CN105538290A - Symmetric coupling mechanism with one moving freedom degree - Google Patents

Symmetric coupling mechanism with one moving freedom degree Download PDF

Info

Publication number
CN105538290A
CN105538290A CN201510927565.9A CN201510927565A CN105538290A CN 105538290 A CN105538290 A CN 105538290A CN 201510927565 A CN201510927565 A CN 201510927565A CN 105538290 A CN105538290 A CN 105538290A
Authority
CN
China
Prior art keywords
revolute pair
branch
parallel
axis
coupling
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
Application number
CN201510927565.9A
Other languages
Chinese (zh)
Other versions
CN105538290B (en
Inventor
刘婧芳
张海晓
李向军
高慧芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
Original Assignee
Beijing University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CN201510927565.9A priority Critical patent/CN105538290B/en
Publication of CN105538290A publication Critical patent/CN105538290A/en
Application granted granted Critical
Publication of CN105538290B publication Critical patent/CN105538290B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary

Landscapes

  • Manipulator (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)

Abstract

A symmetric coupling mechanism with one moving freedom degree comprises a movable platform, a machine frame, parallel connection branch mechanisms and coupling branch mechanisms, wherein the movable platform and the machine frame are connected through the four same parallel connection branch mechanisms and the four same coupling branch mechanisms and are in full symmetry. Four revolute pairs with the axes parallel of the first parallel connection branch mechanism are connected to the machine frame and the movable platform; a coupling chain is connected to a third revolute pair of the second parallel connection branch mechanism through an intermediate connecting rod, and the axis of a revolute pair of the coupling chain is perpendicular to the axis of the third revolute pair; the axes of the revolute pairs of the first parallel connection branch mechanism are perpendicular to the axes of revolute pairs of the second parallel connection branch mechanism. The symmetric coupling mechanism is high in rigidity, accuracy and bearing capacity, large in work space, good in stability, easy to machine and assemble and good in application prospect.

