CN101508110A - Three-rotation one-movement four-freedom parallel mechanism - Google Patents
Three-rotation one-movement four-freedom parallel mechanism Download PDFInfo
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- CN101508110A CN101508110A CNA2009100967979A CN200910096797A CN101508110A CN 101508110 A CN101508110 A CN 101508110A CN A2009100967979 A CNA2009100967979 A CN A2009100967979A CN 200910096797 A CN200910096797 A CN 200910096797A CN 101508110 A CN101508110 A CN 101508110A
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Abstract
The invention relates to a three-dimension turning one-dimension moving four-freedom parallel mechanism, which comprises a quadrilateral moving platform, a quadrilateral static platform and four branching chains connecting corresponding sides of the moving platform and the static platform, wherein three branching chains are non-constrained branching chains with the same structure, and the other branching chain is a constrained branching chain; each non-constrained branching chain consists of a first Hook joint, a first sliding pair provided with two slide bars, and a ball joint which are connected in turn, the first Hook joint of each non-constrained branching chain is connected with one side of the static platform respectively, and the ball joint is connected with one side of the moving platform respectively; the constrained branching chain consists of a revolute pair, a second sliding pair provided with two slide bars, and a second Hook joint which are connected in turn, the revolute pair of the constrained branching chain is connected with the fourth side of the static platform, and the second Hook joint is connected with the fourth side of the moving platform; and the side length of the moving platform is not equal to that of the static platform. The parallel mechanism not only has strong bearing capacity, but also has no singular configuration, and has good application prospect in the fields such as precision sensors and medical operations.
Description
Technical field
The present invention relates to a kind of four-freedom parallel mechanism, rotate and the four-freedom parallel mechanism that direction moves in particular for three directions in robot implementation space.
Background technology
Parallel institution has the characteristic of many excellences such as error is little, rigidity is high, bearing capacity is big etc., but himself also exists intrinsic shortcoming, and singularity is exactly one of intrinsic property of parallel institution.Singularity typically refers to when mechanism is positioned at certain certain bits shape for parallel institution, and the moment change can take place the normal free degree of its moving platform.The parallel institution that is under the shape attitude of unusual position can produce many undesirable features, as the instantaneous forfeiture rigidity of mechanism, terminal positioning accuracy reduce, driving force can't the specific generalized force of balance moving platform etc., therefore how to eliminate the singularity of mechanism be the very crucial problem of parallel institution in research.
Summary of the invention
At above-mentioned deficiency, the purpose of this invention is to provide a kind of can three directions in implementation space rotating and the four-freedom parallel mechanism that direction moves of singularity of not having.
Three-rotation one-movement four-freedom parallel mechanism of the present invention, comprise a quadrangle moving platform, a quadrangle silent flatform and four side chains that connect moving platform and silent flatform corresponding sides, wherein three side chains are the identical unconfinement side chain of structure, article one, side chain is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge that connects successively, first moving sets and ball pivot composition and ball pivot composition with two slide bars, first Hooke's hinge on each bar unconfinement side chain links to each other with a limit of silent flatform respectively, ball pivot on each bar unconfinement side chain links to each other with a limit of moving platform respectively, two rotations of first Hooke's hinge all with silent flatform place planes overlapping, the centre of sphere of ball pivot and moving platform place planes overlapping, constrained branched chain is by the revolute that connects successively, second moving sets and second Hooke's hinge with two slide bars are formed, revolute on the constrained branched chain links to each other with the four edges of silent flatform, second Hooke's hinge on the constrained branched chain links to each other with the four edges of moving platform, two rotations of second Hooke's hinge and moving platform place planes overlapping, the axis of revolute is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
Usually, make the length of side of the length of side of moving platform less than silent flatform.
