CN105729459A - Parallel robot - Google Patents
Parallel robot Download PDFInfo
- Publication number
- CN105729459A CN105729459A CN201610190055.2A CN201610190055A CN105729459A CN 105729459 A CN105729459 A CN 105729459A CN 201610190055 A CN201610190055 A CN 201610190055A CN 105729459 A CN105729459 A CN 105729459A
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- CN
- China
- Prior art keywords
- pair
- connecting rod
- side chain
- parallel robot
- motion platform
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- 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.)
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
The invention relates to a parallel robot. The parallel robot consists of a motion platform, a fixed platform and three branched chains connected with the two platforms; the first branched chain and the second branched chain in the three branched chains have the same structures; the two branched chains respectively consist of universal joint pairs, cylinder pairs and connecting rods therebetween from top to bottom; and the third branched chain in the third branched chains consists of a spherical hinge pair, a rotating pair, a cylinder pair and a connecting rod therebetween from top to bottom. The parallel robot is simple in mechanism, easy to manufacture and simple in kinetic model, enables the kinetic calibration and control to become easy, is few in mechanism joints, and improves the structural rigidity.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of parallel robot.
Background technology
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has plural degree of freedom, and with the mechanism that parallel way drives, this serial manipulator with transmission is all very different in theory of mechanisms, kinesiology, kinetics etc..
Parallel robot mechanism is widely used in the technical fields such as Digit Control Machine Tool, inching operation, boiler maintenance, production processing, and research worker have also been invented a lot of parallel institution.But existing parallel robot mechanism still suffers from some shortcomings, the problems such as poor in manufacturability, structure complexity, manufacturing cost are high.
Summary of the invention
Present invention aims to the defect of prior art and deficiency, it is provided that a kind of simple in construction, kinematic pair number is few, less costly parallel robot mechanism.
For achieving the above object, the technical solution used in the present invention is:
A kind of parallel robot, it is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection, the first side chain and the second branched structure in described three side chains are identical, these two side chains are made up of a universal joint pair, a cylindrical pair and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, a revolute pair, a cylindrical pair and the connecting rod between them from top to bottom；
One end of the connecting rod of the first side chain is connected with motion platform by universal joint pair, and the other end of connecting rod is connected with fixed platform by cylindrical pair；
One end of the connecting rod of the second side chain is connected with motion platform by universal joint pair, and the other end of connecting rod is connected with fixed platform by cylindrical pair；
One end of the upper connecting rod of the 3rd side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by cylindrical pair；
Wherein, the driving that cylindrical pair is mechanism of the cylindrical pair of the first side chain, the cylindrical pair of the second side chain and the 3rd side chain is secondary.
Preferably, described motion platform is isosceles triangle.
Preferably, described motion platform is isosceles right triangle.
The invention has the beneficial effects as follows:
The motion platform mechanism of parallel robot mechanism of the present invention is simple, and processing and manufacturing is easy, and kinematics model is simple so that Kinematic Calibration and control become easy, and mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of parallel robot.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Embodiments provide a kind of parallel robot, as shown in Figure 1, it is made up of motion platform 1, fixed platform 9, three side chains connecting described motion platform 1 and fixed platform 9, the first side chain and the second branched structure in described three side chains are identical, these two side chains are made up of a universal joint pair, a cylindrical pair and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, a revolute pair, a cylindrical pair and the connecting rod between them from top to bottom；
One end of the connecting rod L1 of the first side chain is connected with motion platform 1 by universal joint secondary 5, and the other end of connecting rod L1 is connected with fixed platform 9 by cylindrical pair 6；
One end of the connecting rod L2 of the second side chain is connected with motion platform 1 by universal joint secondary 7, and the other end of connecting rod L2 is connected with fixed platform 9 by cylindrical pair 8；
One end of the upper connecting rod L3 of the 3rd side chain is connected with motion platform 1 by typed ball bearing pair 2, and the other end of upper connecting rod L3 is connected with one end of lower link L4 by revolute pair 3, and the other end of lower link L4 is connected with fixed platform 9 by cylindrical pair 4；
Wherein, the cylindrical pair 8 of cylindrical pair 6, second side chain of the first side chain and the driving that cylindrical pair 4 is mechanism of the 3rd side chain are secondary.
