CN103624559A - Two-rotating complete decoupling parallel mechanism - Google Patents
Two-rotating complete decoupling parallel mechanism Download PDFInfo
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- CN103624559A CN103624559A CN201310600845.XA CN201310600845A CN103624559A CN 103624559 A CN103624559 A CN 103624559A CN 201310600845 A CN201310600845 A CN 201310600845A CN 103624559 A CN103624559 A CN 103624559A
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- branch
- connecting rod
- revolute pair
- axis
- fixed platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
A two-rotating complete decoupling parallel mechanism mainly comprises a movable platform, a fixed platform and three branches connected with the movable platform and the fixed platform. The structure of the first branch and the structure of the second branch are identical, the first branch and the second branch are respectively formed by four rotating pairs and three connecting rods, one end of each first connecting rod of each branch is connected with the fixed platform through the corresponding first rotating pair, the other end of each first connecting rod is connected with one end of the corresponding second connecting rod through the corresponding second rotating pair, the other end of each second connecting rod is connected with one end of the corresponding third connecting rod through the corresponding third rotating pair, and the other end of each third connecting rod is connected with the movable platform through the corresponding fourth rotating pair; the third branch is composed of two rotating pairs and one moving pair, the third branch is respectively connected with the movable platform and the fixed platform through the fifth rotating pair and the sixth rotating pair, and the axis of the fifth rotating pair and the axis of the sixth rotating pair are vertical to each other. The two-rotating complete decoupling parallel mechanism has the advantages of being simple in structure, easy to machine, assemble and control and good in dynamic performance, achieving motion decoupling and the like.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
Parallel robot mechanism has space multiple degrees of freedom and encircles closed chain more, compares with serial mechanism, and parallel institution has the features such as rigidity is large, bearing capacity is large, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor aspect.
The free degree of parallel institution changes not etc. from 2～6, at present, to the research of 6DOF parallel institution comparatively comprehensively and deeply, also application comparatively extensive in industry.But lower-mobility parallel institution is simple in structure, manufacture and control cost lower, therefore in the situation that meeting expection job requirement, lower-mobility parallel institution has its unique advantage.
Close coupling is the outstanding feature of parallel institution, parallel institution is had be different from the special nature of serial mechanism, such as bearing capacity is strong, cumulative errors are little, rigidity is large etc.; Also close coupling makes the exploitation etc. of Configuration Design, analytical calculation, mechanism's assembling and the control system of parallel institution have very large difficulty just, has affected to a certain extent its range of application and result of use.If parallel institution can be realized the full decoupled or partly decoupled of motion, its rigidity and bearing capacity etc. are still better than serial mechanism, and mechanism's theory analysis is more succinct, working space is larger, isotropism is better, it is convenient to assemble, control easily, kinematic accuracy that can Da Genggao.
The utility model patent " one group of two rotating decoupling parallel robot mechanism " (CN 101058186A) that State Intellectual Property Office is authorized, this mechanism comprises the San Tiao branch of silent flatform, moving platform and the dynamic and static platform of connection, the first branch has a kinematic pair, the second branch has three kinematic pairs, first and second branch forms planimetric arm mechanism or plane hinge mechanism, and the 3rd branches into the side chain with space six-freedom degree.Structure is more complicated, and manufacturing cost is high.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, be easy to process and assemble, mobile decoupling, easily control, dynamic property is good two rotates full decoupled parallel institution.The present invention mainly comprises the San Ge branch of these two platforms of moving platform, fixed platform and connection.Wherein the structure of the Yi He of branch branch two is identical, by four revolute pairs and three connecting rods, form, in Gai Liangge branch, one end of connecting rod one is connected with fixed platform by revolute pair one, the other end of this connecting rod one is connected with one end of connecting rod two by revolute pair two, the other end of this connecting rod two is connected with one end of connecting rod three by revolute pair three, the other end of this connecting rod three is connected with moving platform by revolute pair four, the axis of the revolute pair one being connected with fixed platform in this branch is perpendicular to the axis of other three revolute pairs, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform, branch three is comprised of two revolute pairs and a moving sets, this branch is connected respectively with fixed platform with moving platform with revolute pair six by two vertical revolute pairs five of axis, the axis of the revolute pair five being wherein connected with moving platform is parallel to each other with the axis of the revolute pair four being connected with moving platform in branch one, two, and the axis conllinear of the revolute pair one being connected with fixed platform in branch one, two is also parallel to the axis of the revolute pair six that branch three is connected with fixed platform.In described branch one, two, be connected with fixed platform the available Hooke's hinge of revolute pair one that is perpendicular to one another of two axis substitute.
The present invention compared with prior art has the following advantages:
1, simple in structure, process and assemble performance is good.
2, have two rotational freedoms, and mechanism's Jacobian matrix is diagonal matrix, mobile decoupling, therefore the flexible performance of moving platform is high, easily controls, and demarcates simple.
Accompanying drawing explanation
Fig. 1 is the perspective view of the embodiment of the present invention 1.
Fig. 2 is the perspective view of the embodiment of the present invention 2.
