CN104308842A - Novel plane-symmetric dual-rotation parallel mechanism - Google Patents
Novel plane-symmetric dual-rotation parallel mechanism Download PDFInfo
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- CN104308842A CN104308842A CN201410578688.1A CN201410578688A CN104308842A CN 104308842 A CN104308842 A CN 104308842A CN 201410578688 A CN201410578688 A CN 201410578688A CN 104308842 A CN104308842 A CN 104308842A
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Abstract
The invention discloses a novel plane-symmetric dual-rotation parallel mechanism comprising a fixed platform, a moving platform, a first driving branch, a second driving branch, a third driving branch and a driven branch. The first driving branch, the second driving branch, the third driving branch and the driven branch are used for connecting the moving platform and the fixed platform. The three driving branches are 120 degrees symmetrically distributed with respect to the axis of the fixed platform. A circular guide is arranged on the outer periphery of the fixed platform. The first driving branch and the second driving branch are identical in mechanical structure. According to the mechanism, the three driving branches are 120 degrees symmetrically distributed with respect to the center line of the fixed platform, internal rotational center points of the branches coincide with one another, moving energies are counteracted with one another, the kinematic performance of the mechanism and the dynamic performance thereof are symmetric, the driven branch connects the fixed platform and the moving platform, the driven branch can provide supporting force when the moving platform bears a vertical force, and the mechanism with the driven branch is better than that with no driven branch in rigidity. Superb vertical rigidity is imparted to the mechanism.
Description
Technical field
The present invention relates to two one-rotation parallel mechanisms, relate generally to a kind of two one-rotation parallel mechanisms with face symmetrical structure.
Background technology
Two one-rotation parallel mechanisms are with a wide range of applications at industrial circle, can be used for the location tracking device of inter-satellite link satellite, robot shoulder/wrist joint, Minimally Invasive Surgery mechanical hand etc.Above-mentioned application all requires that one-rotation parallel mechanism has certain rigidity property and structural symmetry.
At present, the parallel institution proposed mainly has the following disadvantages: the two one-rotation parallel mechanism complex structures 1) proposed, structure does not have symmetry, as described in patent CN 102294693 A, mechanism is made up of many side chains, complex structure, and side chain composition comprises complicated hinge, structure does not have symmetry; 2) existing mechanism cannot provide enough rigidity to complete action required, mechanism structure feature described by patent CN 102126212 A and CN 103624559 A can wait and be all a class plane mechanism, it cannot provide enough support stiffness for mechanism's normal direction, therefore it cannot support satellite, robot arm etc. complete the operation of required tracing and positioning.
In sum, the equal Shortcomings of existing two one-rotation parallel mechanism, cannot meet the requirement of above-mentioned application.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, provide a kind of rigidity property with symmetrical structure superior and can satellite be supported, robot arms etc. complete one novel symmetry two one-rotation parallel mechanism of the operations such as tracing and positioning.
One of the present invention novel symmetry two one-rotation parallel mechanism, it comprises the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection, the second active branched chain, the 3rd active branched chain and driven side chain, article three, active branched chain relative to silent flatform central axis become 120 degree symmetrical, described silent flatform excircle is provided with ring-shaped guide rail;
Described first active branched chain has identical frame for movement with described second active branched chain, include slide block, the ring-shaped guide rail of described silent flatform is connected with skid, described slide block is by being arranged on silent flatform revolute pair on slide block and lower link one end is rotationally connected, the described lower link other end is rotationally connected with upper connecting rod one end by central rotational is secondary, the described upper connecting rod other end is rotationally connected by moving platform hook hinge and moving platform, the silent flatform revolute pair axis of described first active branched chain, central rotational secondary axis and moving platform hook hinge frame far away axis parallel to each other, the silent flatform revolute pair axis of described second active branched chain, central rotational secondary axis and moving platform hook hinge frame far away axis parallel to each other, two nearly frame axis of moving platform hook hinge and silent flatform center line intersect at moving platform central point,
The 3rd described active branched chain comprises the 3rd silent flatform revolute pair be fixed on silent flatform, the 3rd described silent flatform revolute pair and the 3rd lower link one end are rotationally connected, the described 3rd lower link other end is rotationally connected by connecting rod one end in the 3rd central rotational pair and the 3rd, on described 3rd, the connecting rod other end is rotationally connected by the 3rd hook hinge and moving platform, described 3rd silent flatform revolute pair axis, the 3rd central rotational secondary axis and the 3rd hook hinge frame far away axis are parallel to each other, and the nearly frame axis of described 3rd hook hinge is by moving platform central point;
It is secondary that described driven side chain comprises the driven rotation be fixed on described silent flatform, described silent flatform is rotationally connected with driven hook hinge by driven rotation is secondary, the nearly frame axle two ends of described driven hook hinge and moving platform internal ring wall are rotationally connected, described driven hook hinge central point and moving platform point coincides, described driven rotation secondary axis and silent flatform central axes.
