CN105643599A - Single-input three-translation one-rotation parallel robot mechanism - Google Patents
Single-input three-translation one-rotation parallel robot mechanism Download PDFInfo
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- CN105643599A CN105643599A CN201610140185.5A CN201610140185A CN105643599A CN 105643599 A CN105643599 A CN 105643599A CN 201610140185 A CN201610140185 A CN 201610140185A CN 105643599 A CN105643599 A CN 105643599A
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- revolute pair
- connecting rod
- parallelogram
- pair
- rod
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A single-input three-translation one-rotation parallel robot mechanism is composed of a movable platform (1), a fixed platform (0), a space complex branch chain and a swing rod (9), wherein the movable platform (1) and the fixed platform (0) are connected through the space complex branch chain and the swing rod (9). On a main chain of the space complex branch chain, one end of a first drive rod (2) is connected with the fixed platform (0) through a first rotary pair (R11), the other end of the first drive rod (2) is connected with a first short edge rod (3) of a first parallelogram through a second rotary pair (R12), a second short edge rod (4) of the first parallelogram is connected with one end of a first connecting rod (5) through a third rotary pair (R13), and the other end of the first connecting rod (5) is connected with the movable platform (1) through a fourth rotary pair (R14). On an auxiliary chain of the space complex branch chain, a third short edge rod (6) of a second parallelogram is connected with the fixed platform (0) through a fifth rotary pair (R21), a fourth short edge rod (7) of the second parallelogram is connected with one end of a second connecting rod (8) through a sixth rotary pair (R22), and the other end of the second connecting rod (8) is connected with the first connecting rod (5) on the main chain through a seventh rotary pair (R23). The two ends of the swing rod (9) are connected to the fixed platform (0) and the movable platform (1) through a rotary pair and a spherical pair. Single-input three-translation one-rotation output is adopted in the parallel robot mechanism.
Description
Technical field
The present invention relates to a kind of parallel robot mechanism inputting multi output less, provide a novel single input three to translate a rotating parallel robot mechanism for robot manipulator etc.
Background technology
Industrial many occasion Structure of need are simple, single-degree-of-freedom but the space mechanism of spatial complex motion can be produced, for mixer, buffing machine, blender, vibrosieve etc. Applicant has invented the parallel institution of serial single-degree-of-freedom, they can produce the two of space rotate, three rotate, translation two rotation, translation three rotation, two translation two rotations, three translation two rotations, the three translation compound movements such as three rotations, these parallel institutions are used as multi-dimensional vibration sieve etc., can ensure that materials overturning is abundant, sieve aperture is not easily blocked by " sieve grain ", thus screening efficiency can be improved, alternative circular shale shaker traditional at present and linear vibrating screen; Being also used as mixer, blender originally, mixing of materials can be made uniform, mixing efficiency is high. No matter for screening or mix and blend, can save energy and reduce the cost. But simple in construction, practical single-degree-of-freedom three-translation and one-rotation parallel mechanism not yet occur at present.
The present invention provides new a kind of single-degree-of-freedom to drive but can produce space three and translate the parallel institution of a rotation, to meet the needs of various energy-saving and cost-reducing production equipment.
Summary of the invention
The invention aims to overcome the deficiencies in the prior art, it is provided that a kind of new single input three translates a rotating parallel robot mechanism, this kind of mechanism has that good rigidly, structure are relatively simple, be prone to processing; The advantages such as degree of coupling k low (k=1), forward kinematics solution and Dynamic solving are easier.
A kind of single input three provided by the invention translates a rotating parallel robot mechanism, by moving platform (1), silent flatform (0) and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (9) and form, it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod one (2) and silent flatform (0) are with revolute pair one (R11) connect, minor face bar one (3) revolute pair two (R of the other end of drive rod one (2) and the parallelogram one being made up of four revolute pairs and four bars12) connect, another minor face bar two (4) revolute pair three (R of parallelogram one13) be connected with one end of connecting rod one (5), and the other end of connecting rod one (5) and moving platform (1) revolute pair four (R14) connect;Revolute pair one (R11), revolute pair two (R12), revolute pair three (R13) axis be parallel to each other, but with revolute pair four (R14) axis vertical; On secondary chain, minor face bar three (6) revolute pair five (R of the parallelogram two being made up of four revolute pairs and four bars21) be connected with silent flatform (0), and revolute pair five (R21) axis and revolute pair one (R11) axis not parallel, another minor face bar four (7) revolute pair six (R of parallelogram two22) be connected with one end of connecting rod two (8), and the other end of connecting rod two (8) and connecting rod one (5) revolute pair seven (R on main chain23) connect, and revolute pair seven (R23) and revolute pair four (R14) dead in line; Equally, revolute pair five (R21), revolute pair six (R22) axis be parallel to each other, but with revolute pair seven (R23) axis vertical; Meanwhile, the two ends of fork (9) are respectively through revolute pair eight (R31)--the secondary (S of ball32) it is connected to silent flatform (0), moving platform (1) and revolute pair eight (R31) and the secondary (S of ball32) can exchange.
