CN101863023A - Two-degree-of-freedom parallel mechanism of plane polar coordinate - Google Patents
Two-degree-of-freedom parallel mechanism of plane polar coordinate Download PDFInfo
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- CN101863023A CN101863023A CN 201010198870 CN201010198870A CN101863023A CN 101863023 A CN101863023 A CN 101863023A CN 201010198870 CN201010198870 CN 201010198870 CN 201010198870 A CN201010198870 A CN 201010198870A CN 101863023 A CN101863023 A CN 101863023A
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Abstract
The invention relates to a two-degree-of-freedom parallel mechanism of a plane polar coordinate, which is characterized by comprising a fixed platform, wherein two ends of the fixed platform are connected with a first member bar through a hinge respectively; the other end of each first member bar is fixedly connected with a piston; each piston is arranged in a drive cylinder in a sliding mode respectively; the bottom of each drive cylinder is fixedly connected with a second member bar respectively; the other ends of the two second member bars are connected with two ends of a same motion platform through a hinge respectively; a connecting rod is hinged on the middle part of the fixed platform; the other end of the connecting rod is penetrated in a sliding bush; and the sliding bush is fixedly connected with the middle part of the motion platform. The two-degree-of-freedom parallel mechanism uses a guide rod to limit the orientation of the motion platform on the basis of a closed-loop kinematical chain so as to realize the two-degree-of-freedom motion of the motion platform under a polar coordinate system. The two-degree-of-freedom parallel mechanism can be widely applied to two-degree-of-freedom motion occasions of various plane polar coordinates.
Description
Technical field
The present invention relates to the two-degree-of-freedom parallel mechanism in a kind of Robotics field, particularly about a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate.
Background technology
Parallel institution is meant the closed loop moving system that is made of a plurality of parallel kinematic chains, and mechanism has two above frees degree, drives by parallel way.Parallel institution has load weight than big, and accumulated error is little, and the precision height is easy to hydraulic cylinder is placed on the pedestal by rod member, alleviates movement load, the movement velocity height, and inverse kinematics is found the solution advantages such as convenient.In recent years, because that the lower-mobility parallel institution has is simple in structure, advantage such as it is lower to design, make, control cost.Fields such as medical surgical equipment, motion simulation, machine-building, automation assembling, Precision Machining measurement, microelectronics manufacturing have been used to now.
The flat lower-mobility parallel institution has had some selections now, such as: the patent No. is: the patent of invention of CN200310112572.0, disclose a kind of two-degree-of-freedom plane parallel robot mechanism, it can realize the planar translational motion of level and vertical direction direction of motion platform.But in some occasions that needs the polar coordinates operation, there are some restrictions in the application of said mechanism: such as: 1, need rotate the motion that just can convert under the polar coordinates, increase system complexity, reduce precision in increase in the motion of motion platform; 2, the working space utilization rate is low or the like.And in the prior art, also few based on polar flat lower-mobility parallel institution.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of be easy to realize in the plane two-freedom at a high speed, high-precision motion, and this motion is easy to the two-degree-of-freedom parallel mechanism of plane polar coordinate represented by the polar coordinate system on the fixed platform.
For achieving the above object, the present invention takes following technical scheme: a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: it comprises a fixed platform, described fixed platform two ends connect one first rod member by a hinge respectively, the fixedly connected piston of the other end of each described first rod member, each described piston is slidingly arranged in one respectively and drives in the oil cylinder, the bottom of each described driving oil cylinder is fixedly connected one second rod member respectively, the other end of two described second rod members is connected through the hinge respectively at the two ends of same motion platform, described fixed platform middle part is hinged with a connecting rod, the other end of described connecting rod is located in the sliding sleeve, and described sliding sleeve is fixedly connected on the middle part of described motion platform.
The length of corresponding two described first rod member that are provided with is identical or different.
The length of corresponding two described second rod member that are provided with is identical or different.
The present invention is owing to take above technical scheme, and it has the following advantages: 1, therefore the present invention can be implemented in the two-freedom motion under the polar coordinate system owing to utilize the orientation of connecting rod constrained motion platform on the basis of closed loop moving chain.2, the present invention is owing to be hinged on hydraulic cylinder on the fixed platform by rod member, and the motion platform quality is less, so the kinematic accuracy height, and speed is fast, and load weight is than big, and accumulated error is little.3, the present invention is owing to adopt rod member as moving component, and therefore simple in structure, cost is low.4, the present invention realizes that with respect to the relative motion of oil cylinder two first rod members directly move with respect to second rod member by piston, its motion steadily, control is convenient.The present invention can be widely used in various plane polar coordinates two-freedom motion occasions.
