CN105127986A - Decoupling type three-translation parallel robot - Google Patents
Decoupling type three-translation parallel robot Download PDFInfo
- Publication number
- CN105127986A CN105127986A CN201510677380.7A CN201510677380A CN105127986A CN 105127986 A CN105127986 A CN 105127986A CN 201510677380 A CN201510677380 A CN 201510677380A CN 105127986 A CN105127986 A CN 105127986A
- Authority
- CN
- China
- Prior art keywords
- fixed platform
- movable
- slide block
- parallel robot
- decoupling type
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a decoupling type three-translation parallel robot. The decoupling type three-translation parallel robot comprises a fixed platform, a movable worktable and three branch chains which are connected between the fixed platform and the movable worktable, and is characterized in that each of the fixed platform and the movable worktable is provided with three mutually-orthorhombic planes; each of the three planes of the fixed platform has a rectangular hollow structure; each branched chain comprises a retractable rod and a circular disc slide block; one end of each retractable rod is fixedly connected with the movable worktable and the other end of each retractable rod is fixedly connected with one face of the corresponding circular disc slide block; the circular disc slide blocks are movably embedded into the rectangular hollow structures of the fixed platform through balls embedded at the edges, so that the circular disc slide blocks and the fixed platform commonly form a plane movable pair; the normal of a movable platform corresponding to the plane movable pair is parallel to the central axis of the corresponding retractable rod; and the central axes of the three retractable rods are vertical to one another. According to the decoupling type three-translation parallel robot, the three retractable rods are used as diving joints so that decoupling control of three degrees of movement freedom of the movable worktable is realized, and the decoupling type three-translation parallel robot has a wide application prospect in the fields of parallel machine tools and parallel robots.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically relate to a kind of decoupling type three translation parallel machine people.
Background technology
Parallel robot and serial manipulator are duality relation in stuctures and properties feature, compared with traditional serial manipulator, parallel robot has the advantage of its uniqueness, as the rigidity of structure is large, bearing capacity is high, and inertia is little, fast response time, precision is high, is widely used in machinery manufacturing technology field.
The people such as the Zhao Xueman of University Of Tianjin have developed a kind of Telescopic space three translation parallel machinery hand, and this mechanism comprises space three-translational parallel connection mechanism and telescopic transmission mechanism.The people such as the Liu Xinjun of Tsing-Hua University have developed a kind of four-degree-of-freedom single action platform parallel mechanism realizing three translations one and rotate, this mechanism mainly comprises the moving platform and fixed platform of installing actuator, between connection moving platform and fixed platform is have mutually isostructural four side chains, this parallel institution has the architectural feature of single platform, simple for structure, kinematics is simple, is conducive to realizing high-speed motion.The people such as the Zhou Yulin of University On The Mountain Of Swallows have developed a kind of symmetrical parallel institution of space three-translational, and this mechanism comprises moving platform, frame and three identical side chains both connection.The people such as Zhang Wenchang of Jike Development Science Co., Ltd have developed a kind of three-translational freedom parallel robot based on module in addition, and this mechanism comprises fixed mount, module, moving platform and is arranged in three pairs of slave arms between moving platform and module slide block.
Limited-DOF Parallel Robot has attracted a large amount of Chinese scholars to study with the features and application potentiality of himself, dissimilar parallel robot is related in these achievements in research, but it is to be developed to still have many Limited-DOF Parallel Robots to have, the decoupling type parallel robot type wherein with three translations is still fewer.
Summary of the invention
The object of this invention is to provide one and there is larger working space, structure simple decoupling type three translation parallel machine people.Its technical scheme is:
A kind of decoupling type three translation parallel machine people, comprise fixed platform, motion workbench and be connected to the identical side chain of three structures between fixed platform with motion workbench, it is characterized in that: fixed platform and motion workbench all have three mutually orthogonal planes, three planes of fixed platform are all containing rectangular hollow structure, article three, side chain correspondence is connected between the mutually orthogonal plane of fixed platform and motion workbench three, every bar side chain includes expansion link and disk slide block, one end and the motion workbench of expansion link are affixed, the one side of the other end and disk slide block is affixed, disk slide block is by inside the movable rectangular hollow structure being embedded into fixed platform of the ball that is embedded in edge, jointly planar kinematic pair is formed with fixed platform, the normal of the plane of movement that planar kinematic pair is corresponding and the centerline axis parallel of corresponding expansion link, the central axis of three expansion links is orthogonal.
Compared with prior art, its advantage is in the present invention: (1) structure is simple, design and manufacture cost is low, is convenient to realize large working space; (2) in side chain, joint number is few, and therefore rigidity is large, is easy to ensure kinematic accuracy; (3) structurally three side chain quadrature arrangement, by adopting three expansion links as driving joint, achieve the uneoupled control of motion workbench three one-movement-freedom-degrees.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, fixed platform 2, ball 3, disk slide block 4, expansion link 5, motion workbench.