Further, the revolute pair one (R on silent flatform (0)11) for driving secondary time, moving platform (1) just can produce the space motion of three translations one rotations; This driving pair can also substitute with moving sets.
Accompanying drawing explanation
Accompanying drawing 1 is that the single input three of the present invention translates the example structure diagram of a rotating parallel robot mechanism and is intended to.
Detailed description of the invention
Give to illustrate further to the technology of the present invention below by accompanying drawing and example.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is such that a kind of single input three and translates a rotating parallel robot mechanism, by moving platform 1, silent flatform 0 and connect moving platform 1,1 spatial complex side chain of silent flatform 0 and 1 fork 9 and form, spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod 1 and silent flatform 0 are with revolute pair one R11Connect, minor face bar 1 revolute pair two R of the other end of drive rod 1 and the parallelogram one being made up of four revolute pairs and four bars12Connect, another minor face bar 24 revolute pair three R of parallelogram one13It is connected with one end of connecting rod 1, and the other end of connecting rod 1 and moving platform 1 revolute pair four R14Connect; Revolute pair one R11, revolute pair two R12, revolute pair three R13Axis be parallel to each other, but with revolute pair four R14Axis vertical; On secondary chain, minor face bar 36 revolute pair five R of the parallelogram two being made up of four revolute pairs and four bars21It is connected with silent flatform 0, revolute pair five R21Axis and revolute pair one R11Axis vertical, another minor face bar 47 revolute pair six R of parallelogram two22It is connected with one end of connecting rod 28, and the other end of connecting rod 28 and connecting rod 1 revolute pair seven R on main chain23Connect, and revolute pair seven R23With revolute pair four R14Dead in line; Equally, revolute pair five R21, revolute pair six R22Axis be parallel to each other, but with revolute pair seven R23Axis vertical. Further, the two ends of fork 9 are respectively through revolute pair eight R31, ball secondary S32It is connected to silent flatform 0, moving platform 1, certainly, revolute pair eight R31With ball secondary S32Can exchange.
Meanwhile, as revolute pair one R coupled with silent flatform 011For drive time, so that it may make moving platform 1 realize three translations and on moving platform 1 revolute pair four R14The rotation output of axis, but wherein only have 1 for self-movement, other are derive from motion.
Claims (2)
1. a single input three translates a rotating parallel robot mechanism, by moving platform (1), silent flatform (0) and connect moving platform (1), 1 spatial complex side chain of silent flatform (0) and 1 fork (9) and form, it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of drive rod one (2) and silent flatform (0) are with revolute pair one (R11) connect, minor face bar one (3) revolute pair two (R of the other end of drive rod one (2) and the parallelogram one being made up of four revolute pairs and four bars12) connect, another minor face bar two (4) revolute pair three (R of parallelogram one13) be connected with one end of connecting rod one (5), and the other end of connecting rod one (5) and moving platform (1) revolute pair four (R14) connect;Revolute pair one (R11), revolute pair two (R12), revolute pair three (R13) axis be parallel to each other, but with revolute pair four (R14) axis vertical; On secondary chain, minor face bar three (6) revolute pair five (R of the parallelogram two being made up of four revolute pairs and four bars21) be connected with silent flatform (0), and revolute pair five (R21) axis and revolute pair one (R11) axis not parallel, another minor face bar four (7) revolute pair six (R of parallelogram two22) be connected with one end of connecting rod two (8), and the other end of connecting rod two (8) and connecting rod one (5) revolute pair seven (R on main chain23) connect, and revolute pair seven (R23) and revolute pair four (R14) dead in line; Equally, revolute pair five (R21), revolute pair six (R22) axis be parallel to each other, but with revolute pair seven (R23) axis vertical; Further, the two ends of fork (9) are respectively through revolute pair eight (R31), the secondary (S of ball32) it is connected to silent flatform (0), moving platform (1) and revolute pair eight (R31) and the secondary (S of ball32) can exchange.
2. translate a rotating parallel robot mechanism by the single input three described in claim 1, it is characterised in that: the revolute pair one (R coupled with silent flatform (0)11) for driving pair, it is possible to substitute with moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140185.5A CN105643599B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610140185.5A CN105643599B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel robot mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105643599A true CN105643599A (en) | 2016-06-08 |
| CN105643599B CN105643599B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610140185.5A Expired - Fee Related CN105643599B (en) | 2016-03-12 | 2016-03-12 | A kind of single input three translates a rotating parallel robot mechanism |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008264881A (en) * | 2007-04-16 | 2008-11-06 | Fanuc Ltd | Working device |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
-
2016
- 2016-03-12 CN CN201610140185.5A patent/CN105643599B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008264881A (en) * | 2007-04-16 | 2008-11-06 | Fanuc Ltd | Working device |
| CN102922511A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Three-move one-rotation four-freedom degree space parallel connection mechanism |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 沈惠平 等: "6自由度弱耦合并联机构机型设计及其方法", 《机械工程学报》 * |
| 沈惠平 等: "以基本运动链为单元的并联机构拓扑结构设计", 《农业机械学报》 * |
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| CN105643599B (en) | 2017-10-20 |
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