Description

A kind of symmetrical coupled mechanism with an one-movement-freedom-degree
Technical field
The present invention relates to a kind of symmetrical coupled mechanism gone out based on truncated cube structure composition, belong to applied mechanism technical field.
Background technology
In decades since robot is born, robot obtains and develops rapidly.While the fast development of connection in series-parallel connection robot, there has been proposed the concept of the robot with Space Coupling mechanism.Compared with series-parallel robot, coupling mechanism robot simultaneously compatible have the high accuracy of parallel institution, high bearing capacity and high stability, accumulated error little, be convenient to control in real time large with serial mechanism working space, control the advantages such as flexible, have a good application prospect.
The mechanism of many loop coupling in recent years becomes one of new study hotspot gradually.Tracing it to its cause is in practical application, and the serial or parallel connection mechanism of single often can not meet the job requirement in reality.Coupling mechanism as new things has attracted a large amount of mechanism scholars to study with the features and application potentiality of himself, along with the expansion deepening continuously and apply be familiar with coupling mechanism, still has many potential type coupling mechanisms to have to be developed.Existing theory mainly concentrates on series and parallel mechanism and better simply hybrid mechanism, lacks systematic research for many loop coupling mechanism.Mechanism is a kind of symmetrical coupled mechanism that rule-based polyhedral structure comprehensively goes out.
Summary of the invention
The object of the present invention is to provide a kind of based on truncated cube structure composition and there is the symmetrical coupled mechanism of an one-movement-freedom-degree, for domestic enterprise and research institution provide patent information and technical support.
For achieving the above object, the technical solution used in the present invention is a kind of symmetrical coupled mechanism with an one-movement-freedom-degree, this mechanism comprises moving platform (P), frame (M), parallel branch mechanism, coupling branch, moving platform (P) and frame (M) are connected by the coupling branch that four identical parallel branch mechanisms are identical with four, and full symmetric.
First parallel branch mechanism (1) comprises the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair (R13), the 4th revolute pair (R14), and the axis of four revolute pairs is parallel to each other; Second parallel branch mechanism (2), the 3rd parallel branch mechanism (3), that the 4th parallel branch mechanism (4) and the first parallel branch mechanism (1) form structure is identical.
Second parallel branch mechanism (2) comprises the 5th revolute pair (R21), the 6th revolute pair (R22), the 7th revolute pair (R23), the 8th revolute pair (R24).
Coupling branch is made up of the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain revolute pair (RO3), coupling branch has four groups, each group of branches organization establishes adjacent between parallel branch, the axis of each coupling branch is parallel to each other.
The first revolute pair (R11) in first parallel branch is connected with frame (M), 4th revolute pair (R14) is connected with moving platform (P), be connected by the second revolute pair (R12) and the 3rd revolute pair (R13) between first revolute pair (R11) with the 4th revolute pair (R14), the wherein axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13).
Second revolute pair (R12), the 3rd revolute pair (R13) of the first parallel branch mechanism (1) are connected by the T-shaped connecting rod in the middle of parallel branch mechanism with the first coupled chain revolute pair (RO1) of coupling branch, and their axis is orthogonal.
6th revolute pair (R22), the 7th revolute pair (R23) of the second parallel branch mechanism (1) are connected by the T-shaped connecting rod in the middle of parallel branch mechanism with the 3rd coupled chain revolute pair (RO3), and their axis is orthogonal.
The revolute pair axis of the first parallel branch mechanism (1) and the revolute pair axis of the second parallel branch mechanism (2) orthogonal; Second branch (2), the 3rd branch (3), between the 4th branch (4) and the first branch (1), the revolute pair axis of contiguous branch is orthogonal.
Compared with prior art, the present invention has following beneficial effect:
1, this mechanism's branched structure is simple, and process and assemble is simple.
2, this mechanism's good rigidly, precision is high, bearing capacity is strong, working space is large, good stability, has been widely used in the field such as bio-robot and Aero-Space.
Accompanying drawing explanation
Fig. 1 is structure diagram of the present invention.
Fig. 2 is the symmetrical coupled structural scheme of mechanism with an one-movement-freedom-degree gone out based on truncated cube structure composition.
In figure: P, moving platform, M, frame, R11, the first revolute pair, R12, the second revolute pair, R13, the 3rd revolute pair, R14, the 4th revolute pair, RO1, the first coupled chain revolute pair, RO2, the second coupled chain revolute pair, RO3, the 3rd coupled chain turns auxiliary shaft, R21, the 5th revolute pair, R22, the 6th revolute pair, R23, the 7th revolute pair, R24, the 8th revolute pair.
Detailed description of the invention
As shown in Figure 1, based on the symmetrical coupled mechanism that truncated cube structure composition goes out, this mechanism comprises moving platform (P), frame (M), parallel branch mechanism, coupling branch, moving platform and frame are connected by four parallel branch and four branch that is coupled, and full symmetric.
First parallel branch comprises the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair (R13), the 4th revolute pair (R14), and the axis of four revolute pairs is parallel to each other; Second branch, the 3rd branch, the 4th branch form identical with the first branch;
First coupled chain is made up of the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain revolute pair (RO3), and their axis is parallel to each other;
Second revolute pair of the first parallel branch is connected with the T-shaped bar of the first revolute pair of coupled chain by the intermediate connecting rod of parallel branch, and their axis is orthogonal;
Revolute pair and the second parallel branch the 3rd revolute pair of 3rd coupled chain is connected, and their axis is orthogonal;
The axis of the axis of the revolute pair of the first parallel branch and the revolute pair of the second parallel branch is orthogonal; In like manner known second branch, the 3rd branch, between the 4th branch and the first branch, the revolute pair axis of contiguous branch is orthogonal.
Specifically, the first revolute pair (R11) wherein in the first parallel branch is connected with frame (M), 4th revolute pair (R14) is connected with moving platform P, be connected by the second revolute pair (R12) and the 3rd revolute pair (R13) between first revolute pair (R11) with the 4th revolute pair (R14), the wherein axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13);
Due to each branch full symmetric, then remaining branched structure is identical with the first branch.

