CN102581844A - All-analytic decoupling parallel operation platform with six degrees of freedom - Google Patents
All-analytic decoupling parallel operation platform with six degrees of freedom Download PDFInfo
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- CN102581844A CN102581844A CN2012100600567A CN201210060056A CN102581844A CN 102581844 A CN102581844 A CN 102581844A CN 2012100600567 A CN2012100600567 A CN 2012100600567A CN 201210060056 A CN201210060056 A CN 201210060056A CN 102581844 A CN102581844 A CN 102581844A
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Abstract
An all-analytic decoupling parallel operation platform with six degrees of freedom comprises a movable platform (1), a fixed platform (0) and three branched chains connected between the movable platform (1) and the fixed platform (0). The first branched chain is an S-P-S type branched chain and consists of a first ball pair (S31), a first moving pair (P32) and a second ball pair (S33), the first ball pair (S31) and the second ball pair (S33) are respectively arranged on the fixed platform (0) and the movable platform (1), the second branched chain is a first composite branched chain consisting of two S-P-S type branched chains, two ball pairs of the first composite branched chain are coincident on a double ball pair (S130) on the movable platform (1), a third ball pair (S11) and a fourth ball pair (S15) on the fixed platform (0) cannot be coincident, the third branched chain consists of three S-P-S type branched chains, three ball pairs of the second component branched chain are coincident on a triple ball pair (S230) on the movable platform (1), a fifth ball pair (S26), a sixth ball pair (S21) and a seventh ball pair (S25) on the fixed platform (0) are not located on the same straight line and cannot be coincident, and further, the second ball pair (S33), the double ball pair (S130) and the triple ball pair (S230) on the movable platform (1) are not positioned on the same straight line. Three-dimensional translation and three-dimensional movement of the movable platform can be outputted by means of controlling six moving pairs on all the branched chains.
Description
Technical field
The present invention relates to the executing agency of a kind of robot and intelligence equipment, specifically analyse partly decoupled parallel operation platform for equipments such as robot and parallel machine provide a kind of novel six degree of freedom complete solution.
Background technology
Parallel institution has obtained extensive use in fields such as robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, microoperation manipulators, and 6DOF Stewart parallel machine has been considered to the revolution of machine tool structure since the twentieth century; The imaginary axis coordinate measuring machine of parallel-connection structure (contain and measure pen machine); It also is a major progress on the scientific measurement appearance in recent years; It has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as certainty of measurement and efficiency of measurement are greatly improved.At present, for 6-SPS and 6-RSS mechanism, the spatial pose of its end effector is more flexible, and carries big, good rigidity, but the kinematics solution of its end effector is very difficult, can't obtain the normal solution analytic solutions, and therefore, range of application is affected.Choosing etc. of topology design and the driving auxiliary of topology design (side chain type, compound mode) and the side chain that the whole premium properties of parallel institution depends on the side chain of its composition between dynamic and static platform.
Therefore; Decoupling good (full decoupling or partly decoupled), the normal solution analytic solutions that are easy to get, working space are big and be difficult for interfering, make assembling is easy to 6-dof parallel institution type; Be one of difficult problem that challenge is the strongest in the for a long time unresolved parallel institution research field of educational circles of mechanism, need create the new architecture that performance is superior to existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art; Provide a kind of new six degree of freedom complete solution to analyse the decoupled parallel operating platform; Its technical scheme is: it comprises moving platform (1), silent flatform (0) and is connected in three side chains between moving platform (1), the silent flatform (0); Article one, side chain is a S-P-S type side chain, and it is by the secondary (S of ball
31), moving sets (P
32), the secondary two (S of ball
33) be composed in series the secondary (S of ball
31) and the secondary two (S of ball
33) respectively on silent flatform (0), moving platform (1); The second side chain is for being made up of two S-P-S type side chains and the secondary first compound side chain that overlaps of two balls being arranged, and the 3rd side chain is the second compound side chain of being formed and being had three balls pairs to overlap by three S-P-S type side chains.
Two ball pairs of the first compound side chain coincide with the secondary (S of two heavy ball on the moving platform (1)
13 0) locate the secondary three (S of the ball on silent flatform (0)
11), the secondary four (S of ball
15) can not overlap; Three ball pairs of the second compound side chain coincide with the secondary (S of three heavy ball on the moving platform (1)
23 0) locate the secondary five (S of the ball on silent flatform (0)
26), the secondary six (S of ball
21), the secondary seven (S of ball
25) can not point-blank can not overlap; Further, the secondary two (S of a ball that has respectively on the moving platform (1)
33), the secondary (S of two heavy ball
13 0), the secondary (S of three heavy ball
23 0) not point-blank.
Further, the secondary (S of the ball on the silent flatform (0)
31), the secondary three (S of ball
11), the secondary four (S of ball
15), the secondary five (S of ball
26), the secondary six (S of ball
21), the secondary seven (S of ball
25) all available binary universal joint substitutes.