The silent flatform of three-rotation one-movement four-freedom parallel mechanism is fixed on the frame, and first moving sets of three unconfinement side chains is driven by linear electric motors, and the revolute of constrained branched chain is driven by electric rotating machine.After the motion of motor-driven kinematic pair, two slide bars of three unconfinement side chain first moving sets take place to move mutually, and the revolute of constrained branched chain rotates, and four side chains drive moving platform simultaneously and do corresponding motion.Because four side chains remain uneven relation in the process of mechanism kinematic, credit is analysed as can be known according to motion of mechanism, and entire mechanism has four frees degree by four motor-driven, and does not have singularity.
Compare with existing other parallel institutions, the advantage that the present invention has is:
1. parallel institution is simple in structure, bearing capacity is strong, working space is big, be easy to control.
2. the parallel institution suitable application area is extensive, as can be used as parallel machine, sophisticated sensor, operating robot, rig etc.
3. parallel institution does not have singularity, and the random feeding route of design organization does not in the course of the work have that rigidity on some position disappears and problem that driving force can't the specific generalized force of balance moving platform.
Description of drawings
Fig. 1 is the structural representation of three-rotation one-movement four-freedom parallel mechanism.
Among the figure: 1. moving platform, 2. silent flatform, 3. unconfinement side chain, 4. revolute, 5. first moving sets, 6-1. first slide bar, 6-2. second slide bar, 7. first Hooke's hinge, 8. ball pivot, 9-1. the 3rd slide bar, 9-2. the 4th slide bar, 10. second moving sets, 11. second Hooke's hinges, 12. unconfinement side chains.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
With reference to Fig. 1, three-rotation one-movement four-freedom parallel mechanism of the present invention, comprise a quadrangle moving platform 1, a quadrangle silent flatform 2 and four side chains that connect moving platform 1 and silent flatform 2 corresponding sides, wherein three side chains 3 are the identical unconfinement side chain of structure, article one, side chain 12 is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge 7 that connects successively, have two slide bar 6-1, first moving sets 5 of 6-2 and ball pivot 8 are formed, first Hooke's hinge 7 on each treaty bundle branch chain 3 links to each other with a limit of silent flatform 2 respectively, ball pivot 8 on each bar unconfinement side chain links to each other with a limit of moving platform 1 respectively, two rotations of first Hooke's hinge 7 all with silent flatform 2 place planes overlapping, the centre of sphere of ball pivot 8 and moving platform place planes overlapping, constrained branched chain 12 is by the revolute 4 that connects successively, have two slide bar 9-1, second moving sets 10 of 9-2 and second Hooke's hinge 11 are formed, revolute 4 on the constrained branched chain 12 links to each other with the four edges of silent flatform 2, second Hooke's hinge 11 on the constrained branched chain links to each other with the four edges of moving platform 1, two rotations of second Hooke's hinge 11 and moving platform place planes overlapping, the axis of revolute 4 is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
In the legend, the length of side of moving platform is less than the length of side of silent flatform.
Operation principle is as follows: first moving sets 5 of three unconfinement side chains 3 of parallel institution makes two slide bars that relative slippage take place under linear electric motors drive, and makes the unconfinement side chain to stretch.The revolute 4 of constrained branched chain 12 can be rotated under the electric rotating machine effect, makes constrained branched chain to rotate.Because silent flatform 2 is fixed on the frame, article four, an end of side chain is fixed on the silent flatform 2 by kinematic pair, the other end links to each other with moving platform 1 by kinematic pair, and moving platform under the acting in conjunction of four side chains the rotation of three directions and the moving of a direction in space can take place.Promptly can rotate around two rotating shafts of revolute 4, second Hooke's hinge 11 and moving along the O-o direction.Entire mechanism has four frees degree, and does not have singularity.
