CN105500347A - Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation - Google Patents
Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation Download PDFInfo
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- CN105500347A CN105500347A CN201610055839.4A CN201610055839A CN105500347A CN 105500347 A CN105500347 A CN 105500347A CN 201610055839 A CN201610055839 A CN 201610055839A CN 105500347 A CN105500347 A CN 105500347A
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- revolute pair
- branch
- moving platform
- pedestal
- scissors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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Abstract
A Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation comprises a base, a moving platform and three structurally identical branches connecting the base and the moving platform. One end of a lower link in each branch is connected with the base through a revolute pair, the other end of this link is connected with one end of an upper link through a lower universal hinge, and the other end of this upper link is connected with the moving platform through an upper universal hinge. Two revolute pairs, connected with the base, of the first and third branches are axially parallel; two upper universal hinge outer revolute pairs, connected with the moving platform, of the first and third branches are axially parallel, the revolute pair, connected with the base, of the second branch is axially perpendicular to the axes of the revolute pairs, connected with the base, of the first and third branches; the upper universal hinge outer revolute pair, connected with the moving platform, of the second branch is axially perpendicular to the axes of the upper universal joint outer revolute pairs, connected with the moving platform, of the first and third branches. The revolute pairs, on different members, of the branches of the mechanism can be naturally parallel, enabling stable three-DOF translational motion without mechanism evolution during moving.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly a kind of 3-freedom parallel mechanism.
Background technology
Three parallel moving mechanisms are the study hotspots of theory of mechanisms with its special kinetic characteristic always.Wherein are no lack of three parallel moving mechanisms that some are famous.1988, R.Clavel proposed Delta parallel mechanism, was the pure parallel moving mechanism of a kind of 3DOF, and its speed is fast, registration.Tsai proposed a kind of symmetrical 3-UPU parallel moving mechanism (TsaiLW.KinematicsofAThree-DofPlatformwithThreeExtensible Limbs [M] //RecentAdvancesinRobotKinematics.SpringerNetherlands, 1996:401-410) in 1996.For 3-RUU parallel institution, Tsai proposes a kind of 3-RUU parallel institution in United States Patent (USP) 5656905, the 3-RUU mechanism wherein proposed keeps the condition of translation to be the revolute pair be connected with pedestal in each RUU branch and the outside revolute pair be connected with upper mounting plate to want keeping parallelism, the revolute pair be connected with pedestal in this mechanism is all parallel to pedestal opposite side, and the outside revolute pair be connected with upper mounting plate is parallel to upper mounting plate opposite side.Under this layout, the revolute pair keeping parallelism be on different component is very difficult.When the revolute pair of correspondence is not parallel, mechanism does not have three stable translation characteristics.This mechanism is actually a Variable Freedom Mechanism in motion process.
More domestic scholars it is also proposed 3-RUU mechanism, publication number is that the Chinese patent of CN201420614274.5 proposes 3-RUU type parallel institution hip joint tester, publication number be the Chinese patent of CN201410371262.9 propose a kind of can the Delta structure parallel manipulator of precision three-dimensional movement, comprise the kinematic chain based on 3-RUU.But these 3-RUU mechanisms do not have three translational motion characteristics.
Summary of the invention
A kind of realization is the object of the present invention is to provide to stablize pure flat dynamic 3-freedom parallel mechanism.This mechanism realizes being in the naturally parallel of the revolute pair on different component by the special arrangement of kinematic pair, ensure that the kinetic characteristic of mechanism stable three translation.
Technical scheme of the present invention is as follows:
The present invention mainly comprises pedestal, moving platform and connects the pedestal branch identical with three structures of moving platform, and there are two kinds of different connected modes in the branch that three described structures are identical.
