CN102476294A - Special three-degree-of-freedom two-translation and one-rotation parallel mechanism - Google Patents
Special three-degree-of-freedom two-translation and one-rotation parallel mechanism Download PDFInfo
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- CN102476294A CN102476294A CN2010105533216A CN201010553321A CN102476294A CN 102476294 A CN102476294 A CN 102476294A CN 2010105533216 A CN2010105533216 A CN 2010105533216A CN 201010553321 A CN201010553321 A CN 201010553321A CN 102476294 A CN102476294 A CN 102476294A
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Abstract
The invention discloses a special three-degree-of-freedom two-translation and one-rotation parallel mechanism, which consists of a movable platform, a stationary platform, a first generalized branch and a second generalized branch, wherein the first generalized branch is formed by connecting a movable pair, a parallelogram-shaped loop which is vertical to the movable pair and consists of four rotary pairs, and two rotary pairs of which axes are superposed with the two opposite sides of a parallelogram respectively in series; the second generalized branch is formed by connecting a six-rod planar loop consisting of four rotary pairs and two movable pairs, and a vertical rotary pair in series; end part members of the two generalized branches are fixedly connected to the movable and stationary platforms respectively; the two rotary pairs positioned on the movable platform are arranged in parallel; three movable pairs positioned on the stationary platform are arranged in parallel; and the movable platform can be controlled to realize two-dimensional translation and one-dimensional rotary output by controlling the motion of the three movable pairs on the stationary platform. The mechanism has the advantages of simple structure, partial control decoupling property, easiness for precision processing, and the like.
Description
Technical field
The present invention relates to the executing agency of a kind of lathe and robot etc., specifically, is for parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot etc. a kind of special-purpose Three Degree Of Freedom two translation-rotary parallel connection mechanisms to be provided.
Background technology
The parallel-connection structure Digit Control Machine Tool is meant with the parallel institution to be the lathe of executing agency, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.Developed the model machine of this lathe at present in states such as the U.S., Japan, the parallel institution that is adopted is traditional Stewart (Stelvart) mechanism.The mechanism that position and the attitude of this control cutter in the space changes mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.There are 6 connecting rods in this mechanism, but the adjustable length of connecting rod through controlling the length of 6 connecting rods, changes the pose of cutter in the space.
But this type mechanism has a lot of guardian techniques to fail to solve fully.As, (1) forward kinematics solution difficulty; (2) the motion platform pose is defeated people's close coupling, is unfavorable for control; (3) mechanism is complicated, makes its working space less; (4) make the secondary difficulty of high-precise ball etc.
As far as virtual axis machine, many occasions need provide the free degree greater than 3 and less than 6 simpler parallel institution.For example, to 4 axis linkage numerical control lathes, can provide 3DOF two translations to can be used for space curved surface (like the processing of mould, impeller etc., l once rotating parallel connection platform mechanism.Therefore, the development and the practicability of virtual numerical control lathe, robot etc. need create the new architecture that is superior to existing mechanism.
Summary of the invention
The object of the invention provides a kind of special-purpose Three Degree Of Freedom two translation-rotary parallel connection mechanisms; This mechanism has following characteristics: (1) mechanism workbench has two translations, one rotational motion output; And non-desired motion is output as constant: there was the constraint loop in (2) mechanism, and its good rigidly, structure are simpler; (3) forward kinematics solution is simple, and exists part to control decoupling; (4) when mechanism of the present invention is made up of revolute pair, moving sets and universal joint, be easy to Precision Machining, be beneficial to the kinematic accuracy that improves parallel institution.The present invention is that virtual axis machine, robot, fine motion operator etc. provide new architecture, for its exploitation and practicability provide possibility.
Description of drawings
Through accompanying drawing and instance technology of the present invention is given to explain further below.
Accompanying drawing 1 is a structural representation of the present invention.
Two revolute pairs of connecting on parallelogram loop in the accompanying drawing 1 and the opposite side two member lines of centres thereof can be used 4 spherical pair S
1, S
2, S
3, S
4The parallelogram of forming substitutes, and is as shown in Figure 2.