Detailed description of the invention
Fixed platform 1 and motion workbench 5 all have three mutually orthogonal planes, three planes of fixed platform 1 are all containing rectangular hollow structure, article three, side chain correspondence is connected between the mutually orthogonal plane of fixed platform 1 and motion workbench 5 three, every bar side chain includes expansion link 4 and disk slide block 3, one end and the motion workbench 5 of expansion link 4 are affixed, the one side of the other end and disk slide block 3 is affixed, disk slide block 3 is by inside the movable rectangular hollow structure being embedded into fixed platform 1 of the ball 2 that is embedded in edge, jointly planar kinematic pair is formed with fixed platform 1, the normal of the plane of movement that planar kinematic pair is corresponding and the centerline axis parallel of corresponding expansion link 4, the central axis of three expansion links 4 is orthogonal.
Claims (1)
1. a decoupling type three translation parallel machine people, comprise fixed platform (1), motion workbench (5) and be connected to the identical side chain of three structures between fixed platform (1) with motion workbench (5), it is characterized in that: fixed platform (1) and motion workbench (5) all have three mutually orthogonal planes, three planes of fixed platform (1) are all containing rectangular hollow structure, article three, side chain correspondence is connected between the mutually orthogonal plane of fixed platform (1) and motion workbench (5) three, every bar side chain includes expansion link (4) and disk slide block (3), one end and the motion workbench (5) of expansion link (4) are affixed, the one side of the other end and disk slide block (3) is affixed, disk slide block (3) is by inside the movable rectangular hollow structure being embedded into fixed platform (1) of the ball (2) that is embedded in edge, jointly planar kinematic pair is formed with fixed platform (1), the normal of the plane of movement that planar kinematic pair is corresponding and the centerline axis parallel of corresponding expansion link (4), the central axis of three expansion links (4) is orthogonal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677380.7A CN105127986B (en) | 2015-10-20 | 2015-10-20 | Decoupling type three-translation parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677380.7A CN105127986B (en) | 2015-10-20 | 2015-10-20 | Decoupling type three-translation parallel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105127986A true CN105127986A (en) | 2015-12-09 |
| CN105127986B CN105127986B (en) | 2020-03-13 |
Family
ID=54713728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510677380.7A Expired - Fee Related CN105127986B (en) | 2015-10-20 | 2015-10-20 | Decoupling type three-translation parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105127986B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN101439515A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Parallel four-bar type structure decoupling six-dimension force feedback device |
| CN103921268A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Prrpr branched-chain parallel mechanism hole forming system for airplane assembling |
| CN104950797A (en) * | 2015-04-30 | 2015-09-30 | 中国矿业大学 | 3-PRRS six-DOF (degrees of freedom) parallel positioning platform |
-
2015
- 2015-10-20 CN CN201510677380.7A patent/CN105127986B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN1715008A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Three freedom decoupling parallel robot mechanism |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN101439515A (en) * | 2008-12-25 | 2009-05-27 | 上海交通大学 | Parallel four-bar type structure decoupling six-dimension force feedback device |
| CN103921268A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Prrpr branched-chain parallel mechanism hole forming system for airplane assembling |
| CN104950797A (en) * | 2015-04-30 | 2015-09-30 | 中国矿业大学 | 3-PRRS six-DOF (degrees of freedom) parallel positioning platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105127986B (en) | 2020-03-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN105522561A (en) | Fully-isotropic and asymmetric parallel mechanism capable of performing two-dimensional rotation and one-dimensional movement | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN105500347A (en) | Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation | |
| CN104742046A (en) | Parallel two-freedom-degree flexible precision guide mechanism | |
| CN103144100A (en) | Moving parallel robot mechanism with three freedom degrees | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN105563462A (en) | (1T2R) & 1T1R five-degree-of-freedom decoupling hybrid mechanism | |
| CN103273481A (en) | Parallel mechanism with two-degree-of-free translation function | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN105291091A (en) | Three-translation and one-rotation parallel robot with plane pair | |
| CN102431027B (en) | Parallel robot mechanism with spatial three degrees of freedom | |
| CN105538290A (en) | Symmetric coupling mechanism with one moving freedom degree | |
| CN104999452A (en) | Three-freedom-degree micro-operation robot | |
| CN105108742B (en) | Decoupling type two-translation one-rotation parallel robot | |
| CN105127986A (en) | Decoupling type three-translation parallel robot | |
| CN104999457A (en) | Large-stroke three-freedom-degree micro-operation robot | |
| CN105345809A (en) | Six-degree-of-freedom serial-parallel mechanism | |
| CN105291092B (en) | Self-aligning three-rotation parallel robot with plane pair | |
| CN104690716A (en) | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism | |
| CN103586863A (en) | Planar three-degree-of-freedom parallel micro-positioning platform of symmetric structure | |
| CN105127987B (en) | Planar motion type decoupling parallel robot | |
| CN104275691A (en) | Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom) | |
| CN104858860B (en) | Parallel mechanism with two translation and one rotation | |
| CN103770104B (en) | A kind of space serial parallel mechanism with two turn of one shift three degrees of freedom |
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 | ||
| 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: 20200313 Termination date: 20211020 |