Description of drawings
Fig. 1 is a structural representation of the present invention
The specific embodiment
Be described in detail of the present invention below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Figure 1, the present invention includes a fixed platform 1, fixed platform 1 two ends connect one first rod member 3 by a hinge 2 respectively, the fixedly connected piston 4 of each first rod member, 3 other end, each piston 4 is slidingly arranged in one respectively and drives in the oil cylinder 5, the bottom of each oil cylinder 5 is fixedly connected one second rod member 6 respectively, the other end of two second rod members 6 is hinged on the two ends of same motion platform 8 respectively by hinge 7, pass through hinge 9 hinged connecting rods 10 at fixed platform 1 middle part, the fixedly connected sliding sleeve 11 at motion platform 8 middle parts, the other end of connecting rod 10 slides and is located in the sliding sleeve 11, and then forms the closed loop moving chain of a two-degree-of-freedom parallel mechanism of plane polar coordinate.
In the present embodiment operating process, when having the two hydraulic cylinders startup of identical or different pressure, each is fixed on second rod member 6 of oil cylinder 5 bottoms along with oil cylinder 5 moves up or down along piston 4 axis that are connected with first rod member 3, this moment, each first rod member 3 can rotate around a hinge 2, when each second rod member 6 rotates with first rod member 3, axis with respect to first rod member 3 moves up or down, in descending jointly of two second rod members 6 and connecting rod 10, when motion platform 8 is swung with connecting rod 10, axis direction along connecting rod 10 moves up or down, i.e. motion platform 8 output plane polar coordinates motion.
In the various embodiments described above, the length of corresponding two first rod members 3 that are provided with can be identical, also can be different, and the length of same two second rod members 6 also can be identical or different.Every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (5)
1. two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: it comprises a fixed platform, described fixed platform two ends connect one first rod member by a hinge respectively, the fixedly connected piston of the other end of each described first rod member, each described piston is slidingly arranged in one respectively and drives in the oil cylinder, the bottom of each described driving oil cylinder is fixedly connected one second rod member respectively, the other end of two described second rod members is connected through the hinge respectively at the two ends of same motion platform, described fixed platform middle part is hinged with a connecting rod, the other end of described connecting rod is located in the sliding sleeve, and described sliding sleeve is fixedly connected on the middle part of described motion platform.
2. a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as claimed in claim 1 is characterized in that: the length of corresponding two described first rod member that are provided with is identical.
3. a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate as claimed in claim 1 is characterized in that: the corresponding two described first rod member length that are provided with are different.
4. as claim 1 or 2 or 3 described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: the length of corresponding two described second rod member that are provided with is identical.
5. as claim 1 or 2 or 3 described a kind of two-degree-of-freedom parallel mechanism of plane polar coordinate, it is characterized in that: the corresponding two described second rod member length that are provided with are different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010198870 CN101863023A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010198870 CN101863023A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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| CN101863023A true CN101863023A (en) | 2010-10-20 |
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| CN 201010198870 Pending CN101863023A (en) | 2010-06-04 | 2010-06-04 | Two-degree-of-freedom parallel mechanism of plane polar coordinate |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
| CN108706465A (en) * | 2018-06-12 | 2018-10-26 | 武汉理工大学 | A kind of double chain type crane |
| CN110202552A (en) * | 2019-07-04 | 2019-09-06 | 燕山大学 | A kind of two-degree-of-freedom plane link rod motion device |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11303419A (en) * | 1998-04-21 | 1999-11-02 | Mitsui Miike Mach Co Ltd | Cutting device for structure surface |
| CN1628939A (en) * | 2003-12-16 | 2005-06-22 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN200997794Y (en) * | 2006-11-14 | 2008-01-02 | 郭正义 | Vehicle mounted mechanical hand type cropper |
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
-
2010
- 2010-06-04 CN CN 201010198870 patent/CN101863023A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11303419A (en) * | 1998-04-21 | 1999-11-02 | Mitsui Miike Mach Co Ltd | Cutting device for structure surface |
| CN1628939A (en) * | 2003-12-16 | 2005-06-22 | 广东工业大学 | Two degrees of freedom moving planar parallel mechanism |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism |
| CN200997794Y (en) * | 2006-11-14 | 2008-01-02 | 郭正义 | Vehicle mounted mechanical hand type cropper |
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493713A (en) * | 2016-12-12 | 2017-03-15 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
| CN106493713B (en) * | 2016-12-12 | 2018-09-04 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism |
| CN108706465A (en) * | 2018-06-12 | 2018-10-26 | 武汉理工大学 | A kind of double chain type crane |
| CN108706465B (en) * | 2018-06-12 | 2020-08-04 | 武汉理工大学 | Double-chain type crane |
| CN110371291A (en) * | 2019-06-13 | 2019-10-25 | 西安交通大学 | A kind of steady upper lower thread mechanism of high voltage transmission line flight crusing robot |
| CN110202552A (en) * | 2019-07-04 | 2019-09-06 | 燕山大学 | A kind of two-degree-of-freedom plane link rod motion device |
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Open date: 20101020 |