CN101224578A - Two degrees of freedom translation parallel mechanism - Google Patents
Two degrees of freedom translation parallel mechanism Download PDFInfo
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- CN101224578A CN101224578A CNA2008100189484A CN200810018948A CN101224578A CN 101224578 A CN101224578 A CN 101224578A CN A2008100189484 A CNA2008100189484 A CN A2008100189484A CN 200810018948 A CN200810018948 A CN 200810018948A CN 101224578 A CN101224578 A CN 101224578A
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Abstract
The invention discloses a two degrees of freedom (DOFs) translation motion parallel mechanism. A fixed platform of the parallel robot mechanism is connected with a motion platform which achieves the two DOFs translation motion through two motion branched chains so as to form a closed structure; each motion branched chain comprises a motion sliding block and three sub-constrained branched chains which are connected with the motion sliding block and the motion platform; each sub-constrained branched chain respectively consists of a hook hinge, a connecting rod and a hook hinge which are connected with each other in series; furthermore, each sub-constrained branched chain is connected in parallel between the motion sliding block and the motion platform and is then connected in series with the motion sliding block so as to form the motion branched chain. The two DOFs translation motion parallel mechanism of the invention is realized by adopting the motion constrains of the hook hinge so as to form a space constrain, leads the connecting rod not to be subject to the bending moment, improves the forcing condition of the mechanism and improves the rigidity of the mechanism.
Description
One technical field
The invention belongs to the industrial robot field, particularly a kind of two degrees of freedom translation parallel robot mechanism.
Two background technologies
Parallel institution is made up of fixed platform, motion platform and a plurality of branches of connecting two platforms, and its drive motors can be fixed on the fixed platform, has reduced the quality of moving component, and parallel institution is a plurality of member together support motion platforms motions.Traditional relatively serial mechanism, the high speed of easier implementation structure compactness, modularized design, high rigidity and motion.Be subjected to the attention of more and more researchers and manufacturer over nearly 20 years, and be applied in the various fields such as lathe, high-accuracy positioner, flight simulator, airship butt joint, medical robot and fine motion machinery.
Parallel institution has by free degree classification: two-freedom-degree parallel mechanism, 3-freedom parallel mechanism, four-freedom parallel mechanism, five-freedom parallel structure and six-degree-of-freedom parallel connection mechanism.When the free degree more for a long time, characteristics by its mechanism itself, exist motion coupling enhancing and working space and volume ratio to diminish, the motion normal solution does not seal and demarcates problems such as difficulty, and at medicine, food, and some automatics only need less freedom of motion just can meet the demands on the automatic production line such as microelectronic product assembling, so some lower-mobility parallel institutions are paid close attention to by many researchers, propose many new lower-mobility parallel institutions, and study its application.Two degrees of freedom translation parallel mechanism is few because of its free degree, and the motion sealing is widely used, and has become a focus of research.
For guaranteeing that two-freedom-degree parallel mechanism does translational motion, the existing technical scheme majority is to adopt the parallelogram branched structure to realize the translational motion of motion platform.For example, the motion that the two degrees of freedom plane of motion parallel institution that CN1628939A, CN2700064Y, CN2693426Y and CN2741730Y propose adopts the parallelogram side chain to come the constrained motion platform, make motion platform can only do the plane translation motion, these schemes can guarantee the translational motion of mechanism well, but its load-carrying ability that overcomes vertical its plane of movement is not strong, that is to say in the rigidity on the plane that moves both vertically not high.This is because parallel-crank mechanism includes four revolute pairs that axis is parallel, under the power load effect of vertical parallel quadrangle plane of movement, the rod member of forming parallelogram will bear the moment of flexure effect, and rod member is long more, the moment of flexure of being born will be big more, and this will influence the rigidity with the two-degrees-of-freedom translation parallel robot mechanism of its composition.For improving in the rigidity on plane that moves both vertically, CN1817574A proposes to increase by two velamen moving constraint branched structures, the rigidity that adopts electromagnetic type controllable damping bar to regulate the two-degrees-of-freedom translation parallel structure, but its structure also is based on parallelogram in essence and constructs, proposed scheme can not solve the low problem of rigidity on the plane that moves both vertically in essence from structure, has increased the difficulty and the cost of control simultaneously again.The two-degrees-of-freedom translation parallel structure that CN1715009A proposes is more characteristic, it does not adopt the constraint of parallel-crank mechanism to realize two degrees of freedom translation, but construct two-degree of freedom translation mechanism by ingenious design to slide unit, and the mobile decoupling of output, because be the translational motion that realizes motion platform by planar structure also, all also exist in not high this shortcoming of direction rigidity on the plane that moves both vertically.
