CN104440881A - Double-platform mechanism - Google Patents
Double-platform mechanism Download PDFInfo
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- CN104440881A CN104440881A CN201410677769.7A CN201410677769A CN104440881A CN 104440881 A CN104440881 A CN 104440881A CN 201410677769 A CN201410677769 A CN 201410677769A CN 104440881 A CN104440881 A CN 104440881A
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Abstract
The invention discloses a double-platform mechanism. The double-platform mechanism comprises three branch chains of the same structure, and the three branch chains are each composed of a universal joint pair, a rotary pair, a spherical pair and connecting rods between the universal joint pair, the rotary pair and the spherical pair from top to bottom. Motion output of three movements of a motion platform of a parallel robot mechanism can be achieved, the mechanism is simple, machining and manufacturing are easy, a kinematic model is simple, kinematic calibration and control become easy, meanwhile, the mechanism is provided with few joints, and structural rigidity is improved.
Description
Technical field
The present invention relates to mechanical field, relate in particular to a kind of Double tabletop mechanism.
Background technology
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has the plural free degree, and with the mechanism that parallel way drives, the serial manipulator of this and transmission is all very different in theory of mechanisms, kinematics, dynamics etc.
Parallel robot mechanism is widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, inching operation, manufacture processing, and researcher have also been invented a lot of parallel institution.But existing parallel robot mechanism still comes with some shortcomings, the problems such as poor in manufacturability, complex structure, manufacturing cost are high.
Summary of the invention
The object of the invention is to the shortcoming and defect for above-mentioned prior art, a kind of Double tabletop mechanism is provided.
For achieving the above object, present invention employs following technical scheme:
A kind of Double tabletop mechanism, it is characterized in that: be made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection, article three, branched structure is identical, is all made up of a universal joint pair, revolute pair, secondary and between them the connecting rod of ball from top to bottom;
First side chain first on one end of connecting rod is connected with motion platform by the first universal joint pair, on first, the other end of connecting rod is connected with one end of the first lower link by the first revolute pair, and the other end of the first lower link passes through that the first ball is secondary to be connected with fixed platform;
Second side chain second on one end of connecting rod is connected with motion platform by the second universal joint pair, on second, the other end of connecting rod is connected with one end of the second lower link by the second revolute pair, and the other end of the second lower link passes through that the second ball is secondary to be connected with fixed platform;
3rd side chain the 3rd on one end of connecting rod is connected with motion platform by the 3rd universal joint pair, on the 3rd, the other end of connecting rod is connected with one end of the 3rd lower link by the 3rd revolute pair, and the other end of the 3rd lower link passes through that the 3rd ball is secondary to be connected with fixed platform;
Wherein, the first ball of the first side chain the second ball that is secondary, the second side chain the 3rd ball pair that is secondary and the 3rd side chain is the driving pair of mechanism.
Preferably, described motion platform is isosceles right triangle.
Preferably, described fixed platform is isosceles triangle.
Compared with prior art, the invention has the beneficial effects as follows:
The motion platform of parallel robot mechanism of the present invention can realize the movement output of three movements, and mechanism is simple, and processing and manufacturing is easy, and kinematics model is simple, makes Kinematic Calibration and control become easy, and mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below.
Fig. 1 is the structured flowchart of the mechanism of the embodiment of the present invention.
Wherein: 1-motion platform, 2-the 3rd universal joint is secondary, 3-the 3rd revolute pair, 4-the 3rd ball is secondary, and 5-first universal joint is secondary, 6-first revolute pair, 7-first ball is secondary, and 8-second universal joint is secondary, 9-second revolute pair, 10-second ball is secondary, 11-fixed platform, connecting rod on L1-the 3rd, L2-the 3rd lower link, connecting rod on L3-first, L4-first lower link, connecting rod on L5-second, L6-second lower link.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.