Advantage of the present invention:
Of the present invention symmetry two one-rotation parallel mechanism three active branched chain relative to silent flatform center line become 120 degree symmetrical, each side chain inner rotation central point coincides with one another, locomotivity cancels each other out, kinematics of mechanism performance and dynamic property have symmetry, the driven side chain of mechanism connects silent flatform and moving platform, when moving platform bears the power of vertical, driven side chain can provide support power, and there is better rigidity in the mechanism with driven side chain compared with not having the mechanism of driven side chain.The rigidity property of superior vertical can be provided for mechanism, can be applicable to hygienic trace location, the occasions such as robot shoulder/wrist joint pose adjustment.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of novel symmetry two one-rotation parallel mechanism of the present invention;
Fig. 2 is the first active branched chain of the mechanism shown in Fig. 1 and the structural representation of the second active branched chain;
Fig. 3 is the structural representation of the 3rd active branched chain of the mechanism shown in Fig. 1;
Reference numeral: connecting rod 18 the 3rd hook hinge 19 silent flatform central point O moving platform center point P silent flatform central axis a silent flatform revolute pair axis b central rotational secondary axis c moving platform hook hinge frame far away axis d moving platform hook hinge nearly frame axis e the 3rd silent flatform revolute pair axis f the 3rd central rotational secondary axis g the 3rd hook hinge frame far away axis h the 3rd hook hinge nearly frame axis i on connecting rod 13 moving platform hook hinge 14 the 3rd silent flatform revolute pair 15 the 3rd lower link 16 the 3rd central rotational secondary 17 the 3rd in the secondary 7 driven hook hinge 8 slide block 9 silent flatform revolute pair 10 lower link 11 central rotational pairs 12 of silent flatform 1 first active branched chain 2 second active branched chain 3 the 3rd active branched chain 4 driven side chain 5 moving platform 6 driven rotation
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
One of the present invention as shown in drawings novel symmetry two one-rotation parallel mechanism, it comprises silent flatform 1, moving platform 6 and is connected the first active branched chain 2, second active branched chain 3 of dynamic and static platform, the 3rd active branched chain 4 and driven side chain 5, article three, active branched chain relative to silent flatform central axis become 120 degree symmetrical, described silent flatform excircle is provided with ring-shaped guide rail;
Described first active branched chain 2 has identical frame for movement with described second active branched chain 3, include slide block 9, ring-shaped guide rail and the slide block 9 of described silent flatform 1 are slidably connected, described slide block 9 is rotationally connected with lower link 11 one end by the silent flatform revolute pair 10 be arranged on slide block 9, described lower link 11 other end is rotationally connected with upper connecting rod 13 one end by central rotational secondary 12, described upper connecting rod 13 other end is rotationally connected by moving platform hook hinge 14 and moving platform 6, the silent flatform revolute pair axis b of described first active branched chain 2, central rotational secondary axis c and moving platform hook hinge frame far away axis d is parallel to each other, the silent flatform revolute pair axis b of described second active branched chain 3, central rotational secondary axis c and moving platform hook hinge frame far away axis d is parallel to each other, two moving platform hook hinge nearly frame axis e and silent flatform center line a intersect at moving platform center point P,
The 3rd described active branched chain 4 comprises the 3rd silent flatform revolute pair 15 be fixed on silent flatform, the 3rd described silent flatform revolute pair 15 and the 3rd lower link 16 one end are rotationally connected, described 3rd lower link 16 other end is rotationally connected by connecting rod 18 one end on the 3rd central rotational secondary 17 and the 3rd, on described 3rd, connecting rod 18 other end is rotationally connected with moving platform 6 by the 3rd hook hinge 19, described 3rd silent flatform revolute pair axis f, 3rd central rotational secondary axis g and the 3rd hook hinge frame far away axis h is parallel to each other, described 3rd hook hinge nearly frame axis i is by moving platform center point P,
Described driven side chain 5 comprises the driven rotation pair 7 be fixed on described silent flatform 1, described silent flatform 1 is rotationally connected with driven hook hinge 8 by driven rotation secondary 7, nearly frame axle two ends and moving platform 6 internal ring wall of described driven hook hinge 8 are rotationally connected, described driven hook hinge central point overlaps with moving platform center point P, described driven rotation secondary axis and silent flatform central axes.