Three summary of the invention
The object of the present invention is to provide a kind of two degrees of freedom translation parallel mechanism, this mechanism rigidity in plane of movement is very high, and is simultaneously also very high in the rigidity perpendicular to the direction of plane of movement.
The technical solution that realizes the object of the invention is: a kind of two degrees of freedom translation parallel mechanism, two guide rails are arranged on the fixed platform, and this fixed platform and the motion platform of doing the two-freedom translational motion are connected and form the structure of a sealing by two movement branched chain.Every three sub-constrained branched chains that movement branched chain comprises the motion slide block and connects this motion slide block and fixed platform, these three sub-constrained branched chains are made up of the Hooke's hinge that is connected with the motion slide block, connecting rod and the Hooke's hinge that is connected with motion platform respectively, these three sub-constrained branched chains are distributed in the both sides of rail axis, it is sides that are arranged in rail axis that two sub-constrained branched chains are wherein arranged, and another sub-constrained branched chain is arranged on the opposite side of rail axis; Three length of connecting rods of these three sub-constrained branched chains equate, the revolute pair axis of the Hooke's hinge that the revolute pair axis of the Hooke's hinge that each sub-constrained branched chain links to each other with the motion slide block links to each other with motion platform respectively is parallel to each other, and the revolute pair axis of the Hooke's hinge that links to each other with connecting rod is parallel to each other; The first Hooke's hinge center that the center of first Hooke's hinge that is connected with the motion slide block and the distance at the 3rd Hooke's hinge center equal to be connected with motion platform and the distance at the 3rd Hooke's hinge center; A triangle is formed at the center of first, second, third Hooke's hinge that is connected with the motion slide block, and a triangle is formed at the center of first, second, third Hooke's hinge that is connected with motion platform, and described two triangles are parallel to each other but are not congruent.
The present invention compared with prior art, its remarkable advantage: (1) two degrees of freedom translation parallel mechanism of the present invention adopts the kinematic constraint of Hooke's hinge to realize, form space constraint, the load-carrying ability of opposing all directions is all strong, and the constraint of adopting parallel-crank mechanism guarantees that motion platform has the constraint that the mechanism of two degrees of freedom translation forms and is parallel to each other, the load-carrying ability of resisting a plurality of directions is not strong, as the direction perpendicular to plane of movement, therefore mechanism under equal conditions of the present invention has higher rigidity.(2) mechanism rod of the present invention two ends are Hooke's hinge, make connecting rod externally no longer be subjected to the moment of flexure effect under the load effect, have improved the force-bearing situation of mechanism.When increasing its working space by the length of connecting rod increase, the geometry size that does not need to add big connecting rod guarantees its rigidity, reduces its how much quality, further reduces its inertial load, and the performance of mechanism can further promote like this.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Four description of drawings
Fig. 1 is the general structure schematic diagram of the embodiment 1 of two degrees of freedom translation parallel mechanism of the present invention.
Fig. 2 is the general structure schematic diagram of the embodiment 2 of two degrees of freedom translation parallel mechanism of the present invention.
Fig. 3 is the general structure schematic diagram of the embodiment 3 of two degrees of freedom translation parallel mechanism of the present invention.
