CN105215973B - Asymmetric two-dimensional rotary one-dimensional movement parallel institution - Google Patents
Asymmetric two-dimensional rotary one-dimensional movement parallel institution Download PDFInfo
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- CN105215973B CN105215973B CN201510636224.6A CN201510636224A CN105215973B CN 105215973 B CN105215973 B CN 105215973B CN 201510636224 A CN201510636224 A CN 201510636224A CN 105215973 B CN105215973 B CN 105215973B
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Abstract
The present invention relates to industrial robot field of mechanisms, particularly to a kind of asymmetric two-dimensional rotary one-dimensional movement parallel institution.In the two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism of the present invention, the first prismatic pair, the second revolute pair and the 8th cylindrical pair being installed on silent flatform are chosen as driving pair.Second revolute pair and the axis of the 8th cylindrical pair are parallel to each other, and perpendicular to the first movement secondary axis.7th revolute pair and the tenth Hooke's hinge are connected with moving platform, and the pivot center being installed in the tenth Hooke's hinge on moving platform is parallel to each other with the 7th revolute pair.Therefore, when in use, bidimensional can be achieved and rotates one-dimensional movement output campaign.Side chain of the present invention is few, motion model is simple, and the input and output of moving platform are in one-to-one relationship, solves that parallel institution is complicated, and driving element is more, it is difficult to the problem of controlling.The parallel institution can be used for the fields such as industrial robot, micro-operation hand and Medical Robot.
Description
Technical field
The present invention relates to industrial robot field of mechanisms, particularly to a kind of asymmetric two-dimensional rotary one-dimensional movement
Parallel institution.
Background technology
Parallel institution compared with traditional serial mechanism, with rigidity is big, precision is high, bearing capacity is strong, motional inertia is small,
The advantages of fast response time.Minority carrier generation lifetime has that simple in construction, kinematic solution is simple, manufacturing cost is low, control compared with
The advantages of for easy, compact conformation, big working space, it is widely used in various fields in recent years.
At present, minority carrier generation lifetime is to have become one of focus of theory of mechanisms and robot field's research,
Increasingly by the attention and favor of researcher.Such as publication No. is during CN104218301A, date of publication are 2014.12.17
Bis- turn of one shifting type parallel antenna structure system of 3-UPU, publication No. disclosed in state's patent application are CN104227698A, public affairs
Cloth day is that two-freedom modified gear in parallel and publication No. disclosed in 2014.12.24 Chinese patent application are
CN102909569A, date of publication for 2013.2.6 Chinese patent disclosed in a kind of 1T2R three-freedom degree spatial parallels structure be
The technology relevant with minority carrier generation lifetime.But current minority carrier generation lifetime integrally has complicated, drive
The problem of dynamic element is more and is difficult to control.
The content of the invention
It is an object of the invention to provide a kind of asymmetric two-dimensional rotary one-dimensional movement parallel institution, to solve existing parallel connection
Mechanism structure is complicated, driving element is more, the problem of be difficult to control.
In order to solve the above problems, asymmetric two-dimensional rotary one-dimensional movement parallel institution of the invention uses following technical side
Case：Asymmetric two-dimensional rotary one-dimensional movement parallel institution, including silent flatform, moving platform and be connected between dynamic and static platform
One in two motion chain components, two motion chain components is combination chain, and another is single open chain；Combination chain includes the first son point
Branch and the second sub-branch and the 7th revolute pair, the first sub-branch include the first prismatic pair being sequentially connected in series from silent flatform and the 6th turn
Dynamic pair, wherein pivot center of the axis of the first prismatic pair perpendicular to the 6th revolute pair, the first prismatic pair is driving pair, the second son
Branch includes the second revolute pair, the 3rd Hooke's hinge, the 4th revolute pair and the 5th Hooke being sequentially connected in series from silent flatform to moving platform
Hinge, wherein the pivot center of the part adjacent with the 4th revolute pair of the 3rd Hooke's hinge and the 5th Hooke's hinge is rotated parallel to the 4th
The axis of pair, the axis of another part are perpendicular to the axis of the second revolute pair, and the second revolute pair is driving pair, the first sub-branch
With the second sub-branch Special composition closed-loop path in parallel and being connected by the 7th revolute pair with moving platform, the axle of the 6th revolute pair
Axis of the line perpendicular to the 7th revolute pair；Single open chain include be sequentially connected in series from silent flatform to moving platform the 8th cylindrical pair, the 9th
Revolute pair and the tenth Hooke's hinge, the axis of the 8th cylindrical pair and the axis of the 9th revolute pair are mutually parallel and parallel to the tenth tiger
Gram hinge close to the 9th revolute pair part axis, the 8th cylindrical pair be driving pair.