Claims (1)

1. one kind has the symmetrical coupled mechanism of an one-movement-freedom-degree, it is characterized in that: this mechanism comprises moving platform (P), frame (M), parallel branch mechanism, coupling branch, moving platform (P) and frame (M) are connected by the coupling branch that four identical parallel branch mechanisms are identical with four, and full symmetric;
First parallel branch mechanism (1) comprises the first revolute pair (R11), the second revolute pair (R12), the 3rd revolute pair (R13), the 4th revolute pair (R14), and the axis of four revolute pairs is parallel to each other; Second parallel branch mechanism (2), the 3rd parallel branch mechanism (3), that the 4th parallel branch mechanism (4) and the first parallel branch mechanism (1) form structure is identical;
Second parallel branch mechanism (2) comprises the 5th revolute pair (R21), the 6th revolute pair (R22), the 7th revolute pair (R23), the 8th revolute pair (R24);
Coupling branch is made up of the first coupled chain revolute pair (RO1), the second coupled chain revolute pair (RO2), the 3rd coupled chain revolute pair (RO3), coupling branch has four groups, each group of branches organization establishes adjacent between parallel branch, the axis of each coupling branch is parallel to each other;
The first revolute pair (R11) in first parallel branch is connected with frame (M), 4th revolute pair (R14) is connected with moving platform (P), be connected by the second revolute pair (R12) and the 3rd revolute pair (R13) between first revolute pair (R11) with the 4th revolute pair (R14), the wherein axis of the second revolute pair (R12) and the axis co-planar of the 3rd revolute pair (R13);
Second revolute pair (R12), the 3rd revolute pair (R13) of the first parallel branch mechanism (1) are connected by the T-shaped connecting rod in the middle of parallel branch mechanism with the first coupled chain revolute pair (RO1) of coupling branch, and their axis is orthogonal;
6th revolute pair (R22), the 7th revolute pair (R23) of the second parallel branch mechanism (1) are connected by the T-shaped connecting rod in the middle of parallel branch mechanism with the 3rd coupled chain revolute pair (RO3), and their axis is orthogonal;
The revolute pair axis of the first parallel branch mechanism (1) and the revolute pair axis of the second parallel branch mechanism (2) orthogonal; Second branch (2), the 3rd branch (3), between the 4th branch (4) and the first branch (1), the revolute pair axis of contiguous branch is orthogonal.
CN201510927565.9A 2015-12-14 2015-12-14 A kind of symmetrical coupled mechanism with an one-movement-freedom-degree Expired - Fee Related CN105538290B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510927565.9A CN105538290B (en) 2015-12-14 2015-12-14 A kind of symmetrical coupled mechanism with an one-movement-freedom-degree

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510927565.9A CN105538290B (en) 2015-12-14 2015-12-14 A kind of symmetrical coupled mechanism with an one-movement-freedom-degree

Publications (2)

Publication Number Publication Date
CN105538290A true CN105538290A (en) 2016-05-04
CN105538290B CN105538290B (en) 2017-11-07

Family

ID=55818083

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510927565.9A Expired - Fee Related CN105538290B (en) 2015-12-14 2015-12-14 A kind of symmetrical coupled mechanism with an one-movement-freedom-degree

Country Status (1)