In conjunction with each width figure, the present invention is described in detail more below.
As shown in Figure 1, one of the present invention novel symmetry two one-rotation parallel mechanism, by silent flatform 1, moving platform 6 be connected the first active branched chain 2, second active branched chain 3 of dynamic and static platform, the 3rd active branched chain 4 and driven side chain 5 and form.Article three, active branched chain relative to silent flatform central axis become 120 degree symmetrical.
Described silent flatform 1 excircle is provided with ring-shaped guide rail.Described silent flatform 1 and slide block 9 are slidably connected, make slide block 9 annularly track realize circumference continuous moving.
As depicted in figs. 1 and 2, described first active branched chain 2 has identical frame for movement with described second active branched chain 3, and by slide block 9, silent flatform revolute pair 10, lower link 11, central rotational pair 12, upper connecting rod 13 and moving platform hook hinge 14 form.Ring-shaped guide rail and the described slide block 9 of described silent flatform 1 are slidably connected, described slide block 9 is rotationally connected with described lower link 11 one end by the silent flatform revolute pair 10 be arranged on slide block 9, described lower link 11 other end is rotationally connected with described upper connecting rod 13 one end by described central rotational secondary 12, and described upper connecting rod 13 other end is rotationally connected with moving platform 6 external annulus by described moving platform hook hinge 14.By silent flatform central point O, direction is that the axis in silent flatform plane normal direction is called silent flatform central axis a, silent flatform revolute pair axis b, central rotational secondary axis c and the moving platform hook hinge frame far away axis d of described first active branched chain 2 are parallel to each other, silent flatform revolute pair axis b, central rotational secondary axis c and the moving platform hook hinge frame far away axis d of described second active branched chain 3 are parallel to each other, and two moving platform hook hinge nearly frame axis e and silent flatform center line a intersect at moving platform center point P.
As shown in figures 1 and 3, the 3rd active branched chain 4 comprises connecting rod 18 and the 3rd hook hinge 19 in the 3rd silent flatform revolute pair the 15, three lower link the 16, three central rotational pair the 17, three.Described silent flatform 1 is by being fixed on the 3rd silent flatform revolute pair 15 on silent flatform and the 3rd lower link 16 one end is rotationally connected, described 3rd lower link 16 other end is rotationally connected by connecting rod 18 one end on the 3rd central rotational secondary 17 and the 3rd, and on the 3rd, connecting rod 18 other end is rotationally connected with moving platform 6 external annulus by the 3rd hook hinge 19.3rd silent flatform revolute pair axis f, the 3rd central rotational secondary axis g and the 3rd hook hinge frame far away axis h parallel to each other, the 3rd hook hinge nearly frame axis i is by moving platform center point P.
Described driven side chain 5 is made up of driven rotation secondary 7 and driven hook hinge 8.Described silent flatform 1 is connected with described driven hook hinge 8 by described driven rotation secondary 7 and connecting rod, and nearly frame axle two ends and described moving platform 6 internal ring wall of described driven hook hinge 8 are rotationally connected.Described driven hook hinge central point overlaps with moving platform center point P, and described driven rotation secondary axis and silent flatform central axes, be axis a.