Five specific embodiment
In conjunction with Fig. 1, two degrees of freedom translation parallel mechanism of the present invention, fixed platform 1 keeps motionless, and motion platform 6 can be done the two-freedom translational motion.Two guide rails 2 are arranged on the fixed platform 1, and this fixed platform 1 is connected by two movement branched chain with motion platform 6 and forms enclosed construction.Every three sub-constrained branched chains that movement branched chain comprises motion slide block 3 and connects this motion slide block 3 and fixed platform 1, these three sub-constrained branched chains are made up of the Hooke's hinge 41a, the 42a that are connected with motion slide block 3,43a, connecting rod 51,52,53 and Hooke's hinge 41b, the 42b, the 43b that are connected with motion platform 6 respectively, these three sub-constrained branched chains are distributed in the both sides of guide rail 2 axis, wherein have two sub-constrained branched chains to be arranged on a side of closed slide 2 axis, another sub-constrained branched chain is arranged on the opposite side of guide rail 2 axis; Three connecting rods, 51,52,53 equal in length of these three sub-constrained branched chains, Hooke's hinge 41b, the 42b that Hooke's hinge 41a, the 42a that each sub-constrained branched chain links to each other with motion slide block 3, the revolute pair axis of 43a link to each other with motion platform 6 respectively, the revolute pair axis of 43b are parallel to each other, and the revolute pair axis of Hooke's hinge 41a, the 42a that links to each other with connecting rod 51,52,53,43a, 41b, 42b, 43b is parallel to each other; The first Hooke's hinge 41b center that the center of the first Hooke's hinge 41a that is connected with motion slide block 3 and the distance at the 3rd Hooke's hinge 43a center equal to be connected with motion platform 6 and the distance at the 3rd Hooke's hinge 43b center; A triangle is formed at the first, second, third Hooke's hinge 41a that is connected with motion slide block 3, the center of 42a, 43a, a triangle is formed at the first, second, third Hooke's hinge 41b that is connected with motion platform 6, the center of 42b, 43b, and described two triangles are parallel to each other but are not congruent.Wherein, the rod member length in three sub-constrained branched chains of three of a movement branched chain sub-constrained branched chains and another movement branched chain is identical or inequality.
By the constraint of three sub-constrained branched chains, make the attitude of motion platform 6 and the attitude of motion slide block 3 be consistent, and motion slide block 3 can only slide, and can not change attitude on fixed platform 1, guarantee that like this motion platform 6 can realize translational motion; By driving two motion slide blocks 3, change two positions of motion slide block 3 on fixed platform 1, and the constraint by side chain, make the position of motion platform 6 change.
Embodiment 1.In the two degrees of freedom translation parallel mechanism of the present invention, except said structure is identical, by actuation movement slide block 3, make motion slide block 3 translational motion on two guide rails 2 that the axis of movement on the fixed platform 1 overlaps, constraint by two movement branched chain, make motion platform 6 can realize two degrees of freedom translation, as Fig. 1.
Embodiment 2.In the two degrees of freedom translation parallel mechanism of the present invention, except said structure was identical, the axis of movement of two guide rails 2 was parallel to each other, so the direction of motion of motion slide block 3 is to be parallel to each other, as Fig. 2.
Embodiment 3.In the two degrees of freedom translation parallel mechanism of the present invention, except said structure is identical, a triangle is formed at the first, second, third Hooke's hinge 41a that is connected with motion slide block 3, the center of 42a, 43a, a triangle is formed at the first, second, third Hooke's hinge 41b that is connected with motion platform 6, the center of 42b, 43b, the axis of movement of described two triangles and two guide rails 2 is parallel to each other or is not parallel, as Fig. 3.As passing through plane and the not parallel layout of rail axis direction to the composition of Hooke's hinge, the range of movement that retrains sub-side chain can be bigger, makes motion platform can not dwindle range of movement because of the movement interference of Hooke's hinge.
Claims (5)
1. two degrees of freedom translation parallel mechanism, it is characterized in that: two guide rails [2] are arranged on the fixed platform [1], this fixed platform [1] is connected by two movement branched chain with the motion platform of doing the two-freedom translational motion [6], every three sub-constrained branched chains that movement branched chain comprises motion slide block [3] and connects this motion slide block [3] and fixed platform [1], these three sub-constrained branched chains are respectively by the Hooke's hinge [41a that is connected with motion slide block [3], 42a, 43a], connecting rod [51,52,53] with the Hooke's hinge [41b that is connected with motion platform [6], 42b, 43b] form, these three sub-constrained branched chains are distributed in the both sides of guide rail [2] axis, two sub-constrained branched chains are wherein arranged in the one side setting of guide rail [2] axis, another sub-constrained branched chain is arranged on the opposite side of guide rail [2] axis; Three connecting rods [51,52,53] equal in length of these three sub-constrained branched chains, the revolute pair axis of the Hooke's hinge [41b, 42b, 43b] that the revolute pair axis of the Hooke's hinge [41a, 42a, 43a] that each sub-constrained branched chain links to each other with motion slide block [3] links to each other with motion platform [6] respectively is parallel to each other, and the revolute pair axis of the Hooke's hinge [41a, 42a, 43a, 41b, 42b, 43b] that links to each other with connecting rod [51,52,53] is parallel to each other; The center of first Hooke's hinge [41a] that is connected with motion slide block [3] and the distance at the 3rd Hooke's hinge [43a] center equal first Hooke's hinge [41b] center that is connected with motion platform [6] and the distance at the 3rd Hooke's hinge [43b] center; A triangle is formed at the center of first, second, third Hooke's hinge [41a, 42a, 43a] that is connected with motion slide block [3], a triangle is formed at the center of first, second, third Hooke's hinge [41b, 42b, 43b] that is connected with motion platform [6], and described two triangles are parallel to each other but are not congruent.
