CN102259269A - Three-dimensional rotary spherical parallel mechanism - Google Patents
Three-dimensional rotary spherical parallel mechanism Download PDFInfo
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- CN102259269A CN102259269A CN2011101899247A CN201110189924A CN102259269A CN 102259269 A CN102259269 A CN 102259269A CN 2011101899247 A CN2011101899247 A CN 2011101899247A CN 201110189924 A CN201110189924 A CN 201110189924A CN 102259269 A CN102259269 A CN 102259269A
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- revolute pair
- circular arc
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Abstract
The invention relates to a three-dimensional rotary spherical parallel mechanism consisting of an upper moving platform, a lower fixed mechanism, a combined chain and a simple branched chain, wherein the combined chain is connected with the upper moving platform and the lower fixed platform; four circular arc rods of the combined chain are sequentially connected through three rotating pairs in series, and circular arc rods circumscribed at two ends of the combined chain are respectively connected with the lower fixed platform through two rotating pairs; furthermore, a coaxial rotating pair is connected with the axial line of the third rotating pair of sequentially in series connected five rotating pairs in series and is mechanically connected with the upper moving platform; in addition, the simple branched chain comprises two circular arc rods, one ends of the two circular arc rods are connected through a rotating pair, the other ends of the two circular arc rods are respectively with the lower fixed platform and the upper moving platform through two rotating pairs. The axial lines of total nine rotating pairs, including six rotating pairs of the combined chain and three rotating pairs of the simple branched chain, are intersected in a rotation central point. Through the control of the movement of three rotating pairs of the lower fixed platform, the three-dimensional pure rotation output of the upper moving platform around the rotation central point can be realized. The three-dimensional rotary spherical parallel mechanism disclosed by the invention has the advantages of simple structure, larger working space and convenience for manufacturing and installing, and can be taken as an actuating mechanism of a workbench, radar tracking, a robot joints and the like.
Description
Technical field
The present invention relates to the executing agency of a kind of virtual axis machine in parallel, workbench and joint of robot, specifically provide a kind of novel Three dimensional rotation spherical mechanism for parallel-connection structure virtual axis machine, operation element platform and joint of robot.
Background technology
Parallel institution has obtained extensive use on devices such as robot, virtual-shaft machine tool, coordinate measuring machine, workbench, the free degree is that 2～5 lower-mobility parallel institution has more practical value.Study the more parallel 2 D translation mechanism that has, (U.S. Patent number: 5656905,1997), its main feature is that forward kinematics solution is 8 times, and position and direction decoupling zero as Delta mechanism, Star Like mechanism, TsaiShi parallel 2 D translation mechanism.
The Three dimensional rotation parallel institution also can be widely used in occasions such as machining, radar tracking, stage illumination, lighting, joint of robot, Canada scholar Gosselin studies, designs " dexterous eye " based on sphere parallel mechanism the earliest, afterwards, more domestic scholars have also proposed some sphere parallel mechanisms or device, example, patent ZL022090649, ZL200810055018.6,201010126955.3, described Three dimensional rotation parallel institutions such as 201010274735.5.In a word, comparatively speaking, the pattern of Three dimensional rotation parallel institution is also fewer, needs the practicability new architecture that compages are simple, control decoupling zero, good rigidity.
Summary of the invention
The objective of the invention is to provide a novel three-dimensional simple in structure, that control decoupling zero, good rigidity to rotate sphere parallel mechanism.
Of the present invention a kind of three rotate sphere parallel mechanism, gone up a combination chain and a simple side chain of moving platform (5) and following silent flatform (0) by last moving platform (5), following silent flatform (0) and connection and form, the structure of combination chain is: circular arc type bar one (1), circular arc type bar two (2), circular arc type bar three (3), circular arc type bar four (4) are respectively with revolute pair two (R
12), revolute pair three (R
13), revolute pair four (R
14) after the connection, the other end of circular arc type bar one (1), circular arc type bar four (4) respectively with following silent flatform (0) with revolute pair one (R
11), revolute pair five (R
15) connect, and the axis of these five revolute pairs must intersect at fulcrum (O '); Further, again at revolute pair three (R
13) axis on connect the again revolute pair six (R of a coaxial line
24), and revolute pair six (R
24) and last moving platform (5) mechanical connection; And the structure of simple side chain is: circular arc bar five (7) one ends and silent flatform (0) are with revolute pair seven (R
21) after the connection, the other end is with revolute pair eight (R
22) be connected with an end of circular arc bar six (6), and the other end of circular arc bar six (6) is with revolute pair nine (R
23) and last moving platform (5) connection.