The specific embodiment
Structure also can be one embodiment of the present of invention shown in the accompanying drawing l.It is made up of moving platform 1, silent flatform 2 and structure two broad sense branch roads inequality.Article one, broad sense is propped up route moving sets P
Ll, perpendicular to 4 revolute pair R of this moving sets
91, R
92, R
93, R
94The two revolute pair R that parallelogram loop of forming and axis overlap with the quadrangle opposite side respectively
10, wind is in series.Second broad sense is propped up 4 revolute pair R of route
2, R
3,R
4, R
5With 2 moving sets P
l, P
66 bar planar loops and an orthogonal revolute pair R of constituting
7Be in series.Two broad sense branch road end members connect firmly respectively on dynamic and static platform, are positioned at two revolute pair R on the moving platform
7, R
8Be the configuration that is parallel to each other, be positioned at 3 moving sets P on the silent flatform
l, P
6, P
LlAlso be the configuration that is parallel to each other.Two revolute pairs of connecting on parallelogram loop in the accompanying drawing 1 and the opposite side two member lines of centres thereof can be used 4 spherical pair S
l, S
2, S
3, S
4The parallelogram of forming substitutes, and is as shown in Figure 2.
Last three of control silent flatform l drives joint P
l, P
6, P
LlMotion, rotate output with regard to controllable brake Platform Implementation two translations and, the structural design of this kind parallel institution and drive controlling etc. all can be carried out design and installation by conventional mechanical & electrical technology.This parallel institution promptly can be as virtual-axis nc machine tool, the machine of parallel-connection structure like mounting cutter on moving platform, operator or probe
The executing agency of device people or imaginary axis coordinate measuring machine.
Claims (1)
1. special-purpose Three Degree Of Freedom two translation-rotary parallel connection mechanisms; Be made up of moving platform, silent flatform, article one broad sense branch road and second broad sense branch road, it is characterized in that article one broad sense props up moving sets of route, is in series with two revolute pairs that two opposite side of parallelogram overlap respectively perpendicular to the parallelogram loop and the axis be made up of four revolute pairs of this moving sets: six bar planar loops and an orthogonal revolute pair that second broad sense is propped up four revolute pairs of route and two moving sets are in series; Two broad sense branch road end members connect firmly respectively on dynamic and static platform, and two revolute pairs that are positioned on the moving platform are the configuration that is parallel to each other, and three moving sets that are positioned on the silent flatform also are the configuration that is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105533216A CN102476294A (en) | 2010-11-22 | 2010-11-22 | Special three-degree-of-freedom two-translation and one-rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105533216A CN102476294A (en) | 2010-11-22 | 2010-11-22 | Special three-degree-of-freedom two-translation and one-rotation parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102476294A true CN102476294A (en) | 2012-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105533216A Pending CN102476294A (en) | 2010-11-22 | 2010-11-22 | Special three-degree-of-freedom two-translation and one-rotation parallel mechanism |
Country Status (1)
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| CN (1) | CN102476294A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN103612255A (en) * | 2013-11-25 | 2014-03-05 | 浙江理工大学 | Kinematic pair capable of eliminating accompanying displacement of mechanism |
| CN105689260A (en) * | 2016-04-26 | 2016-06-22 | 吴明洋 | Vibratory screening device |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
-
2010
- 2010-11-22 CN CN2010105533216A patent/CN102476294A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922310A (en) * | 2012-11-01 | 2013-02-13 | 北京创航科技发展有限公司 | 2T1R three-degree-of-freedom spatial parallel mechanism |
| CN103612255A (en) * | 2013-11-25 | 2014-03-05 | 浙江理工大学 | Kinematic pair capable of eliminating accompanying displacement of mechanism |
| CN105689260A (en) * | 2016-04-26 | 2016-06-22 | 吴明洋 | Vibratory screening device |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
| CN109176471B (en) * | 2018-09-30 | 2023-10-24 | 昆明理工大学 | Four-degree-of-freedom parallel mechanism |
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Application publication date: 20120530 |