CN103465254B - Output-parallel telecontrol equipment is rotated in a kind of single input three translation three - Google Patents

Output-parallel telecontrol equipment is rotated in a kind of single input three translation three Download PDF

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Publication number
CN103465254B
CN103465254B CN201310415851.8A CN201310415851A CN103465254B CN 103465254 B CN103465254 B CN 103465254B CN 201310415851 A CN201310415851 A CN 201310415851A CN 103465254 B CN103465254 B CN 103465254B
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connecting rod
moving platform
silent flatform
output
parallel
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CN103465254A (en
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沈惠平
黄涛
邓嘉鸣
李菊
孟庆梅
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Chongqing Yiru Electronic Co ltd
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Changzhou University
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Abstract

Output-parallel device is rotated in a kind of single input three translation three, and comprise moving platform (1), silent flatform (0) and connect four side chains of moving platform (1), silent flatform (0), side chain I is S-R structure, and namely ball pair one (S is used at the two ends of connecting rod one (2) respectively 12), revolute pair one (R 11) be connected with moving platform (1), silent flatform (0); The structure of side chain II, III is identical, is S-S type, is namely connecting rod two ends and is connected with moving platform (1), silent flatform (0) by ball pair respectively; The structure of side chain IV is S-R-R type, i.e. one end ball pair two (S of connecting rod two (5) 43) be connected with moving platform (1), other end revolute pair two (R 42) connect one end of connecting rod three (6), and the other end of connecting rod three (6) revolute pair three (R 41) be connected with silent flatform (0).When connecting rod three (6) rotates, moving platform (1) produces three translations three and rotates output, wherein only has one dimension to be independently, and all the other five dimensions are derivative.

Description

Output-parallel telecontrol equipment is rotated in a kind of single input three translation three
Technical field
The present invention relates to a kind of single input three translation three and rotate output-parallel telecontrol equipment, specifically, is that the equipment for realizing requisite space multi-dimensional movement provides a class to input the new architecture of multi output less.
Background technology
(R) (being designated as: 3R3T) output-parallel motion is rotated for three translations (T) three, have and much study report, example: 6-SPS parallel institution is most typical 6DOF parallel kinematic device, has been applied to motion simulator, amusement platform, parallel kinematics machine tool etc.But these 3R3T parallel institutions are six input queued switches, and complicated integral structure; Meanwhile, industrially simple, the few input of some structures is sometimes needed but still the parallel kinematic device that can export that three translations three rotate.Therefore, need invention to provide such class to input three translations three less and rotate the parallel kinematic device exported.
Summary of the invention
The present invention is for overcoming above-mentioned shortcoming, a kind of three translations three of single input are provided to rotate output-parallel telecontrol equipment, its technical scheme is: output-parallel telecontrol equipment is rotated in a kind of single input three translation three, comprise moving platform (1), silent flatform (0) and connect four side chains I, II, III, IV of moving platform (1), silent flatform (0), side chain I is S-R structure, and namely ball pair one (S is used at the two ends of connecting rod one (2) respectively 12), revolute pair one (R 11) be connected with moving platform (1), silent flatform (0); The structure of side chain II, III is all S-S type mutually, is namely connecting rod two ends and is connected with moving platform (1), silent flatform (0) by ball pair respectively; Side chain IV structure is S-R-R type, i.e. one end ball pair two (S of connecting rod two (5) 43) be connected with moving platform (1), other end revolute pair two (R 42) connect one end of connecting rod three (6), and the other end of connecting rod three (6) revolute pair three (R 41) be connected with silent flatform (0), here, S represents that ball is secondary, and R represents revolute pair.This parallel kinematic device structure is simple, manufacture easy to maintenance, good energy saving property.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention.
Detailed description of the invention
Give to illustrate further to technology of the present invention below by drawings and Examples.
Accompanying drawing 1 is the structural representation of a kind of embodiment of the present invention, its technical scheme is: output-parallel telecontrol equipment is rotated in a kind of single input three translation three, comprise moving platform 1, silent flatform 0 and connect four side chains of moving platform 1, silent flatform 0, side chain I is S-R structure, and namely the secondary S of ball is used at the two ends of connecting rod 1 respectively 12, revolute pair one R 11be connected with moving platform 1, silent flatform 0; The structure of side chain II, III is identical, and be S-S type, namely one end of connecting rod 3,4 uses ball secondary S respectively 22, S 32be connected with moving platform 1, their other end uses ball secondary S respectively 21, S 31be connected with silent flatform 0; Side chain IV structure is S-R-R type, i.e. one end secondary two S of ball of connecting rod 25 43be connected with moving platform 1, other end revolute pair two R 42connect one end of connecting rod 36, and the other end of connecting rod 36 revolute pair three R 41be connected with silent flatform 0.Here, S represents that ball is secondary, and R represents revolute pair.
When connecting rod 36 rotates, moving platform 1 produces three translations three and rotates output, wherein only has one dimension to be independently, and all the other five dimensions are derivative.
This kind of parallel kinematic device can be used for motion simulator, amusement platform, multi-dimensional movement blender, multi-dimensional vibration sieve etc., have structure simple, manufacture the advantages such as easy to maintenance, good energy saving property.