With the silent flatform revolute pair 10 in described first active branched chain 2 and described second active branched chain 3 and the 3rd silent flatform revolute pair 15 for input queued switches, one of the present invention novel symmetry two one-rotation parallel mechanism can rotate by implementation space two-freedom.Described ring-shaped guide rail and slide block 9 structure can be equal to revolute pair, this equivalent rotary middle spindle line is by silent flatform central point O, direction is silent flatform central axis a, in conjunction with described silent flatform revolute pair 10, described central rotational secondary 12 and described hook hinge 14, described first active branched chain 2 and described second active branched chain 3 all have Three Degree Of Freedom turning power and two-freedom locomotivity, its fulcrum is moving platform center point P, its three pivot center is respectively: overlap with silent flatform central axis a and moving platform hook hinge nearly frame axis e, parallel with silent flatform revolute pair axis b, its two-freedom mobile axis is any two straight lines be not parallel to each other perpendicular to silent flatform revolute pair axis b, under described 3rd silent flatform revolute pair 15, described 3rd central rotational secondary 17 and described 3rd hook hinge 19 act on, described 3rd active branched chain 4 has space two-freedom turning power and two-freedom locomotivity, its fulcrum is moving platform center point P, its pivot center is respectively: parallel with the 3rd silent flatform revolute pair axis f, overlaps with the 3rd hook hinge nearly frame axis i, under described driven rotation secondary 7 and the effect of described driven hook hinge 8, described driven side chain 5 has Three Degree Of Freedom turning power, its fulcrum is moving platform center point P, and pivot center respectively 7 pivot centers secondary with driven rotation and driven hook hinge 8 two shaft axis overlaps.
As shown in Figure 2, because described moving platform hook hinge nearly frame axis e and silent flatform center line a intersects at moving platform center point P, described silent flatform revolute pair axis b in each active branched chain, described central rotational secondary axis c and described moving platform hook hinge frame far away axis d parallel to each other, therefore the Three Degree Of Freedom center of rotation of described first active branched chain 2 and described second active branched chain 3 is moving platform center point P, the normal of the two-freedom plane of motion of its two-freedom mobile axis composition is direction shown in silent flatform revolute pair axis b; As shown in Figure 3, described 3rd silent flatform revolute pair axis f, described 3rd central rotational secondary axis g and described 3rd hook hinge frame far away axis h are parallel to each other, described 3rd hook hinge nearly frame axis i is by moving platform center point P, therefore described 3rd active branched chain 4 two-freedom center of rotation is moving platform center point P, the normal of two-freedom plane of motion is direction shown in the 3rd silent flatform revolute pair axis f; Because described driven hook hinge central point overlaps with moving platform center point P, under driven rotation secondary 7 and driven hook hinge 8 acting in conjunction, the three rotating centers of driven side chain 5 is moving platform center point P.Due to the three rotating centers of the first active branched chain 2 and described second active branched chain 3, described two centers of rotation of the 3rd active branched chain 4 and the three rotating centers of driven side chain 5 are moving platform center point P, again because described driven side chain 5 does not have space locomotivity, therefore described first active branched chain 2, the two-freedom locomotivity of described second active branched chain 3 and described 3rd active branched chain 4 is limited by described driven side chain 5, therefore in described first active branched chain 2, described second active branched chain 3, under described 3rd active branched chain 4 and driven side chain 5 acting in conjunction, the space two-freedom that described moving platform 6 can realize moving Platform center point P rotates.(about the definition of fulcrum and plane of motion can refer to document " Herv é JM.The Lie group of rigid body displacements, a fundamental tool for mechanism design.Mech Mach Theory 1999; 34:719-730. " Herv é JM. rigid body displacement Lie subgroup, Fundamentals of Machine Design instrument.Theory of mechanics 1999; 34:719-730. ")
One of the present invention novel symmetry two one-rotation parallel mechanism is made up of three active branched chain and a driven side chain, article three, active branched chain relative to silent flatform central axis become 120 degree symmetrical, and the first active branched chain has identical branched structure with the second active branched chain, therefore this mechanism has the frame for movement of face symmetry and symmetrical mechanical performance.One of the present invention novel symmetry two one-rotation parallel mechanism has middle driven side chain, and this side chain strengthens the support stiffness of mechanism, and can meet hygienic trace location, robot arm pose adjustment etc. are for the demand of mechanism's rigidity.