Claims (2)
1. three-rotation one-movement four-freedom parallel mechanism, it is characterized in that comprising a quadrangle moving platform (1), a quadrangle silent flatform (2) and four side chains that connect moving platform (1) and silent flatform (2) corresponding sides, wherein three side chains (3) are the identical unconfinement side chain of structure, article one, side chain (12) is a constrained branched chain, every unconfinement side chain is by first Hooke's hinge (7) that connects successively, have two slide bar (6-1, first moving sets (5) 6-2) and ball pivot (8) are formed, first Hooke's hinge (7) on each bar unconfinement side chain (3) links to each other with a limit of silent flatform (2) respectively, ball pivot (8) on each bar unconfinement side chain links to each other with a limit of moving platform (1) respectively, two rotations of first Hooke's hinge (7) all with silent flatform (2) place planes overlapping, the centre of sphere of ball pivot (8) and moving platform place planes overlapping, constrained branched chain (12) is by the revolute (4) that connects successively, have two slide bar (9-1, second moving sets (10) 9-2) and second Hooke's hinge (11) are formed, revolute (4) on the constrained branched chain (12) links to each other with the four edges of silent flatform (2), second Hooke's hinge (11) on the constrained branched chain links to each other with the four edges of moving platform (1), two rotations of second Hooke's hinge (11) and moving platform place planes overlapping, the axis of revolute (4) is vertical with the four edges of silent flatform, and the length of side of moving platform and the length of side of silent flatform do not wait.
2. require 1 described three-rotation one-movement four-freedom parallel mechanism according to power, it is characterized in that the length of side of the length of side of moving platform less than silent flatform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2009100967979A CN101508110A (en) | 2009-03-19 | 2009-03-19 | Three-rotation one-movement four-freedom parallel mechanism |
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| CNA2009100967979A CN101508110A (en) | 2009-03-19 | 2009-03-19 | Three-rotation one-movement four-freedom parallel mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102042464A (en) * | 2010-11-01 | 2011-05-04 | 西安电子科技大学 | Three-strut parallel regulation mechanism with four DOF (Degree Of Freedom) locomotivity and method |
| WO2011054195A1 (en) * | 2009-11-09 | 2011-05-12 | 天津大学 | Parallel mechanism with three-dimensional translations and one-dimensional rotation |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN102626872A (en) * | 2011-12-01 | 2012-08-08 | 兰州理工大学 | Two-degree of freedom rotary shaft parallel clamp |
| CN101696718B (en) * | 2009-10-30 | 2013-10-23 | 江苏大学 | Parallel-connection vibration reduction device with multiple degrees of freedom for automobile engine |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN105856192A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes |
| 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 |
| CN108198482A (en) * | 2018-01-16 | 2018-06-22 | 南京科技职业学院 | A kind of 3-dimensional freedom platform |
| CN114918908A (en) * | 2022-06-28 | 2022-08-19 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
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2009
- 2009-03-19 CN CNA2009100967979A patent/CN101508110A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101696718B (en) * | 2009-10-30 | 2013-10-23 | 江苏大学 | Parallel-connection vibration reduction device with multiple degrees of freedom for automobile engine |
| WO2011054195A1 (en) * | 2009-11-09 | 2011-05-12 | 天津大学 | Parallel mechanism with three-dimensional translations and one-dimensional rotation |
| CN102042464A (en) * | 2010-11-01 | 2011-05-04 | 西安电子科技大学 | Three-strut parallel regulation mechanism with four DOF (Degree Of Freedom) locomotivity and method |
| CN102626872A (en) * | 2011-12-01 | 2012-08-08 | 兰州理工大学 | Two-degree of freedom rotary shaft parallel clamp |
| CN102579137A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
| CN104875184A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R spatial parallel robot mechanism |
| CN104875186A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism |
| CN105856192A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes |
| 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 |
| CN108198482A (en) * | 2018-01-16 | 2018-06-22 | 南京科技职业学院 | A kind of 3-dimensional freedom platform |
| CN114918908A (en) * | 2022-06-28 | 2022-08-19 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
| CN114918908B (en) * | 2022-06-28 | 2024-01-12 | 上海新纪元机器人有限公司 | Decoupling parallel mechanism, setting method, control method and mechanical equipment |
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Open date: 20090819 |