CN102126212A - Motion decoupling two-degree-of-freedom rotation parallel mechanism - Google Patents
Motion decoupling two-degree-of-freedom rotation parallel mechanism Download PDFInfo
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- CN102126212A CN102126212A CN2010106170421A CN201010617042A CN102126212A CN 102126212 A CN102126212 A CN 102126212A CN 2010106170421 A CN2010106170421 A CN 2010106170421A CN 201010617042 A CN201010617042 A CN 201010617042A CN 102126212 A CN102126212 A CN 102126212A
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- moving platform
- hooke
- platform
- fixed platform
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
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- Life Sciences & Earth Sciences (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a motion decoupling two-degree-of-freedom rotation parallel mechanism, and belongs to the field of parallel robots. The mechanism consists of a fixed platform, a moving platform, and two branches which connect the fixed platform and the moving platform, wherein the two branches respectively consist of two kinematic pairs, namely a revolute pair and a hooke joint; the revolute pair is connected with the moving platform and the hooke joint is connected with the fixed platform; and one axis of one of the two hooke joints is collinear with one axis of the other of the two hooke joint, and the other axes of the two hooke joints are parallel with the axes of the two revolute pairs. The two-degree-of-freedom rotation parallel mechanism has the characteristics of good kinematic properties, high flexibility, large working space and the like; and kinematics positive and reverse solutions are simple, and two rotations of the moving platform are completely decoupled, so that the mechanism is easy to control and calibrate, saves energy, and can be widely applied to telescopes, cameras, positioners, radar tracking, solar panels, missile launchers, gun sight setters and the like.
Description
Technical field
The invention belongs to the parallel robot field, particularly a kind of two freedom rotary parallel mechanism of mobile decoupling.
Background technology
In the more than two decades in the past, parallel institution obtains more for using the especially application in industry fields such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, power and torque sensor widely in industrial quarters because of characteristics such as it has the rigidity height, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformations.
With respect to serial mechanism, the parallel institution working space is little, has strong coupling between the motion, and the control difficulty is bigger.And if motion of mechanism can realize decoupling zero, then its working space will enlarge, and control is easy, can reach higher kinematic accuracy, and will be all significant to motion of mechanism control, trajectory planning and demarcation etc.
Summary of the invention
The object of the present invention is to provide a kind of two freedom rotary parallel mechanism of mobile decoupling, the moving platform of this mechanism has two independent rotation frees degree, and these two are rotated decoupling zero each other, has simple in structure, control easily, advantages such as it is convenient to demarcate, and dynamic property is good, process and assemble is good.
The two freedom rotary parallel mechanism of this mobile decoupling comprises fixed platform, moving platform and is connected fixed platform and two branches' compositions of moving platform.It is characterized in that: moving platform is connected with fixed platform by two branches, wherein first branch has two kinematic pairs, the kinematic pair that links to each other with moving platform is a revolute pair, the kinematic pair that links to each other with fixed platform is a Hooke's hinge, second branch also has two kinematic pairs, the kinematic pair that links to each other with moving platform is a revolute pair, and the kinematic pair that links to each other with fixed platform is a Hooke's hinge; Wherein axis of two Hooke's hinges that link to each other with fixed platform keeps conllinear, the axis keeping parallelism of an other axis and two revolute pairs that link to each other with moving platform.
Description of drawings
Fig. 1 is the two freedom rotary parallel mechanism schematic diagram of mobile decoupling of the present invention.
In Fig. 1, label 1～8 is respectively the 1-fixed platform, 2-Hooke's hinge, 3-connecting rod, 4-revolute pair, 5-moving platform, 6-revolute pair, 7-connecting rod, 8-Hooke's hinge.
The specific embodiment
The two freedom rotary parallel mechanism (see figure 1) of mobile decoupling, be made up of fixed platform 1, moving platform 5 and two branches, wherein, first branch has revolute pair and two kinematic pairs of Hooke's hinge, the kinematic pair that links to each other with moving platform 5 is a revolute pair 4, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 2; Second branch also has revolute pair and two kinematic pairs of Hooke's hinge, and the kinematic pair that links to each other with moving platform 5 is a revolute pair 6, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 8; Wherein axis of two Hooke's hinges (2,8) that link to each other with fixed platform 1 keeps conllinear, the axis keeping parallelism of an other axis and revolute pair 4 that links to each other with moving platform 5 and revolute pair 6.
The two freedom rotary parallel mechanism of mobile decoupling of the present invention, have characteristics such as kinematics function admirable, flexibility height, working space be bigger, its kinematics is positive and negative separate very simple, two rotations of moving platform are full decoupled, make control very easily, demarcate simple, and energy-conservation, can be widely used in telescope, camera, positioner, radar tracking, solar panel, missile launcher, gun laying positioning equipment etc.
Claims (1)
1. the two freedom rotary parallel mechanism of a mobile decoupling, comprise fixed platform 1, moving platform 5 and be connected fixed platform 1 and the compositions such as branch of moving platform 5, it is characterized in that: moving platform 5 is connected with fixed platform 1 by two branches, wherein first branch has two kinematic pairs, the kinematic pair that links to each other with moving platform 5 is a revolute pair 4, the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 2, second branch has two kinematic pairs, the kinematic pair that links to each other with moving platform 5 is a revolute pair 6, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 8; Wherein axis of two Hooke's hinges (2,8) that link to each other with fixed platform 1 keeps conllinear, the axis keeping parallelism of an other axis and revolute pair 4 that links to each other with moving platform 5 and revolute pair 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010617042A CN102126212B (en) | 2010-12-24 | 2010-12-24 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010617042A CN102126212B (en) | 2010-12-24 | 2010-12-24 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102126212A true CN102126212A (en) | 2011-07-20 |
| CN102126212B CN102126212B (en) | 2012-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010617042A Expired - Fee Related CN102126212B (en) | 2010-12-24 | 2010-12-24 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
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| Country | Link |
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| CN (1) | CN102126212B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN105406803A (en) * | 2015-12-16 | 2016-03-16 | 常熟高嘉能源科技有限公司 | Bracket for controllable photovoltaic module |
| CN107571247A (en) * | 2017-10-21 | 2018-01-12 | 长沙展朔轩兴信息科技有限公司 | A kind of two-freedom rotating decoupling parallel robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61120207A (en) * | 1984-11-16 | 1986-06-07 | Nissan Motor Co Ltd | Robot controller |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
-
2010
- 2010-12-24 CN CN201010617042A patent/CN102126212B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61120207A (en) * | 1984-11-16 | 1986-06-07 | Nissan Motor Co Ltd | Robot controller |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN104308842B (en) * | 2014-10-24 | 2015-12-30 | 天津大学 | A kind of novel symmetry two one-rotation parallel mechanism |
| 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 |
| CN104308833B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
| CN105406803A (en) * | 2015-12-16 | 2016-03-16 | 常熟高嘉能源科技有限公司 | Bracket for controllable photovoltaic module |
| CN107571247A (en) * | 2017-10-21 | 2018-01-12 | 长沙展朔轩兴信息科技有限公司 | A kind of two-freedom rotating decoupling parallel robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
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| Publication number | Publication date |
|---|---|
| CN102126212B (en) | 2012-09-05 |
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