Further, the one (R of the revolute pair on the combination chain
11), revolute pair two (R
12), revolute pair three (R
13), revolute pair four (R
14), revolute pair five (R
15), revolute pair six (R
24) and simple side chain on revolute pair seven (R
21), revolute pair eight (R
22), revolute pair nine (R
23), the axis of totally nine revolute pairs must intersect at fulcrum (O ').
This mechanism structure is simple, it is easy to be convenient to make installation, control and trajectory planning.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present invention.
The specific embodiment
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
It is one embodiment of the present of invention that shown in the accompanying drawing 1 three rotates sphere parallel mechanism, a combination chain and a simple side chain that it goes up moving platform 5 and following silent flatform 0 by last moving platform 5, following silent flatform 0 and connection are formed, and the structure of combination chain is: circular arc type bar 1, circular arc type bar 22, circular arc type bar 33, circular arc type bar 44 are respectively with revolute pair two R
12, revolute pair three R
13, revolute pair four R
14After the connection, the other end of circular arc type bar 1, circular arc type bar 44 respectively with following silent flatform 0 with revolute pair one R
11, revolute pair five R
15Connect, and the axis of these five revolute pairs must intersect at fulcrum O '; Further, again at revolute pair three R
13Axis on connect again revolute pair six R of a coaxial line
24, and revolute pair six R
24With last moving platform 5 mechanical connections; And the structure of simple side chain is: circular arc bar 571 ends and following silent flatform 0 are with revolute pair seven R
21After the connection, the other end is with revolute pair eight R
22Be connected with an end of circular arc bar 66, and the other end of circular arc bar 66 is with revolute pair nine R
23Connect with last moving platform 5.
Further, one R of the revolute pair on the combination chain
11, revolute pair two R
12, revolute pair three R
13, revolute pair four R
14, revolute pair five R
15, revolute pair six R
24And revolute pair seven R on the simple side chain
21, revolute pair eight R
22, revolute pair nine R
23, the axis of totally nine revolute pairs must intersect at fulcrum O '.
Three revolute pair R on control and the following silent flatform 0
21, R
11, R
15Motion, just can realize that moving platform 5 is around the three-dimensional pure rotation output movement that rotates central point O '.The structural design of this kind sphere parallel mechanism and drive control etc. all routinely mechanical ﹠ electrical technology carry out design and installation, and simple in structure, be convenient to make to install, can be used as virtual-shaft machine tool, workbench, radar tracking, the stage illumination, lighting of parallel-connection structure, the executing agency of joint of robot.
Claims (2)
1. one kind three is rotated sphere parallel mechanism, gone up a combination chain and a simple side chain of moving platform (5) and following silent flatform (0) by last moving platform (5), following silent flatform (0) and connection and form, it is characterized in that the structure of combination chain is: circular arc type bar one (1), circular arc type bar two (2), circular arc type bar three (3), circular arc type bar four (4) are respectively with revolute pair two (R
12), revolute pair three (R
13), revolute pair four (R
14) after the connection, the other end of circular arc type bar one (1), circular arc type bar four (4) respectively with following silent flatform (0) with revolute pair one (R
11), revolute pair five (R
15) connect, and the axis of these five revolute pairs must intersect at fulcrum (O '); Further, again at revolute pair three (R
13) axis on connect the again revolute pair six (R of a coaxial line
24), and revolute pair six (R
24) and last moving platform (5) mechanical connection; And the structure of simple side chain is: circular arc bar five (7) one ends and following silent flatform (0) are with revolute pair seven (R
21) after the connection, the other end is with revolute pair eight (R
22) be connected with an end of circular arc bar six (6), and the other end of circular arc bar six (6) is with revolute pair nine (R
23) and last moving platform (5) connection.