Control six moving sets on the above-mentioned side chain, can obtain the output of moving platform D translation and Three dimensional rotation.This mechanism is full decoupled, and is prone to try to achieve the forward kinematics solution analytic solutions.
Description of drawings
Accompanying drawing 1 is one embodiment of the present of invention structural representation.
The specific embodiment
Through accompanying drawing and instance technology of the present invention is given to explain further below.
Accompanying drawing 1 is depicted as one embodiment of the present of invention, and a kind of six degree of freedom complete solution is analysed the decoupled parallel operating platform, comprises moving platform 1, silent flatform 0 and is connected in three side chains between moving platform 1, the silent flatform 0, and article one side chain is a S-P-S type side chain, and it is by the secondary S of ball
31, moving sets one P
32, secondary two S of ball
33Form the secondary S of ball
31With secondary two S of ball
33Respectively on silent flatform 0, moving platform 1; The second side chain is for being made up of two S-P-S type side chains and the secondary first compound side chain that overlaps of two balls being arranged, and the 3rd side chain is the second compound side chain of being formed and being had three balls pairs to overlap by three S-P-S type side chains.
Two ball pairs of the first compound side chain coincide with two secondary S of heavy ball on the moving platform 1
13 0The place, the secondary Three S's of the ball on silent flatform 0
11, secondary four S of ball
15Can not overlap; Three ball pairs of the second compound side chain coincide with three secondary S of heavy ball on the moving platform 1
23 0The place, secondary five S of the ball on silent flatform 0
26, secondary six S of ball
21, secondary seven S of ball
25Can not point-blank can not overlap; Further, secondary two S of a ball that has respectively on the moving platform 1
33, two a secondary S of heavy ball
13 0, three a secondary S of heavy ball
23 0Not not point-blank.
Six moving sets on the control side chain can obtain the output of moving platform D translation and Three dimensional rotation.This mechanism's partly decoupled, but kinematics positive and negative separate to be to analyse separate, control easily, can be used as become attitude flexibly, the executing agency of carrying the intelligence equipments such as New Type Parallel Machine Tool or robot of big, good rigidity.
Claims (3)
1. a six degree of freedom complete solution is analysed the decoupled parallel operating platform, comprises moving platform (1), silent flatform (0) and is connected in three side chains between moving platform (1), the silent flatform (0), it is characterized in that article one side chain is a S-P-S type side chain, and it is by the secondary (S of ball
31), moving sets (P
32), the secondary two (S of ball
33) be composed in series the secondary (S of ball
31) and the secondary two (S of ball
33) respectively on silent flatform (0), moving platform (1); The second side chain is for being made up of two S-P-S type side chains and the secondary first compound side chain that overlaps of two balls being arranged, and the 3rd side chain is the second compound side chain of being formed and being had three balls pairs to overlap by three S-P-S type side chains.
2. analyse the decoupled parallel operating platform according to the described six degree of freedom complete solution of claim 1, it is characterized in that two ball pairs of the first compound side chain coincide with the secondary (S of two heavy ball on the moving platform (1)
13 0) locate the secondary three (S of the ball on silent flatform (0)
11), the secondary four (S of ball
15) can not overlap; Three ball pairs of the second compound side chain coincide with the secondary (S of three heavy ball on the moving platform (1)
23 0) locate the secondary five (S of the ball on silent flatform (0)
26), the secondary six (S of ball
21), the secondary seven (S of ball
25) can not point-blank can not overlap; Further, the secondary two (S of a ball that has respectively on the moving platform (1)
33), the secondary (S of two heavy ball
13 0), the secondary (S of three heavy ball
23 0) not point-blank.
3. analyse the decoupled parallel operating platform according to claim 1 or 2 described six degree of freedom complete solutions, it is characterized in that the secondary (S of ball on the silent flatform (0)
31), the secondary three (S of ball
11), the secondary four (S of ball
15), the secondary five (S of ball
26), the secondary six (S of ball
21), the secondary seven (S of ball
25) all available binary universal joint substitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100600567A CN102581844A (en) | 2012-03-09 | 2012-03-09 | All-analytic decoupling parallel operation platform with six degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100600567A CN102581844A (en) | 2012-03-09 | 2012-03-09 | All-analytic decoupling parallel operation platform with six degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102581844A true CN102581844A (en) | 2012-07-18 |
Family
ID=46471362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100600567A Pending CN102581844A (en) | 2012-03-09 | 2012-03-09 | All-analytic decoupling parallel operation platform with six degrees of freedom |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN1528561A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN1528569A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
-
2012
- 2012-03-09 CN CN2012100600567A patent/CN102581844A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN1528561A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Two-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN1528569A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN102962838B (en) * | 2012-11-15 | 2015-01-14 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120718 |