As shown in Figure 1, a kind of Double tabletop mechanism, it is characterized in that: be made up of motion platform 1, fixed platform 11 and three side chains being connected above-mentioned two platforms, three branched structures are identical, are all made up of a universal joint pair, revolute pair, secondary and between them the connecting rod of ball from top to bottom;
First side chain first on one end of connecting rod L3 be connected with motion platform 1 by the first universal joint secondary 5, on first, the other end of connecting rod L3 is connected with one end of the first lower link L4 by the first revolute pair 6, and the other end of the first lower link L4 is connected with fixed platform by the first ball secondary 7;
Second side chain second on one end of connecting rod L5 be connected with motion platform 1 by the second universal joint secondary 8, on second, the other end of connecting rod L5 is connected with one end of the second lower link L6 by the second revolute pair 9, and the other end of the second lower link L6 is connected with fixed platform by the second ball secondary 10;
3rd side chain the 3rd on one end of connecting rod L1 be connected with motion platform 1 by the 3rd universal joint secondary 2, on 3rd, the other end of connecting rod L1 is connected with one end of the 3rd lower link L2 by the 3rd revolute pair 3, and the other end of the 3rd lower link L2 is connected with fixed platform by the 3rd ball secondary 4;
Wherein, second ball secondary 10 of the first ball pair 7, second side chain of the first side chain and the 3rd ball secondary 4 of the 3rd side chain are the driving pair of mechanism.
Preferably, described motion platform 1 is isosceles right triangle.
Preferably, described fixed platform 11 is isosceles triangle.
Based on the embodiment in the present invention, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, and any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a Double tabletop mechanism, it is characterized in that: be made up of motion platform (1), fixed platform (11) and three side chains being connected above-mentioned two platforms, article three, branched structure is identical, is all made up of a universal joint pair, revolute pair, secondary and between them the connecting rod of ball from top to bottom;
First side chain first on one end of connecting rod (L3) be connected with motion platform (1) by the first universal joint pair (5), on first, the other end of connecting rod (L3) is connected with one end of the first lower link (L4) by the first revolute pair (6), and the other end of the first lower link (L4) is connected with fixed platform (11) by the first ball pair (7);
Second side chain second on one end of connecting rod (L5) be connected with motion platform (1) by the second universal joint pair (8), on second, the other end of connecting rod (L5) is connected with one end of the second lower link (L6) by the second revolute pair (9), and the other end of the second lower link (L6) is connected with fixed platform (11) by the second ball pair (10);
3rd side chain the 3rd on one end of connecting rod (L1) be connected with motion platform (1) by the 3rd universal joint pair (2), on 3rd, the other end of connecting rod (L1) is connected with one end of the 3rd lower link (L2) by the 3rd revolute pair (3), and the other end of the 3rd lower link (L2) is connected with fixed platform (11) by the 3rd ball pair (4);
Wherein, the 3rd ball pair (4) of the first ball pair (7) of the first side chain, the second ball pair (10) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. a kind of Double tabletop mechanism according to claim 1, is characterized in that: described motion platform (1) is isosceles right triangle.
3. a kind of Double tabletop mechanism according to claim 1 and 2, is characterized in that: described fixed platform (11) is isosceles triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410677769.7A CN104440881A (en) | 2014-11-21 | 2014-11-21 | Double-platform mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410677769.7A CN104440881A (en) | 2014-11-21 | 2014-11-21 | Double-platform mechanism |
Publications (1)
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| CN104440881A true CN104440881A (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410677769.7A Pending CN104440881A (en) | 2014-11-21 | 2014-11-21 | Double-platform mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710863A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Novel parallel robot |
| CN105710862A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Parallel mechanism |
| CN105710861A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Robot |
| CN106176081A (en) * | 2016-07-05 | 2016-12-07 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus comprising acceleration transducer and method |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710863A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Novel parallel robot |
| CN105710862A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Parallel mechanism |
| CN105710861A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Robot |
| CN106176081A (en) * | 2016-07-05 | 2016-12-07 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus comprising acceleration transducer and method |
| CN106176081B (en) * | 2016-07-05 | 2018-08-21 | 国家康复辅具研究中心 | A kind of electric wheel-chair vehicle anti-tilting apparatus and method comprising acceleration transducer |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
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Application publication date: 20150325 |