear of the revolute pair one one, being connected with fixed platform in branch two is also parallel to branch three and fixed platform phaseThe axis of the revolute pair six connecting.
  2. 2. according to claim 1 a kind of two rotate full decoupled parallel institution, it is characterized in that: instituteStating the revolute pair one use Hooke's hinge that in branch one, branch two, two axis near fixed platform are perpendicular to one another substitutes.
CN201310600845.XA 2013-11-25 2013-11-25 A kind of two rotate full decoupled parallel institution Expired - Fee Related CN103624559B (en)

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Application Number Priority Date Filing Date Title
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CN103624559B true CN103624559B (en) 2016-05-04

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104476540B (en) * 2014-10-24 2016-01-20 天津大学 A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism
CN104325456B (en) * 2014-10-24 2016-01-20 天津大学 A kind of novel two one-rotation parallel mechanisms
CN108908295B (en) * 2018-07-16 2021-07-27 西安工程大学 Partial decoupling RPR parallel mechanism

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4667081A (en) * 1985-02-04 1987-05-19 Spectra-Physics, Inc. Apparatus for changing the direction of a light beam passing through an articulated joint
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
CN1526514A (en) * 2003-09-24 2004-09-08 杨廷力 Parallel mechanisms for imaginary axis machine tool, measurer, etc.
CN101497198B (en) * 2009-02-24 2011-01-05 燕山大学 Three-freedom degree rotary motion parallel connection mechanism with remote motion centre
CN101700621B (en) * 2009-11-03 2011-05-04 天津理工大学 Full decoupled three-dimensional moving parallel robot mechanism
CN102147046A (en) * 2011-03-04 2011-08-10 燕山大学 Two-freedom parallel mechanism capable of rotating and decoupling
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4667081A (en) * 1985-02-04 1987-05-19 Spectra-Physics, Inc. Apparatus for changing the direction of a light beam passing through an articulated joint
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
CN1526514A (en) * 2003-09-24 2004-09-08 杨廷力 Parallel mechanisms for imaginary axis machine tool, measurer, etc.
CN101497198B (en) * 2009-02-24 2011-01-05 燕山大学 Three-freedom degree rotary motion parallel connection mechanism with remote motion centre
CN101700621B (en) * 2009-11-03 2011-05-04 天津理工大学 Full decoupled three-dimensional moving parallel robot mechanism
CN102147046A (en) * 2011-03-04 2011-08-10 燕山大学 Two-freedom parallel mechanism capable of rotating and decoupling
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom

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