CN103056871A - Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp - Google Patents
Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp Download PDFInfo
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- CN103056871A CN103056871A CN2012105768121A CN201210576812A CN103056871A CN 103056871 A CN103056871 A CN 103056871A CN 2012105768121 A CN2012105768121 A CN 2012105768121A CN 201210576812 A CN201210576812 A CN 201210576812A CN 103056871 A CN103056871 A CN 103056871A
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- closed loop
- connecting rod
- revolute pair
- hooke
- loop subchain
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Abstract
The invention relates to a double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp. The double closed loop subchain parallel connection mechanism comprises a first five-rod mechanism closed loop subchain, a second five-rod mechanism closed loop subchain and an execution mechanism subchain. The first five-rod mechanism closed loop subchain can control a first hooke joint to move, the second five-rod mechanism closed loop subchain controls a second hooke joint to move, and movement of the first hooke joint and the second hooke joint can achieve space movement of a movable platform. The mechanism utilizes two closed loop subchains to achieve space movement of the two hooke joints, achieves space multi degree-of-freedom movement of the movable platform and has the advantages of being compact in structure, flexible, free, simple to control, small in moving inertia and good in dynamic performance.
Description
Technical field
The present invention relates to the robot field, particularly a kind of space multiple freedom parallel mechanism that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, such as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, and the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can affect the exercise performance of parallel institution on the side chain.
Summary of the invention
The object of the present invention is to provide a kind of kinematic pair to be combined as the two closed loop subchain parallel institutions of rprrr-prrrp, the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The present invention achieves the above object by the following technical programs: a kind of kinematic pair is combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair, and the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
Described the second five-rod closed loop subchain is by the first slide block, the 5th connecting rod, the 6th connecting rod, the second slide block and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the first slide block one end is connected on the second column by the second moving sets, the first slide block other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 8th revolute pair, the 6th connecting rod other end is connected with the second slide block by the 9th revolute pair, the second slide block other end is connected with the second column by three moving sets, and the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the 5th connecting rod by the 8th revolute pair, the second Hooke's hinge is connected with moving platform by the 11 revolute pair, and the first Hooke's hinge, the second Hooke's hinge can be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present invention is:
1, by the motion of closed loop subchain controlling organization, mechanism's side chain is connected on the frame by rotatable column;
2, rod connection structure is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by at moving platform the end effector of various different purposes being installed, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the first structural representation that a kind of kinematic pair of the present invention is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 2 is the second structural representation that a kind of kinematic pair of the present invention is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 3 is the 3rd structural representation that a kind of kinematic pair of the present invention is combined as the two closed loop subchain parallel institutions of rprrr-prrrp.
Fig. 4 is the first work schematic diagram of a kind of kinematic pair of the present invention two closed loop subchain parallel institutions of being combined as rprrr-prrrp.
Fig. 5 is the second work schematic diagram of a kind of kinematic pair of the present invention two closed loop subchain parallel institutions of being combined as rprrr-prrrp.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of kinematic pair are combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) and the first column (3) are formed by connecting, the first column (3) links to each other with frame (1) by the first revolute pair (2), first connecting rod (4) one ends are connected on the first column (3) by the second revolute pair (5), first connecting rod (4) other end is connected with second connecting rod (7) by the first moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the 3rd revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the 4th revolute pair (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 5th revolute pair (11), and the motion of the first five-rod closed loop subchain (rprrr) can be controlled the first Hooke's hinge (24) in spatial movement.
Described the second five-rod closed loop subchain is by the first slide block (15), the 5th connecting rod (13), the 6th connecting rod (22), the second slide block (18) and the second column (19) are formed by connecting, the second column (19) links to each other with frame (1) by the 6th revolute pair (20), the first slide block (15) one ends are connected on the second column (19) by the second moving sets (16), the first slide block (15) other end is connected with the 5th connecting rod (13) by the 7th revolute pair (14), the 5th connecting rod (13) other end is connected with the 6th connecting rod (22) by the 8th revolute pair (26), the 6th connecting rod (22) other end is connected with the second slide block (18) by the 9th revolute pair (21), the second slide block (18) other end is connected with the second column (19) by three moving sets (17), and the motion of the second five-rod closed loop subchain (prrrp) can be controlled the second Hooke's hinge (23) in spatial movement.
Described executing agency subchain is by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) is formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the 3rd revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the tenth revolute pair (28), the second Hooke's hinge (23) is connected with the 5th connecting rod (13) by the 8th revolute pair (26), and the second Hooke's hinge (23) is connected with moving platform (12) by the 11 revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain (rprrr) itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain (prrrp) itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. a kinematic pair is combined as the two closed loop subchain parallel institutions of rprrr-prrrp, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
Described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair
Described the second five-rod closed loop subchain is by the first slide block, the 5th connecting rod, the 6th connecting rod, the second slide block and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the first slide block one end is connected on the second column by the second moving sets, the first slide block other end is connected with the 5th connecting rod by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 8th revolute pair, the 6th connecting rod other end is connected with the second slide block by the 9th revolute pair, the second slide block other end is connected with the second column by three moving sets
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the tenth revolute pair, the second Hooke's hinge is connected with the 5th connecting rod by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 11 revolute pair.
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| CN2012105768121A CN103056871A (en) | 2012-12-27 | 2012-12-27 | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
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| CN2012105768121A CN103056871A (en) | 2012-12-27 | 2012-12-27 | Double closed loop subchain parallel connection mechanism with kinematic pair combination as rprrr-prrrp |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355737A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multiple degrees of freedom guiding mechanism with the translation mechanism |
Citations (6)
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| JPH11163092A (en) * | 1997-11-21 | 1999-06-18 | Mitsui Eng & Shipbuild Co Ltd | Linear moving system for work |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| WO2006106165A1 (en) * | 2005-04-04 | 2006-10-12 | Fundacion Fatronik | Unlimited-rotation parallel robot with four degrees of freedom |
| CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
| CN101812716A (en) * | 2010-04-27 | 2010-08-25 | 江苏长虹涂装机械有限公司 | Automobile coating parallel mechanism conveyer and application thereof |
| CN203003877U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
-
2012
- 2012-12-27 CN CN2012105768121A patent/CN103056871A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| JPH11163092A (en) * | 1997-11-21 | 1999-06-18 | Mitsui Eng & Shipbuild Co Ltd | Linear moving system for work |
| WO2006106165A1 (en) * | 2005-04-04 | 2006-10-12 | Fundacion Fatronik | Unlimited-rotation parallel robot with four degrees of freedom |
| CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
| CN101812716A (en) * | 2010-04-27 | 2010-08-25 | 江苏长虹涂装机械有限公司 | Automobile coating parallel mechanism conveyer and application thereof |
| CN203003877U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110355737A (en) * | 2018-04-10 | 2019-10-22 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multiple degrees of freedom guiding mechanism with the translation mechanism |
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Application publication date: 20130424 |