CN105643602B - A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two - Google Patents
A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two Download PDFInfo
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- CN105643602B CN105643602B CN201610141696.9A CN201610141696A CN105643602B CN 105643602 B CN105643602 B CN 105643602B CN 201610141696 A CN201610141696 A CN 201610141696A CN 105643602 B CN105643602 B CN 105643602B
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- revolute pair
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- 238000013519 translation Methods 0.000 title claims abstract description 22
- 230000008878 coupling Effects 0.000 title claims abstract description 11
- 238000010168 coupling process Methods 0.000 title claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 11
- 239000000203 mixture Substances 0.000 claims description 4
- 238000009795 derivation Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000014616 translation Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 101150101745 F2rl3 gene Proteins 0.000 description 1
- 101150114311 PAWR gene Proteins 0.000 description 1
- 102100040853 PRKC apoptosis WT1 regulator protein Human genes 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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Classifications
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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Abstract
A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two, it is made up of moving platform (1), silent flatform (0) and 2 identical spatial complex side chains, on the main chain of spatial complex side chain, one end of bar two (2) and silent flatform (0) are with (the R of revolute pair one11) connection, its other end and parallelogram one ((4R)1) one end short side bar one (3) (R of revolute pair two12) connection, other end short side bar two (4) (R of revolute pair three13) be connected with moving platform (1)；Revolute pair one, revolute pair two, the axis of revolute pair three are parallel to each other；On secondary chain, one end of bar three (5) and silent flatform (0) are with (the R of revolute pair four31) connection, and (the R of revolute pair four31) and (R of revolute pair one11) diameter parallel, the other end and parallelogram two ((4R)3) one end short side bar three (6) (R of revolute pair five32) connection, its other end short side bar four (7) (R of revolute pair six33) be connected with short side bar two (4), and with the (R of revolute pair three13) axis overlap；The axis of two revolute pairs on moving platform (1) must be parallel.This kind of shunting means is simple in construction, easy to manufacture, the degree of coupling is low (k=1).
Description
Technical field
The present invention relates to a kind of parallel robot device of the kinematic pair moving platform of weak coupling two, is robot manipulator etc.
One three new translation one is provided and rotates shunting means.
Background technology
The device of parallel-connection structure, the Delta manipulators of the translation functions of space three are particularly realized, in high speed pick-and-place, fixed
Good effect has been played in the techniques such as position assembling, carrying, sorting, loading and unloading；And with the parallel connection of three one rotating functions of translation
Manipulator is even more indispensable in the case where needing to adjust the occasion of workpiece posture.Therefore, R.Clavel in 1988 is in three translations
On the basis of Delta manipulators, then connect a R-U-P-U-R side chain or S-P-S side chains, constituting one has three translations one
The series-parallel connection manipulator of rotating function；The patent 200310106012.4 of Yang Ting power applications in 2003, it is proposed that one group 5 three translations
One one-rotation parallel mechanism, but there is no Development Prototype；Pierrot etc. has invented four freedom of H4, I4, Par4 series in succession after 2000
SCARA types (i.e. three translations one rotate) manipulator is spent, professor Huang Tian develops the Cross-IV that the translation of four-degree-of-freedom three one rotates
Type high speed transfer robot；And patent 201210435375.1 proposes a kind of single platform and realizes the parallel machine that three translations one rotate
Structure, and have developed model machine.But these above-mentioned mechanism structures are complicated, and mechanism degree of coupling k larger (k=2), this causes the fortune of mechanism
Dynamic normal solution and Dynamic solving are very difficult, so as to have impact on exploitation and application.Therefore, the rotating function of three translation one is realized
New structure and application are required for development, it is necessary to create the new architecture better than existing mechanism.
The content of the invention
A kind of three new one rotating parallel devices of translation are provided the invention aims to overcome the deficiencies in the prior art
People's device, they have, and rigidity is good, structure is relatively simple, is easy to Precision Machining；Degree of coupling k low (k=1), forward kinematics solution and dynamic
Mechanics solves the advantages that being easier.
A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two provided by the invention, by
2 identical spatial complex side chains composition of moving platform (1), silent flatform (0) and connection moving platform (1), silent flatform (0), its
It is characterized in：Spatial complex side chain includes 1 main chain and 1 secondary chain, and on main chain, one end of bar two (2) is with silent flatform (0) to rotate
One (R of pair11) connection, the other end of bar two (2) and the parallelogram one ((4R) 1) that is made up of four revolute pairs and four bars
One end short side bar one (3) (R of revolute pair two12) connection, other end short side bar two (4) revolute pair three of parallelogram one
(R13) be connected with moving platform (1)；These three revolute pairs one (R11), (R of revolute pair two12), (R of revolute pair three13) axis it is mutually flat
OK；On secondary chain, one end of bar three (5) and silent flatform (0) are with (the R of revolute pair four31) connection, and (the R of revolute pair four31) and revolute pair
One (R11) diameter parallel, the other end of bar three (5) and the parallelogram two being made up of four revolute pairs and four bars
((4R)3) one end short side bar three (6) (R of revolute pair five32) connection, the other end short side bar four (7) of the parallelogram two
With (the R of revolute pair six33) and parallelogram one ((4R)1) short side bar two (4) connection, (the R of revolute pair six33) and revolute pair three
(R13) axis overlap, equally, three (R of revolute pair four31), (R of revolute pair five32), (R of revolute pair six33) axis it is mutually flat
OK；Further, (the R of revolute pair three being connected with moving platform (1)13) and (R of revolute pair seven23) axis it is necessarily parallel to each other；
Four revolute pairs coupled with silent flatform (0) are drive pair, can be substituted with prismatic pair；And one ought be fixed successively
It is individual, two, three drive pairs when, the device just respectively become Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom three translation one rotate
Parallel robot, its independent output motion number are respectively three, two, one, and others motion is moved to derive from.