Preferably, described motion platform 1 is isosceles triangle.
Preferably, described motion platform 1 is isosceles right triangle.
Above disclosed it is only present pre-ferred embodiments, certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to the claims in the present invention with this, still belong to the scope that the present invention contains.
Claims (3)
1. a parallel robot, it is made up of motion platform (1), fixed platform (9), three side chains connecting described motion platform (1) and fixed platform (9), it is characterized in that: the first side chain and the second branched structure in described three side chains are identical, being made up of a universal joint pair, a cylindrical pair and the connecting rod between them respectively all from top to bottom, the 3rd side chain in three articles of side chains is made up of a typed ball bearing pair, a revolute pair, a cylindrical pair and the connecting rod between them from top to bottom；
One end of the connecting rod (L1) of the first side chain is connected with motion platform (1) by universal joint secondary (5), and the other end of connecting rod (L1) is connected with fixed platform (9) by cylindrical pair (6)；
One end of the connecting rod (L2) of the second side chain is connected with motion platform (1) by universal joint secondary (7), and the other end of connecting rod (L2) is connected with fixed platform (9) by cylindrical pair (8)；
One end of the upper connecting rod (L3) of the 3rd side chain is connected with motion platform (1) by typed ball bearing pair (2), the other end of upper connecting rod (L3) is connected with one end of lower link (L4) by revolute pair (3), and the other end of lower link (L4) is connected with fixed platform (9) by cylindrical pair (4)；
Wherein, the driving that the cylindrical pair (6) of the first side chain, the cylindrical pair (8) of the second side chain and the cylindrical pair (4) of the 3rd side chain are mechanism is secondary.
2. a kind of parallel robot according to claim 1, it is characterised in that: described motion platform (1) is isosceles triangle.
3. a kind of parallel robot according to claim 2, it is characterised in that: described motion platform (1) is isosceles right triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190055.2A CN105729459A (en) | 2016-03-30 | 2016-03-30 | Parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610190055.2A CN105729459A (en) | 2016-03-30 | 2016-03-30 | Parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105729459A true CN105729459A (en) | 2016-07-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610190055.2A Pending CN105729459A (en) | 2016-03-30 | 2016-03-30 | Parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105729459A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015602A (en) * | 2018-08-29 | 2018-12-18 | 燕山大学 | Three translation 2CPR-URU parallel institutions |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5279176A (en) * | 1992-07-20 | 1994-01-18 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs |
| CN104385264A (en) * | 2014-11-21 | 2015-03-04 | 广西智通节能环保科技有限公司 | Multiple support and double platform mechanism |
| CN104440879A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Multi-freedom-degree parallel mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN104858856A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PU and CRS spatial parallel robot mechanism |
-
2016
- 2016-03-30 CN CN201610190055.2A patent/CN105729459A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5279176A (en) * | 1992-07-20 | 1994-01-18 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs |
| CN104385264A (en) * | 2014-11-21 | 2015-03-04 | 广西智通节能环保科技有限公司 | Multiple support and double platform mechanism |
| CN104440879A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Multi-freedom-degree parallel mechanism |
| CN104493811A (en) * | 2014-11-21 | 2015-04-08 | 广西智通节能环保科技有限公司 | Three-support space mechanism with two same supports |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN104858856A (en) * | 2015-03-31 | 2015-08-26 | 广西智通节能环保科技有限公司 | 2PU and CRS spatial parallel robot mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015602A (en) * | 2018-08-29 | 2018-12-18 | 燕山大学 | Three translation 2CPR-URU parallel institutions |
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Application publication date: 20160706 |
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