Claims (1)

1. output-parallel device is rotated in a single input three translation three, comprise moving platform (1), silent flatform (0) and connect four side chains of moving platform (1), silent flatform (0), it is characterized in that side chain I is for S-R structure, namely ball pair one (S is used at the two ends of connecting rod one (2) respectively 12), revolute pair one (R 11) be connected with moving platform (1), silent flatform (0); The structure of side chain II, III is identical, is S-S type, is namely connecting rod two ends and is connected with moving platform (1), silent flatform (0) by ball pair respectively; The structure of side chain IV is S-R-R type, i.e. one end ball pair two (S of connecting rod two (5) 43) be connected with moving platform (1), other end revolute pair two (R 42) connect one end of connecting rod three (6), and the other end of connecting rod three (6) revolute pair three (R 41) be connected with silent flatform (0), here, S represents that ball is secondary, and R represents revolute pair.
CN201310415851.8A 2013-09-13 2013-09-13 Output-parallel telecontrol equipment is rotated in a kind of single input three translation three Active CN103465254B (en)

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CN201310415851.8A CN103465254B (en) 2013-09-13 2013-09-13 Output-parallel telecontrol equipment is rotated in a kind of single input three translation three

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105157944A (en) * 2015-09-30 2015-12-16 扬中中科维康智能科技有限公司 Three-translation one-rotation multi-dimensional vibration platform

Citations (5)

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Publication number Priority date Publication date Assignee Title
CN101049698A (en) * 2007-05-14 2007-10-10 江苏工业学院 Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices
CN101143445A (en) * 2007-09-26 2008-03-19 江苏工业学院 Single freedom three-dimension spatial motion mechanism
EP2384263B1 (en) * 2009-01-30 2012-08-22 Elau GmbH Delta robot for increased dynamic, hygiene and collision protection requirements
CN102785241A (en) * 2012-08-23 2012-11-21 常州大学 Single degree-of-freedom three-dimensional motion device
CN102806557A (en) * 2012-08-23 2012-12-05 常州大学 Single-degree-of-freedom three-dimensional movement mechanism

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Publication number Priority date Publication date Assignee Title
JP2004017266A (en) * 2002-06-20 2004-01-22 Koyo Seiko Co Ltd Parallel link manipulator
WO2013014720A1 (en) * 2011-07-22 2013-01-31 株式会社安川電機 Parallel link robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101049698A (en) * 2007-05-14 2007-10-10 江苏工业学院 Spatial mechanism in three degrees of freedom in use for parallel-connected moving devices
CN101143445A (en) * 2007-09-26 2008-03-19 江苏工业学院 Single freedom three-dimension spatial motion mechanism
EP2384263B1 (en) * 2009-01-30 2012-08-22 Elau GmbH Delta robot for increased dynamic, hygiene and collision protection requirements
CN102785241A (en) * 2012-08-23 2012-11-21 常州大学 Single degree-of-freedom three-dimensional motion device
CN102806557A (en) * 2012-08-23 2012-12-05 常州大学 Single-degree-of-freedom three-dimensional movement mechanism

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