2. two degrees of freedom translation parallel mechanism according to claim 1, it is characterized in that: by actuation movement slide block [3], two guide rails [2] that the axis of movement of motion slide block [3] on fixed platform [1] overlapped are gone up translational motion, by the constraint of two movement branched chain, make motion platform [6] realize two degrees of freedom translation.
3. two degrees of freedom translation parallel mechanism according to claim 1 is characterized in that: the axis of movement of two guide rails [2] is parallel to each other.
4. according to claim 1,2 or 3 described two degrees of freedom translation parallel mechanism, it is characterized in that: a triangle is formed at the center of first, second, third Hooke's hinge [41a, 42a, 43a] that is connected with motion slide block [3], a triangle is formed at the center of first, second, third Hooke's hinge [41b, 42b, 43b] that is connected with motion platform [6], and the axis of movement of described two triangles and two guide rails [2] is parallel to each other or is not parallel.
5. according to claim 1,2 or 3 described two degrees of freedom translation parallel mechanism, it is characterized in that: the rod member in three sub-constrained branched chains of a movement branched chain is identical or inequality with rod member length in three sub-constrained branched chains of another movement branched chain.
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| CNB2008100189484A CN100522506C (en) | 2008-02-01 | 2008-02-01 | Two degrees of freedom translation parallel mechanism |
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| CNB2008100189484A CN100522506C (en) | 2008-02-01 | 2008-02-01 | Two degrees of freedom translation parallel mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN102848376A (en) * | 2012-09-21 | 2013-01-02 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN103895006A (en) * | 2014-04-14 | 2014-07-02 | 南京理工大学 | Planar three-freedom-degree parallel mechanism |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN107327669A (en) * | 2016-05-01 | 2017-11-07 | 西北农林科技大学 | A kind of differential type whole plane moves truss |
| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
| CN109052257A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of elevating mechanism of solid space layout |
| CN110450141A (en) * | 2019-08-30 | 2019-11-15 | 燕山大学 | Four branch chain six-freedom degree hybrid mechanisms |
| CN112066169A (en) * | 2020-08-21 | 2020-12-11 | 深圳供电局有限公司 | Grid fault information collector fixing system |
-
2008
- 2008-02-01 CN CNB2008100189484A patent/CN100522506C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN102848376A (en) * | 2012-09-21 | 2013-01-02 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN102848376B (en) * | 2012-09-21 | 2014-12-24 | 南京理工大学 | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints |
| CN103895006A (en) * | 2014-04-14 | 2014-07-02 | 南京理工大学 | Planar three-freedom-degree parallel mechanism |
| CN103895006B (en) * | 2014-04-14 | 2015-12-30 | 南京理工大学 | Planar three-freedom-degree parallel mechanism |
| CN104290009A (en) * | 2014-09-30 | 2015-01-21 | 黑龙江北鸥卫浴用品有限公司 | Sanitary product polisher |
| CN107327669A (en) * | 2016-05-01 | 2017-11-07 | 西北农林科技大学 | A kind of differential type whole plane moves truss |
| CN107327669B (en) * | 2016-05-01 | 2019-03-19 | 西北农林科技大学 | A kind of mobile truss of differential type whole plane |
| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
| CN108284435B (en) * | 2018-03-07 | 2024-02-06 | 燕山大学 | Large-rotation plane three-degree-of-freedom parallel platform |
| CN109052257A (en) * | 2018-09-21 | 2018-12-21 | 南京理工大学 | A kind of elevating mechanism of solid space layout |
| CN110450141A (en) * | 2019-08-30 | 2019-11-15 | 燕山大学 | Four branch chain six-freedom degree hybrid mechanisms |
| CN112066169A (en) * | 2020-08-21 | 2020-12-11 | 深圳供电局有限公司 | Grid fault information collector fixing system |
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| CN100522506C (en) | 2009-08-05 |
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Assignee: Yangzhou Metalforming Machine Group Co., Ltd. Assignor: Nanjing University of Science and Technology Contract record no.: 2011320000509 Denomination of invention: Two degrees of freedom translation parallel mechanism Granted publication date: 20090805 License type: Exclusive License Open date: 20080723 Record date: 20110402 |
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