The above description of this invention is only schematic, instead of restrictive, so embodiments of the present invention are not limited to above-mentioned detailed description of the invention.If those of ordinary skill in the art enlightens by it, when not departing from present inventive concept and claim institute protection domain, making other change or modification, all belonging to protection scope of the present invention.
Claims (1)
1. one kind novel symmetry two one-rotation parallel mechanism, it is characterized in that: it comprises the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection, the second active branched chain, the 3rd active branched chain and driven side chain, article three, active branched chain relative to silent flatform central axis become 120 degree symmetrical, described silent flatform excircle is provided with ring-shaped guide rail;
Described first active branched chain has identical frame for movement with described second active branched chain, include slide block, the ring-shaped guide rail of described silent flatform is connected with skid, described slide block is by being arranged on silent flatform revolute pair on slide block and lower link one end is rotationally connected, the described lower link other end is rotationally connected with upper connecting rod one end by central rotational is secondary, the described upper connecting rod other end is rotationally connected by moving platform hook hinge and moving platform, the silent flatform revolute pair axis of described first active branched chain, central rotational secondary axis and moving platform hook hinge frame far away axis parallel to each other, the silent flatform revolute pair axis of described second active branched chain, central rotational secondary axis and moving platform hook hinge frame far away axis parallel to each other, two nearly frame axis of moving platform hook hinge and silent flatform center line intersect at moving platform central point,
The 3rd described active branched chain comprises the 3rd silent flatform revolute pair be fixed on silent flatform, the 3rd described silent flatform revolute pair and the 3rd lower link one end are rotationally connected, the described 3rd lower link other end is rotationally connected by connecting rod one end in the 3rd central rotational pair and the 3rd, on described 3rd, the connecting rod other end is rotationally connected by the 3rd hook hinge and moving platform, described 3rd silent flatform revolute pair axis, the 3rd central rotational secondary axis and the 3rd hook hinge frame far away axis are parallel to each other, and the nearly frame axis of described 3rd hook hinge is by moving platform central point;
It is secondary that described driven side chain comprises the driven rotation be fixed on described silent flatform, described silent flatform is rotationally connected with driven hook hinge by driven rotation is secondary, the nearly frame axle two ends of described driven hook hinge and moving platform internal ring wall are rotationally connected, described driven hook hinge central point and moving platform point coincides, described driven rotation secondary axis and silent flatform central axes.
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| CN106125770A (en) * | 2016-07-22 | 2016-11-16 | 西安电子科技大学 | A kind of azimuth pitch moves two axle bed framves |
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| CN109318186A (en) * | 2018-10-16 | 2019-02-12 | 中国矿业大学 | It is a kind of can continuous rotary four-degree-of-freedom workbench |
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| CN110082034A (en) * | 2019-05-21 | 2019-08-02 | 湖南科技大学 | A kind of more support chain test experimental beds and test method for layout optimization |
| CN112847317A (en) * | 2021-03-22 | 2021-05-28 | 四川大学 | Three-dimensional space two-degree-of-freedom centrosome motion parallel mechanism |
| CN114934974A (en) * | 2022-05-13 | 2022-08-23 | 东莞理工学院 | Large-amplitude horizontal two-degree-of-freedom vibration isolator |
| CN114934974B (en) * | 2022-05-13 | 2023-10-20 | 东莞理工学院 | Large-amplitude horizontal two-degree-of-freedom vibration isolator |
| CN115351768A (en) * | 2022-07-20 | 2022-11-18 | 福州大学 | Branched chain assembly, six-degree-of-freedom parallel mechanism and industrial robot |
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