Brief description of the drawings
Accompanying drawing 1 is the structure diagram schematic diagram of one of embodiments of the invention；
Embodiment
The technology of the present invention is given below by accompanying drawing and example and further illustrated.
Parallel robot device shown in accompanying drawing 1 is one of embodiments of the invention, and its technical scheme is such：
Three one rotating parallel device people's devices of translation of a kind of kinematic pair moving platform of weak coupling two, by moving platform 1, quiet flat
Platform 0 and connection moving platform 1,2 identical spatial complex side chains composition of silent flatform 0, spatial complex side chain include 1 main chain
With 1 secondary chain, on main chain, one end of bar 22 is with silent flatform 0 with the R of revolute pair one11Connection, the other end of bar 22 by four with being turned
Dynamic secondary and four bar compositions parallelogram one (4R)1Revolute pair two R of one end short side bar 112Connection, parallelogram
One other end short side bar 24 R of revolute pair three13It is connected with moving platform 1；These three revolute pairs one R11, the R of revolute pair two12, turn
Three R of dynamic pair13Axis be parallel to each other；On secondary chain, one end of bar 35 and silent flatform 0 are with the R of revolute pair four31Connection, and revolute pair
Four R31With the R of revolute pair one11Diameter parallel, the other end of bar 35 and parallel four side being made up of four revolute pairs and four bars
Shape two (4R)3Revolute pair five R of one end short side bar 3632Connection, the other end short side bar 47 of the parallelogram two, which is used, to be turned
Six R of dynamic pair33With parallelogram one (4R)1Short side bar 24 connect, the R of revolute pair six33With the R of revolute pair three13Axis overlap,
Equally, three R of revolute pair four31, the R of revolute pair five32, the R of revolute pair six33Axis be parallel to each other；Further, it is connected with moving platform 1
The R of revolute pair three13With the R of revolute pair seven23Axis it is necessarily parallel to each other；
The mechanism has 4 frees degree, as the four revolute pair R coupled with silent flatform 011、R31、R21、R31During to drive,
Moving platform 1 can be made to realize D translation and the R of revolute pair five on moving platform 113The one-dimensional rotation output of axis；And it ought consolidate successively
Fixed one, two, three drive pairs when, the device just respectively becomes three translations one of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom
Rotating parallel device people, its independent output motion number are respectively three, two, one, and others motion is moved to derive from.
Claims (2)
1. a kind of three one rotating parallel device people's devices of translation of kinematic pair moving platform of weak coupling two, by moving platform (1), quiet flat
Platform (0) and connection moving platform (1), 2 identical spatial complex side chains composition of silent flatform (0), it is characterized in that：Spatial complex
Side chain includes 1 main chain and 1 secondary chain, and on main chain, one end of bar two (2) is with silent flatform (0) with (R of revolute pair one11) connection, bar
The other end of two (2) and the parallelogram one ((4R) being made up of four revolute pairs and four bars1) one end short side bar one (3)
With (the R of revolute pair two12) connection, other end short side bar two (4) (R of revolute pair three of parallelogram one13) and moving platform (1)
Connection；These three revolute pairs one (R11), (R of revolute pair two12), (R of revolute pair three13) axis be parallel to each other；On secondary chain, bar three
(5) one end is with silent flatform (0) with (R of revolute pair four31) connection, and (the R of revolute pair four31) and (R of revolute pair one11) axis put down
OK, the other end of bar three (5) and the parallelogram two ((4R) being made up of four revolute pairs and four bars3) one end short side bar
Three (6) (R of revolute pair five32) connection, other end short side bar four (7) (R of revolute pair six of the parallelogram two33) with putting down
Row quadrangle one ((4R)1) short side bar two (4) connection, (the R of revolute pair six33) and (R of revolute pair three13) axis overlap, equally,
Three (R of revolute pair four31), (R of revolute pair five32), (R of revolute pair six33) axis be parallel to each other；Further, with moving platform (1)
(the R of revolute pair three of connection13) and (R of revolute pair seven23) axis it is necessarily parallel to each other.
2. three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two as described in claim 1, its
It is characterised by：Four revolute pairs coupled with silent flatform (0) are drive pair, can be substituted with prismatic pair；And it ought fix successively
One, two, three drive pairs when, the device just respectively become Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom three translation one turn
Dynamic parallel robot, its independent output motion number is respectively three, two, one, and others motion is derivation motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141696.9A CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141696.9A CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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| CN105643602A CN105643602A (en) | 2016-06-08 |
| CN105643602B true CN105643602B (en) | 2017-11-17 |
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| CN201610141696.9A Expired - Fee Related CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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| CN110733026B (en) * | 2019-06-11 | 2022-05-20 | 常州大学 | Zero-coupling-degree three-translation one-rotation parallel mechanism with analytic position positive solution |
| CN111089148B (en) * | 2020-01-15 | 2021-01-19 | 北京交通大学 | Multi-mode infinite turnover mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN102922513B (en) * | 2012-11-02 | 2015-05-20 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
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