2. rotate sphere parallel mechanism by claim 1 described three, it is characterized in that the revolute pair one (R on the combination chain
11), revolute pair two (R
12), revolute pair three (R
13), revolute pair four (R
14), revolute pair five (R
15), revolute pair six (R
24) and simple side chain on revolute pair seven (R
21), revolute pair eight (R
22), revolute pair nine (R
23), the axis of totally nine revolute pairs must intersect at fulcrum (O ').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101899247A CN102259269A (en) | 2011-07-08 | 2011-07-08 | Three-dimensional rotary spherical parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101899247A CN102259269A (en) | 2011-07-08 | 2011-07-08 | Three-dimensional rotary spherical parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102259269A true CN102259269A (en) | 2011-11-30 |
Family
ID=45006204
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|---|---|---|---|
| CN2011101899247A Pending CN102259269A (en) | 2011-07-08 | 2011-07-08 | Three-dimensional rotary spherical parallel mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029119A (en) * | 2012-12-04 | 2013-04-10 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN108527323A (en) * | 2018-04-12 | 2018-09-14 | 南京理工大学 | A kind of sphere parallel mechanism of big revolution range |
| CN108858156A (en) * | 2018-08-31 | 2018-11-23 | 常州大学 | A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling |
| CN109129435A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of two translation-rotary parallel connection mechanism of zero degree of coupling |
| CN109129437A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of degree of coupling is 1 but has three translation-parallel-operation platforms of parsing position forecast |
| CN109129436A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of parallel kinematic device containing hunt effect of Three Degree Of Freedom and zero degree of coupling |
| CN109304703A (en) * | 2018-10-16 | 2019-02-05 | 常州大学 | A kind of three translation parallel mechanism manipulator of zero degree of coupling |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| CN114161404A (en) * | 2021-11-09 | 2022-03-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral robot with solar power supply sliding block |
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|---|---|---|---|---|
| WO2004106011A1 (en) * | 2003-05-30 | 2004-12-09 | Matteo Zoppi | Armilleye: a three degree- of-freedom spherical parallel mechanism |
| CN1769005A (en) * | 2005-11-23 | 2006-05-10 | 天津理工大学 | Large-workspace three-dimensional moving parallel robot mechansim |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| US20100313695A1 (en) * | 2007-10-31 | 2010-12-16 | Michael Valasek | Device for a body's spherical motion control |
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2011
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Patent Citations (4)
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| WO2004106011A1 (en) * | 2003-05-30 | 2004-12-09 | Matteo Zoppi | Armilleye: a three degree- of-freedom spherical parallel mechanism |
| EP1870214A1 (en) * | 2005-02-17 | 2007-12-26 | Fundacion Fatronik | High-speed parallel robot with four degrees of freedom |
| CN1769005A (en) * | 2005-11-23 | 2006-05-10 | 天津理工大学 | Large-workspace three-dimensional moving parallel robot mechansim |
| US20100313695A1 (en) * | 2007-10-31 | 2010-12-16 | Michael Valasek | Device for a body's spherical motion control |
Non-Patent Citations (1)
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029119A (en) * | 2012-12-04 | 2013-04-10 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN103029119B (en) * | 2012-12-04 | 2015-04-01 | 天津大学 | Three-RDOF (rotational degree of freedom) parallel mechanism |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN108527323A (en) * | 2018-04-12 | 2018-09-14 | 南京理工大学 | A kind of sphere parallel mechanism of big revolution range |
| CN108527323B (en) * | 2018-04-12 | 2021-04-16 | 南京理工大学 | Spherical parallel mechanism with large rotation range |
| CN108858156A (en) * | 2018-08-31 | 2018-11-23 | 常州大学 | A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling |
| CN109129435A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of two translation-rotary parallel connection mechanism of zero degree of coupling |
| CN109129437A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of degree of coupling is 1 but has three translation-parallel-operation platforms of parsing position forecast |
| CN109129436A (en) * | 2018-10-16 | 2019-01-04 | 常州大学 | A kind of parallel kinematic device containing hunt effect of Three Degree Of Freedom and zero degree of coupling |
| CN109304703A (en) * | 2018-10-16 | 2019-02-05 | 常州大学 | A kind of three translation parallel mechanism manipulator of zero degree of coupling |
| CN112050711A (en) * | 2019-06-07 | 2020-12-08 | 卡尔蔡司工业测量技术有限公司 | Rotary probe for a measuring device and measuring device |
| CN114161404A (en) * | 2021-11-09 | 2022-03-11 | 绍兴文理学院 | 6-rod curved rod tensioning integral robot with solar power supply sliding block |
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Application publication date: 20111130 |