CN104858860B - Parallel mechanism with two translation and one rotation - Google Patents
Parallel mechanism with two translation and one rotation Download PDFInfo
- Publication number
- CN104858860B CN104858860B CN201510289000.2A CN201510289000A CN104858860B CN 104858860 B CN104858860 B CN 104858860B CN 201510289000 A CN201510289000 A CN 201510289000A CN 104858860 B CN104858860 B CN 104858860B
- Authority
- CN
- China
- Prior art keywords
- fixed platform
- telescopic rod
- parallel
- collinear
- moving workbench
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Transmission Devices (AREA)
- Machine Tool Units (AREA)
Abstract
The invention provides a parallel mechanism with two translational motions and one rotational motion, which comprises a moving workbench, a fixed platform and three branched chains connected between the moving workbench and the fixed platform, and is characterized in that: each branched chain comprises a telescopic rod, one end of each telescopic rod is connected with the moving workbench through a spherical hinge, the other end of each telescopic rod is connected with the fixed platform through a revolute pair, the axes of the three revolute pairs connected with the fixed platform are parallel or collinear, and the three spherical hinges connected with the moving workbench are not collinear. Compared with the prior art, the invention has the advantages that: the structure is simple, the design and manufacturing cost is low, the large working space is convenient to realize, and the device can be applied to the industrial fields of parallel machine tools, parallel workbenches and the like.
Description
Technical Field
The invention belongs to the technical field of manufacturing, and particularly relates to a parallel mechanism with two translation and one rotation.
Background
Compared with a series mechanism, the parallel mechanism has the advantages of high structural rigidity, high response speed, high precision and the like, and is widely applied to the field of mechanical industry. The parallel mechanism is generally formed by connecting a moving workbench and a fixed platform through a moving branched chain, and the early typical parallel mechanism is a 6-SPS Stewart mechanism with 6 degrees of freedom and has the defects of small working space, difficult motion forward solution, complex structural design, parameter coupling and the like. In order to overcome the defects of the parallel mechanism with 6 degrees of freedom, in recent years, many researchers turn attention to the parallel mechanism with less degrees of freedom (the number of degrees of freedom of a motion workbench is less than 6), and the parallel mechanism with less degrees of freedom has the advantages of simple structure, larger working space, simpler design and control and the like. The existing parallel robot with less degrees of freedom mainly uses a three-degree-of-freedom robot, for example, a 4S parallelogram mechanism is used in a branch of the parallel robot by Clavel, a famous DELTA three-degree-of-freedom translational parallel mechanism is designed, and Hunt proposes a three-degree-of-freedom 3-RPS parallel mechanism with two rotations and one translation in 1983, but the motion space of the mechanism is small.
Disclosure of Invention
The invention aims to provide a parallel mechanism which has a larger working space, a simple structure and two translation and one rotation. The technical scheme is as follows:
the utility model provides a parallel mechanism with two translations one is rotatory, includes motion workstation, fixed platform and connects three branched chains between motion workstation and fixed platform, its characterized in that: each branched chain comprises a telescopic rod, one end of each telescopic rod is connected with the moving workbench through a spherical hinge, the other end of each telescopic rod is connected with the fixed platform through a revolute pair, the axes of the three revolute pairs connected with the fixed platform are parallel or collinear, and the three spherical hinges connected with the moving workbench are not collinear.
Compared with the prior art, the invention has the advantages that: the structure is simple, the design and manufacturing cost is low, the large working space is convenient to realize, and the device can be applied to the industrial fields of parallel machine tools, parallel workbenches and the like.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
In the figure: 1. fixed platform 2, revolute pair 3, telescopic rod 4, ball pivot 5, motion workstation.
Detailed Description
Each branched chain comprises a telescopic rod 3, one end of each telescopic rod 3 is connected with a moving workbench 5 through a spherical hinge 4, the other end of each telescopic rod 3 is connected with a fixed platform 1 through a revolute pair 2, the axes of the three revolute pairs 2 connected with the fixed platform 1 are parallel or collinear, and the three spherical hinges 4 connected with the moving workbench 5 are not collinear.
Claims (1)
1. The utility model provides a parallel mechanism with two translation one is rotatory, includes motion workstation (5), fixed platform (1) and connects three branched chains between motion workstation (5) and fixed platform (1), its characterized in that: each branched chain comprises a telescopic rod (3), one end of each telescopic rod (3) is connected with the corresponding motion workbench (5) through a spherical hinge (4), the other end of each telescopic rod is connected with the corresponding fixed platform (1) through a revolute pair (2), the axes of the three revolute pairs (2) connected with the corresponding fixed platform (1) are collinear, and the three spherical hinges (4) connected with the corresponding motion workbench (5) are not collinear.
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 CN104858860A (en) | 2015-08-26 |
| CN104858860B true CN104858860B (en) | 2020-11-03 |
Family
ID=53905244
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 |
|---|---|
| CN (1) | CN104858860B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171736B (en) * | 2015-09-09 | 2018-04-03 | 北京理工大学 | The waist analogue means of bionic machine mouse |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6497548B1 (en) * | 1999-08-05 | 2002-12-24 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric sperical 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 |
| CN103465251B (en) * | 2013-09-03 | 2016-03-09 | 常州大学 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
| 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN104858860A (en) | 2015-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101407059B (en) | Four-freedom degree industrial robot | |
| CN203818136U (en) | Three-degree-of-freedom high-speed parallel-connection robot | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN102941572A (en) | Spatial three-dimensional translation parallel mechanism with only lower pairs | |
| CN102699908A (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN103144100A (en) | Moving parallel robot mechanism with three freedom degrees | |
| CN103846911A (en) | High-speed parallel manipulator with six degrees of freedom | |
| CN205129850U (en) | Move secondary drive's four degree of freedom parallel transfer robots | |
| CN102554914A (en) | Novel three-degrees-of-freedom under-actuated mechanism | |
| CN111923025A (en) | Three-branch parallel mechanism with two operation modes | |
| CN203460172U (en) | High-speed six-freedom-degree parallel connection mechanical hand | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN100513062C (en) | Parallel mechanism with four degrees of freedom | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN106166739A (en) | A kind of linear type parallel robot | |
| CN105196280B (en) | Redundant driving type three-translation micro-operation robot | |
| CN103895008A (en) | Space three-dimensional translation parallel robot mechanism only containing revolute pairs | |
| CN103072133A (en) | Three-degree-of-freedom motion decoupled parallel robot mechanism | |
| CN104858860B (en) | Parallel mechanism with two translation and one rotation | |
| CN107116538B (en) | Three-rotation one-movement generalized decoupling parallel robot mechanism | |
| CN105234923A (en) | Parallel mechanism with six degrees of freedom of three-translation three-rotation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
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 |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201103 Termination date: 20210601 |