The moving platform is deck plate.
The position of 8th cylindrical pair is higher than the first prismatic pair and the second revolute pair.
8th cylindrical pair is by a stand on silent flatform.
In the two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism of the present invention, the first movement on silent flatform is installed on
Secondary, the second revolute pair and the 8th cylindrical pair are chosen as driving pair.Second revolute pair and the axis of the 8th cylindrical pair are parallel to each other, and
Perpendicular to the first movement secondary axis.7th revolute pair and the tenth Hooke's hinge are connected with moving platform, and are installed in the tenth Hooke's hinge
Pivot center on moving platform is parallel to each other with the 7th revolute pair.Therefore, when in use, bidimensional can be achieved and rotates one-dimensional move
Dynamic output campaign.Side chain of the present invention is few, motion model simple, and the input and output of moving platform are in one-to-one relationship, are solved
Parallel institution is complicated, and driving element is more, it is difficult to the problem of controlling.The parallel institution can be used for industrial robot, micro- behaviour
Make the fields such as hand and Medical Robot.
Brief description of the drawings
Fig. 1 is the schematic diagram for the embodiment that non-Symmetrical Two-dimentional rotates one-dimensional movement parallel institution；
Fig. 2 is the structural representation for the embodiment that non-Symmetrical Two-dimentional rotates one-dimensional movement parallel institution.
Embodiment
The embodiment of asymmetric two-dimensional rotary one-dimensional movement parallel institution, as shown in Figure 1-2, the mechanism include silent flatform 9,
The combination chain and single open chain of moving platform 8 and connection silent flatform 9 and moving platform 8.Moving platform 8 uses deck plate.
Combination chain includes space closed-loop path structure and the 7th revolute pair R7 connected in series, space closed-loop path knot
Structure includes the first sub-branch and the second sub-branch.
First sub-branch includes the 6th revolute pair R6 that the first prismatic pair P1 on silent flatform 9 is connected with the first prismatic pair,
They are connected by first connecting rod 1.P1 ⊥ R6 in first sub-branch, i.e. the first prismatic pair P1 and the 6th revolute pair R6 axis are mutual
Vertically.
Second sub-branch includes the second revolute pair R2, the 3rd Hooke's hinge U3, the 4th revolute pair R4 and the 5th Hooke's hinge U5.The
Two revolute pair R2 and the 3rd Hooke's hinge U3 are connected by second connecting rod 2, and the 3rd Hooke's hinge U3 and the 4th revolute pair R4 pass through the 3rd
Connecting rod 3 is connected, and the 4th revolute pair R4 and the 5th Hooke's hinge U5 are connected by fourth link 4.In Article 2 sub-branch, the 3rd Hooke
The pivot center adjacent with the 4th revolute pair R4 and the 4th revolute pair diameter parallel, other two in hinge U3 and the 5th Hooke's hinge U5
Pivot center is parallel to each other and perpendicular to the second revolute pair R2 axis.First prismatic pair P1 and the second revolute pair R2 are respectively two sons
The driving pair of branch.
First sub-branch, the second sub-branch are connected by the 5th connecting rod 5 and the 7th revolute pair R7 with moving platform, and the 6th turn
Dynamic secondary R6 and the 7th revolute pair R7 axis are mutually perpendicular to.