The specific embodiment
At a kind of two shown in Fig. 1, rotate in full decoupled parallel institution schematic diagram, branch 1 is identical with the structure of branch 2 15, in Gai Liangge branch, one end of connecting rod 1 is connected with fixed platform 14 by revolute pair 1, the other end of this connecting rod 1 is connected with one end of connecting rod 25 by revolute pair 24, the other end of this connecting rod 25 is connected with one end of connecting rod 37 by revolute pair 36, the other end of this connecting rod 37 is connected with moving platform 9 by revolute pair 48, the axis of the revolute pair 1 being connected with fixed platform in this branch is perpendicular to the axis of other three revolute pairs, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform, moving sets 11 two ends difference connection of rotatings pairs 5 10, revolute pair 6 12 in branch 3 13, and the revolute pair five being perpendicular to one another by two axis is connected respectively with fixed platform with moving platform with revolute pair six, in branch three, the axis of the revolute pair five connected with moving platform is parallel with the revolute pair four axistyle of branch one, two, the axis conllinear of the revolute pair one being connected with fixed platform in branch one, two is also parallel to the axis of the revolute pair six that branch three is connected with fixed platform.
At a kind of two shown in Fig. 2, rotate in full decoupled parallel institution schematic diagram, branch 1 is identical with the structure of branch 2 15, in Gai Liangge branch, one end of connecting rod 1 is connected with fixed platform 14 by Hooke's hinge 1, and the annexation of other rod member is identical with Fig. 1.
Claims (2)
1. one kind two is rotated full decoupled parallel institution, it mainly comprises moving platform, fixed platform and the San Ge branch that is connected these two platforms, it is characterized in that: wherein the structure of the Yi He of branch branch two is identical, by four revolute pairs and three connecting rods, form, in Gai Liangge branch, one end of connecting rod one is connected with fixed platform by revolute pair one, the other end of this connecting rod one is connected with one end of connecting rod two by revolute pair two, the other end of this connecting rod two is connected with one end of connecting rod three by revolute pair three, the other end of this connecting rod three is connected with moving platform by revolute pair four, the axis of the revolute pair one being connected with fixed platform in this branch is perpendicular to the axis of other three revolute pairs, and the axis of these three revolute pairs is parallel to each other and perpendicular to moving platform, branch three is comprised of two revolute pairs and a moving sets, this branch is connected respectively with fixed platform with moving platform with revolute pair six by two vertical revolute pairs five of axis, the axis of the revolute pair five being wherein connected with moving platform is parallel to each other with the revolute pair four axistyle being connected with moving platform in branch one, two, and the axis conllinear of the revolute pair one being connected with fixed platform in branch one, two is also parallel to the axis of the revolute pair six that branch three is connected with fixed platform.
2. according to claim 1 a kind of two rotate full decoupled parallel institution, it is characterized in that: the available Hooke's hinge of revolute pair one that in described branch one, two, two axis of close fixed platform are perpendicular to one another substitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310600845.XA CN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310600845.XA CN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
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| Publication Number | Publication Date |
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| CN103624559A true CN103624559A (en) | 2014-03-12 |
| CN103624559B CN103624559B (en) | 2016-05-04 |
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| CN201310600845.XA Expired - Fee Related CN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325456A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel two-rotation parallel mechanism |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN108908295A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | A kind of RPR parallel institution of partly decoupled |
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| US4667081A (en) * | 1985-02-04 | 1987-05-19 | Spectra-Physics, Inc. | Apparatus for changing the direction of a light beam passing through an articulated joint |
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1526514A (en) * | 2003-09-24 | 2004-09-08 | 杨廷力 | Parallel mechanisms for imaginary axis machine tool, measurer, etc. |
| CN101497198B (en) * | 2009-02-24 | 2011-01-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN101700621B (en) * | 2009-11-03 | 2011-05-04 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
-
2013
- 2013-11-25 CN CN201310600845.XA patent/CN103624559B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4667081A (en) * | 1985-02-04 | 1987-05-19 | Spectra-Physics, Inc. | Apparatus for changing the direction of a light beam passing through an articulated joint |
| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1526514A (en) * | 2003-09-24 | 2004-09-08 | 杨廷力 | Parallel mechanisms for imaginary axis machine tool, measurer, etc. |
| CN101497198B (en) * | 2009-02-24 | 2011-01-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN101700621B (en) * | 2009-11-03 | 2011-05-04 | 天津理工大学 | Full decoupled three-dimensional moving parallel robot mechanism |
| CN102147046A (en) * | 2011-03-04 | 2011-08-10 | 燕山大学 | Two-freedom parallel mechanism capable of rotating and decoupling |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104325456A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel two-rotation parallel mechanism |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN104325456B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | A kind of novel two one-rotation parallel mechanisms |
| CN104476540B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
| CN108908295A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | A kind of RPR parallel institution of partly decoupled |
| CN108908295B (en) * | 2018-07-16 | 2021-07-27 | 西安工程大学 | Partial decoupling RPR parallel mechanism |
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| Publication number | Publication date |
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| CN103624559B (en) | 2016-05-04 |
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