Country Link
CN (1) CN105538290B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798889A (en) * 2016-05-24 2016-07-27 北京工业大学 Mobile and symmetrical coupling mechanism with single-degree-of-freedom for pentagonal bipyramid
CN105881509A (en) * 2016-05-24 2016-08-24 北京工业大学 Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement
CN106313016A (en) * 2016-11-09 2017-01-11 北京工业大学 Symmetrical three-degree-of-freedom movement coupling mechanism
CN106346493A (en) * 2016-11-09 2017-01-25 北京工业大学 Space developable coupling mechanism of rhombic dodecahedron
US20190120346A1 (en) * 2016-07-06 2019-04-25 Sony Corporation Expansion/contraction mechanism and four-legged robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1418763A (en) * 2002-12-24 2003-05-21 北方交通大学 Four-freedom parallel robot mechanism having two motions and one rotation
WO2007088314A2 (en) * 2006-02-02 2007-08-09 Comat (Concept Mecanique Et Assistance Technique), Societe Anonyme Articulated structure
CN104015185A (en) * 2014-06-12 2014-09-03 常州大学 Weak coupling three horizontal moving parallel robot mechanism
JP2015194207A (en) * 2014-03-31 2015-11-05 Ntn株式会社 Parallel link mechanism and link operation device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1418763A (en) * 2002-12-24 2003-05-21 北方交通大学 Four-freedom parallel robot mechanism having two motions and one rotation
WO2007088314A2 (en) * 2006-02-02 2007-08-09 Comat (Concept Mecanique Et Assistance Technique), Societe Anonyme Articulated structure
WO2007088314A3 (en) * 2006-02-02 2007-10-04 Comat Concept Mecanique Et Ass Articulated structure
JP2015194207A (en) * 2014-03-31 2015-11-05 Ntn株式会社 Parallel link mechanism and link operation device
CN104015185A (en) * 2014-06-12 2014-09-03 常州大学 Weak coupling three horizontal moving parallel robot mechanism

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
刘婧芳等: "《多环耦合机构末端件自由度计算的等效法》", 《机械工程学报》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798889A (en) * 2016-05-24 2016-07-27 北京工业大学 Mobile and symmetrical coupling mechanism with single-degree-of-freedom for pentagonal bipyramid
CN105881509A (en) * 2016-05-24 2016-08-24 北京工业大学 Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement
CN105881509B (en) * 2016-05-24 2018-12-07 北京工业大学 Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom
US20190120346A1 (en) * 2016-07-06 2019-04-25 Sony Corporation Expansion/contraction mechanism and four-legged robot
CN106313016A (en) * 2016-11-09 2017-01-11 北京工业大学 Symmetrical three-degree-of-freedom movement coupling mechanism
CN106346493A (en) * 2016-11-09 2017-01-25 北京工业大学 Space developable coupling mechanism of rhombic dodecahedron
CN106346493B (en) * 2016-11-09 2018-10-09 北京工业大学 A kind of space of granatohedron can open up coupling mechanism

Also Published As

Publication number Publication date
CN105538290B (en) 2017-11-07

Similar Documents

Publication Publication Date Title
CN105538290A (en) Symmetric coupling mechanism with one moving freedom degree
CN104889978A (en) Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism
CN103586864A (en) Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains
CN100453279C (en) Non-singular completely isotropic space mobile parallel mechanism
CN204525455U (en) A kind of variable topological four-freedom parallel mechanism
CN104021718B (en) A kind of freedom degree parallel connection tilter containing closed-loop subchain
CN105082112A (en) Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
CN105397800A (en) Asymmetric two-freedom-degree mobile multi-ting coupling mechanism
CN102350697A (en) 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism
CN104875190A (en) Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism
CN105082111A (en) Completely-decoupling two-movement three-rotation parallel robot mechanism
CN204525441U (en) A kind of Three Degree Of Freedom tilter based on parallel institution
CN103486413A (en) Three-freedom-degree decoupling large-stroke micro-positioning platform
CN102975201A (en) Three degree-of-freedom parallel mechanism with symmetrical space surfaces
CN104015185A (en) Weak coupling three horizontal moving parallel robot mechanism
CN107283427B (en) Metamorphic parallel mechanism
CN104626130A (en) Variable-topology four-degrees-of-freedom parallel mechanism
CN207747038U (en) A kind of plane grasping mechanism
CN205630632U (en) Redundant drive parallel mechanism of three translations in space
CN104875187A (en) (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism
CN105196280A (en) Redundant drive type three-horizontal-movement micro-operation robot
CN102166754A (en) Two-degree-of-freedom shoulder joint mechanism for robot
CN104932536B (en) Whether Stewart parallel institution bar elongate member meets the method for discrimination of actual bit shape
CN107116538B (en) Three-rotation one-movement generalized decoupling parallel robot mechanism
CN104999457A (en) Large-stroke three-freedom-degree micro-operation robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into 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

Granted publication date: 20171107

Termination date: 20211214

CF01 Termination of patent right due to non-payment of annual fee