The 8th cylindrical pair C8, the 9th revolute pair R9, the tenth Hooke that single open chain is set gradually by silent flatform 9 to moving platform 8
U10 is cut with scissors, wherein the 8th cylindrical pair C8 and the 9th revolute pair R9 are connected by six-bar linkage 6, the 9th revolute pair R9 and the tenth Hooke
Hinge U10 is connected by seven-link assembly 7.The axis of 8th cylindrical pair C8 axis and the 9th revolute pair R9 is parallel to each other, and parallel
The axis adjacent with the 9th revolute pair R9 in the tenth Hooke's hinge U10.The 8th cylindrical pair C8 being connected with fixed platform 9 is actively
Pair, and using linear displacement as primary input；It is important to note that in the present embodiment, the 8th cylindrical pair C8 is by one
Stand 101 is located on silent flatform, can so raise its position, shortens the length of its guide rail, it is ensured that its reliability.
A kind of asymmetric two-dimensional rotary one-dimensional movement 3-freedom parallel mechanism proposed by the present invention in the course of the work, when
When driving the first prismatic pair P1, the second revolute pair R2 and the 8th cylindrical pair C8, the moving platform can realize space bidimensional rotation
One-dimensional movement is exported.Side chain of the present invention is few, motion model simple, and the input and output of moving platform are in one-to-one relationship, solution
Parallel institution of having determined is complicated, and driving element is more, it is difficult to the problem of controlling.The parallel institution can be used for industrial robot, micro-
The field such as manipulator and Medical Robot.
Claims (4)
1. asymmetric two-dimensional rotary one-dimensional movement parallel institution, including silent flatform, moving platform and it is connected between dynamic and static platform
Two motion chain components, it is characterised in that two motion chain components in one be combination chain, another is single open chain；Mixing
Chain includes the first sub-branch and the second sub-branch and the 7th revolute pair, and the first sub-branch includes first be sequentially connected in series from silent flatform
Prismatic pair and the 6th revolute pair, wherein pivot center of the axis of the first prismatic pair perpendicular to the 6th revolute pair, the first prismatic pair
For driving pair, the second revolute pair that the second sub-branch includes being sequentially connected in series from from silent flatform to moving platform, the 3rd Hooke's hinge, the 4th turn
Dynamic secondary and the 5th Hooke's hinge, wherein the pivot center of the part adjacent with the 4th revolute pair of the 3rd Hooke's hinge and the 5th Hooke's hinge
The axis of axis, another part parallel to the 4th revolute pair perpendicular to the second revolute pair axis, based on the second revolute pair
Dynamic pair, the first sub-branch Special composition closed-loop path in parallel with the second sub-branch and passes through the 7th revolute pair and moving platform company
Connect, the axis of the axis of the 6th revolute pair perpendicular to the 7th revolute pair；Single open chain includes being sequentially connected in series from silent flatform to moving platform
The 8th cylindrical pair, the 9th revolute pair and the tenth Hooke's hinge, the axis of the 8th cylindrical pair and the axis of the 9th revolute pair are mutually put down
The axis of part capable and parallel to the tenth Hooke's hinge close to the 9th revolute pair, the 8th cylindrical pair is driving pair.
2. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 1, it is characterised in that the moving platform
For deck plate.
3. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 1 or 2, it is characterised in that described
The position of eight cylindrical pairs is higher than the first prismatic pair and the second revolute pair.
4. asymmetric two-dimensional rotary one-dimensional movement parallel institution according to claim 3, it is characterised in that the 8th circle
Post pair is by a stand on silent flatform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636224.6A CN105215973B (en) | 2015-09-30 | 2015-09-30 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510636224.6A CN105215973B (en) | 2015-09-30 | 2015-09-30 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105215973A CN105215973A (en) | 2016-01-06 |
| CN105215973B true CN105215973B (en) | 2017-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510636224.6A Expired - Fee Related CN105215973B (en) | 2015-09-30 | 2015-09-30 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109352625B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | One-dimensional translation two-dimensional rotation parallel mechanism manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU7935294A (en) * | 1993-10-26 | 1995-05-22 | Vincent Hayward | Mechanisms for orienting and placing articles |
| CN100532028C (en) * | 2007-07-27 | 2009-08-26 | 河南科技大学 | Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism |
| CN102431028B (en) * | 2011-10-30 | 2014-04-16 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102825595B (en) * | 2012-08-24 | 2015-04-08 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN205033196U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric two dimension is rotated one -dimensional and is removed parallel mechanism |
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| CN105215973A (en) | 2016-01-06 |
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