CN104858860A - Two-transitional-motion one-rotation parallel mechanism - Google Patents
Two-transitional-motion one-rotation parallel mechanism Download PDFInfo
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- CN104858860A CN104858860A CN201510289000.2A CN201510289000A CN104858860A CN 104858860 A CN104858860 A CN 104858860A CN 201510289000 A CN201510289000 A CN 201510289000A CN 104858860 A CN104858860 A CN 104858860A
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Abstract
The invention provides a two-transitional-motion one-rotation parallel mechanism. The two-transitional-motion one-rotation parallel mechanism comprises a movable workbench, a fixed platform and three branched chains connected between the movable workbench and the fixed platform. The two-transitional-motion one-rotation parallel mechanism is characterized in that each branched chain comprises a telescopic rod, one end of each telescopic rod is connected with the movable workbench through a spherical hinge, the other end of each telescopic rod is connected with the fixed platform through a rotation pair, the axes of the three rotation pairs connected with the fixed platform are parallel or share the same line, and the three spherical hinges connected with the movable workbench do not share the same line. Compared with the prior art, the two-transitional-motion one-rotation parallel mechanism has the advantages that the structure is simple, the designing and manufacturing cost is low, a large working space can be realized conveniently, and the two-transitional-motion one-rotation parallel mechanism can be applied to the industrial fields of parallel machine tools, parallel workbenches and the like.
Description
Technical field
The invention belongs to manufacturing technology field, specifically relate to a kind of parallel institution that there are two translations one and rotate.
Background technology
Compared with serial mechanism, parallel institution has that the rigidity of structure is large, fast response time, precision advantages of higher, has a wide range of applications in mechanical industry field.Parallel institution is formed by connecting by movement branched chain by motion workbench and fixed platform usually, early stage canonical parallel mechanism is the 6-SPS Stewart mechanism of 6DOF, has the shortcomings such as working space is little, motion normal solution difficulty, complex structural designs and parameter couples.In order to overcome these shortcomings of 6DOF parallel institution, the advantages such as many researchers have turned to lower-mobility (motion workbench number of degrees of freedom is less than 6) parallel institution notice in recent years, and minority carrier generation lifetime has that structure is simple, working space is comparatively large, design and control are fairly simple.Current existing Limited-DOF Parallel Robot is with Three Degree Of Freedom machine artificially master, as 4S parallel-crank mechanism is used in the branch of parallel robot by Clavel, devise famous DELTA Three Degree Of Freedom translational parallel connection mechanism, Hunt proposes a kind of Three Degree Of Freedom 3-RPS parallel institution with two rotations and a translation in nineteen eighty-three, but the space of this mechanism is smaller.
Summary of the invention
The object of this invention is to provide one and have larger working space, structure is simple, has the parallel institution that two translations one are rotated.Its technical scheme is:
A kind of parallel institution that there are two translations one and rotate, comprise motion workbench, fixed platform and be connected to three side chains between motion workbench and fixed platform, it is characterized in that: every bar side chain is all containing a telescopic rod, one end of telescopic rod is connected with motion workbench by ball pivot, the other end is connected with fixed platform by revolute pair, three the turns auxiliary shaft line parallels be connected with fixed platform or conllinear, three ball pivots not conllinear be connected with motion workbench.
Compared with prior art, its advantage is in the present invention: structure is simple, design and manufacture cost is low, is convenient to realize large working space, can be applied to the industrial circle such as parallel machine, paralleling working platform.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, fixed platform 2, revolute pair 3, telescopic rod 4, ball pivot 5, motion workbench.
Detailed description of the invention
Every bar side chain is all containing a telescopic rod 3, one end of telescopic rod 3 is connected with motion workbench 5 by ball pivot 4, the other end is connected with fixed platform 1 by revolute pair 2, three revolute pair 2 axis being parallel be connected with fixed platform 1 or conllinear, three ball pivots 4 not conllinear be connected with motion workbench 5.
Claims (1)
1. the parallel institution that there are two translations one and rotate, comprise motion workbench (5), fixed platform (1) and three side chains be connected between motion workbench (5) and fixed platform (1), it is characterized in that: every bar side chain is all containing a telescopic rod (3), one end of telescopic rod (3) is connected with motion workbench (5) by ball pivot (4), the other end is connected with fixed platform (1) by revolute pair (2), three revolute pair (2) axis being parallel be connected with fixed platform (1) or conllinear, three ball pivots (4) the not conllinear be connected with motion workbench (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510289000.2A CN104858860B (en) | 2015-06-01 | 2015-06-01 | Parallel mechanism with two translation and one rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510289000.2A CN104858860B (en) | 2015-06-01 | 2015-06-01 | Parallel mechanism with two translation and one rotation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104858860A true CN104858860A (en) | 2015-08-26 |
| CN104858860B CN104858860B (en) | 2020-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510289000.2A Expired - Fee Related CN104858860B (en) | 2015-06-01 | 2015-06-01 | Parallel mechanism with two translation and one rotation |
Country Status (1)
| Country | Link |
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| CN (1) | CN104858860B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030053901A1 (en) * | 1999-08-05 | 2003-03-20 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103465251A (en) * | 2013-09-03 | 2013-12-25 | 常州大学 | Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator |
| CN203566702U (en) * | 2013-09-28 | 2014-04-30 | 孙志超 | Three-linear-driver plane three-degree-of-freedom parallel mechanism |
-
2015
- 2015-06-01 CN CN201510289000.2A patent/CN104858860B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030053901A1 (en) * | 1999-08-05 | 2003-03-20 | Roy Shambhu Nath | Parallel kinematics mechanism with a concentric spherical joint |
| CN2578058Y (en) * | 2002-11-13 | 2003-10-08 | 安徽工业大学 | Three freedom parallel structure robot posture inspector |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103465251A (en) * | 2013-09-03 | 2013-12-25 | 常州大学 | Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator |
| CN203566702U (en) * | 2013-09-28 | 2014-04-30 | 孙志超 | Three-linear-driver plane three-degree-of-freedom parallel mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 方跃法，黄真: "三自由度3-RPS并联机器人操作器的瞬时独立运动分析", 《MECHANICAL SCIENCE AND TECHNOLOGY》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
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| CN104858860B (en) | 2020-11-03 |
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Address after: 255086 A, block 313, high tech park, hi tech Zone, Shandong, Zibo Applicant after: Shandong University of Technology Address before: 255086 D, building 1012, Gao Chuang garden, hi tech Zone, Shandong, Zibo Applicant before: Shandong University of Technology |
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