First kind of way: branch is made up of lower link and upper connecting rod, and one end of lower link is connected with pedestal by revolute pair, the other end of this lower link is connected with one end of upper connecting rod by lower universal hinge, and on this, the other end of connecting rod is connected with moving platform by upper universal hinge.Go up the revolute pair be connected with lower link in the revolute pair and lower universal hinge be connected with moving platform in universal hinge and be outside revolute pair, the revolute pair that upper and lower universal hinge is connected with upper connecting rod is inner side revolute pair, in each universal hinge, outside revolute pair axis and inner side revolute pair axes normal.Two turns auxiliary shaft line parallels that first and third branch is connected with pedestal; First and third branch be connected with moving platform two upper universal cut with scissors outside turns auxiliary shaft line parallel.The revolute pair axis that the revolute pair axis that second branch is connected with pedestal is connected with pedestal perpendicular to first and third branch; Second branch be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis.In three branches, the revolute pair axis be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane.In each branch, revolute pair axis and lower link axes normal, and universally cut with scissors outside turns auxiliary shaft line parallel, lower universal hinge inner side revolute pair axis and upper connecting rod axes normal with lower, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
The second way: branch is made up of lower link and upper connecting rod, one end of lower link is connected with pedestal by lower universal hinge, and the other end of this lower link is connected by revolute pair one end with upper connecting rod, and on this, the other end of connecting rod is connected with moving platform by upper universal hinge.The revolute pair be connected with pedestal or moving platform in upper and lower universal hinge is outside revolute pair, and the revolute pair be connected with lower link or upper connecting rod is inner side revolute pair.Universally under two that first and third branch is connected with pedestal cut with scissors outside turns auxiliary shaft line parallel; First and third branch be connected with moving platform two upper universal cut with scissors outside turns auxiliary shaft line parallel.Second branch be connected with pedestal lower universal cut with scissors outside revolute pair axis perpendicular to be connected with pedestal in first and third branch lower universal cut with scissors outside revolute pair axis; Second branch be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis.In three branches, the lower universal outside revolute pair axis that cuts with scissors be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane.In each branch, lower universal hinge inner side revolute pair axis and lower link axes normal, and with turns auxiliary shaft line parallel, revolute pair axis and upper connecting rod axes normal, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
The present invention compared with prior art tool has the following advantages:
The arrangement of revolute pair can make mechanism realize being in the naturally parallel of the revolute pair on different component, and meet the geometrical condition realizing three translations, mechanism realizes three stable translational motions, in mechanism kinematic process, there will not be mechanism evolution.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2.
In figure: 1-pedestal, 2-moving platform, the 3-the first branch, the 4-the second branch, the 5-the three branch, 6-lower link, 7-lower universal hinge, 8-upper connecting rod, 9-upper universal hinge.
Detailed description of the invention
Embodiment 1
Stablize in pure flat dynamic 3-freedom parallel mechanism schematic diagram realizing shown in Fig. 1, one end of lower link 6 is connected with pedestal 1 by revolute pair R1, the other end of this lower link is connected with one end of upper connecting rod 8 by lower universal hinge 7, and on this, the other end of connecting rod is connected with moving platform 2 by upper universal hinge 9.Go up the revolute pair R2 be connected with lower link in the revolute pair R5 and lower universal hinge be connected with moving platform in universal hinge and be outside revolute pair, revolute pair R3, R4 that upper and lower universal hinge is connected with upper connecting rod are inner side revolute pair, in each universal hinge, outside revolute pair axis and inner side revolute pair axes normal.Two revolute pair R1 axis being parallel that first branch 3 and the 3rd branch 5 are connected with pedestal; First and third branch be connected with moving platform two upper universal cut with scissors outside turns auxiliary shaft line parallel.The revolute pair axis that the revolute pair axis that second branch is connected with pedestal is connected with pedestal perpendicular to first and third branch; Second branch 4 be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis.In three branches, the revolute pair axis be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane.In each branch, revolute pair axis and lower link axes normal, and universally cut with scissors outside turns auxiliary shaft line parallel, lower universal hinge inner side revolute pair axis and upper connecting rod axes normal with lower, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
Embodiment 2
As shown in Figure 2, one end of lower link 6 is connected with pedestal 1 by lower universal hinge 7, and the other end of this lower link is connected with one end of upper connecting rod 8 by revolute pair R3, and on this, the other end of connecting rod is connected with moving platform 2 by upper universal hinge 9.The revolute pair R1, the R5 that are connected with pedestal or moving platform in upper and lower universal hinge are outside revolute pair, and the revolute pair R3 be connected with lower link or upper connecting rod, R4 are inner side revolute pair.Universally under two that first branch 3 and the 3rd branch 5 are connected with pedestal cut with scissors outside revolute pair R1 axis being parallel; First and third branch be connected with moving platform two upper universal cut with scissors outside revolute pair R5 axis being parallel.Second branch 4 be connected with pedestal lower universal cut with scissors that outside revolute pair R1 axes normal is connected with pedestal in first and third branch lower universal cut with scissors outside revolute pair axis; Second branch be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis.In three branches, the lower universal outside revolute pair axis that cuts with scissors be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane.In each branch, lower universal hinge inner side revolute pair axis and lower link axes normal, and with turns auxiliary shaft line parallel, revolute pair axis and upper connecting rod axes normal, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
Claims (2)
1. one kind can realize stablizing pure flat dynamic 3-freedom parallel mechanism, it comprises pedestal, moving platform and connects the pedestal branch identical with three structures of moving platform, it is characterized in that: described branch is made up of lower link and upper connecting rod, one end of lower link is connected with pedestal by revolute pair, the other end of this lower link is connected with one end of upper connecting rod by lower universal hinge, and on this, the other end of connecting rod is connected with moving platform by upper universal hinge; Go up the revolute pair be connected with lower link in the revolute pair and lower universal hinge be connected with moving platform in universal hinge and be outside revolute pair, the revolute pair that upper and lower universal hinge is connected with upper connecting rod is inner side revolute pair, in each universal hinge, outside revolute pair axis and inner side revolute pair axes normal; Two turns auxiliary shaft line parallels that first and third branch is connected with pedestal; First and third branch be connected with moving platform two upper universal cut with scissors outside turns auxiliary shaft line parallel; The revolute pair axis that the revolute pair axis that second branch is connected with pedestal is connected with pedestal perpendicular to first and third branch; Second branch be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis; In three branches, the revolute pair axis be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane; In each branch, revolute pair axis and lower link axes normal, and universally cut with scissors outside turns auxiliary shaft line parallel, lower universal hinge inner side revolute pair axis and upper connecting rod axes normal with lower, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
2. one kind can realize stablizing pure flat dynamic 3-freedom parallel mechanism, it comprises pedestal, moving platform and connects the pedestal branch identical with three structures of moving platform, it is characterized in that: described branch is made up of lower link and upper connecting rod, one end of lower link is connected with pedestal by lower universal hinge, the other end of this lower link is connected by revolute pair one end with upper connecting rod, and on this, the other end of connecting rod is connected with moving platform by upper universal hinge; The revolute pair be connected with pedestal or moving platform in upper and lower universal hinge is outside revolute pair, and the revolute pair be connected with lower link or upper connecting rod is inner side revolute pair; Universally under two that first and third branch is connected with pedestal cut with scissors outside turns auxiliary shaft line parallel; First and third branch be connected with moving platform two upper universal cut with scissors outside turns auxiliary shaft line parallel; Second branch be connected with pedestal lower universal cut with scissors outside revolute pair axis perpendicular to be connected with pedestal in first and third branch lower universal cut with scissors outside revolute pair axis; Second branch be connected with moving platform upper universal cut with scissors that outside revolute pair axis is connected with moving platform perpendicular to first and third branch upper universal cut with scissors outside revolute pair axis; In three branches, the lower universal outside revolute pair axis that cuts with scissors be connected with pedestal is all parallel to base plane, and the upper universal outside revolute pair axis that cuts with scissors be connected with moving platform is all parallel to moving platform plane; In each branch, lower universal hinge inner side revolute pair axis and lower link axes normal, and with turns auxiliary shaft line parallel, revolute pair axis and upper connecting rod axes normal, and with upper universal cut with scissors inside turns auxiliary shaft line parallel.
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Cited By (9)
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| CN105818116A (en) * | 2016-05-25 | 2016-08-03 | 唐姗姗 | Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN106041893A (en) * | 2016-07-18 | 2016-10-26 | 燕山大学 | Symmetrical two-rotation-freedom-degree and one-movement-freedom-degree parallel mechanism with multiple continuous rotating shafts |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN107855791A (en) * | 2017-11-16 | 2018-03-30 | 中国矿业大学 | A kind of multi-parallel flexible cable formula optical fabrication device |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
| CN111496766A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
| WO2022147957A1 (en) * | 2021-01-10 | 2022-07-14 | 于江涛 | Three-degree-of-freedom decoupled parallel translation mechanism |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN105856197B (en) * | 2016-05-20 | 2018-12-28 | 燕山大学 | Pure translational 3-UPU parallel institution without undesirable rotation |
| CN105818116A (en) * | 2016-05-25 | 2016-08-03 | 唐姗姗 | Two-degree-of-freedom motion platform, three-degree-of-freedom motion platform, four-degree-of-freedom motion platform and six-degree-of-freedom motion platform used for analog simulation |
| CN106041893A (en) * | 2016-07-18 | 2016-10-26 | 燕山大学 | Symmetrical two-rotation-freedom-degree and one-movement-freedom-degree parallel mechanism with multiple continuous rotating shafts |
| CN107618023A (en) * | 2017-09-26 | 2018-01-23 | 上海大学 | A kind of light-duty Three Degree Of Freedom translational motion parallel institution |
| CN107855791A (en) * | 2017-11-16 | 2018-03-30 | 中国矿业大学 | A kind of multi-parallel flexible cable formula optical fabrication device |
| CN107825402A (en) * | 2017-12-08 | 2018-03-23 | 山东科技大学 | A kind of Three Degree Of Freedom high speed conveying robot |
| CN109531543A (en) * | 2018-12-21 | 2019-03-29 | 清华大学 | Four-freedom-degree parallel-connection robot with double acting platform structure |
| CN111496766A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
| CN111496766B (en) * | 2020-04-28 | 2021-07-27 | 清华大学 | Three-degree-of-freedom parallel mechanism based on electric cylinder |
| WO2022147957A1 (en) * | 2021-01-10 | 2022-07-14 | 于江涛 | Three-degree-of-freedom decoupled parallel translation mechanism |
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