CN106313003A - Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism - Google Patents
Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism Download PDFInfo
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- CN106313003A CN106313003A CN201610819233.3A CN201610819233A CN106313003A CN 106313003 A CN106313003 A CN 106313003A CN 201610819233 A CN201610819233 A CN 201610819233A CN 106313003 A CN106313003 A CN 106313003A
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- axis
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- connecting rod
- freedom
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism and aims at providing the mechanism which has the beneficial effects of being large in moving range, high in precision, simple in structure and low in manufacturing cost. According to the technical scheme, the large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism comprises a rack, a movable platform and three flexible branches connected between the rack and the movable platform in parallel; the large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism is characterized in that each flexible branch comprises a movable pair, an installing block, a first flexible rotation pair, a first connecting rod, a second flexible rotation pair, a second connecting rod and a third flexible rotation pair, all of which are sequentially connected between the rack and the movable platform; in each flexible branch, the axis of the movable pair is perpendicular to the axis of the first connecting rod and the axis of the second connecting rod, and the axis of the movable pair, the axis of the first flexible rotation pair, the axis of the second flexible rotation pair and the axis of the third flexible rotation pair are parallel to one another; and the axes of the three movable pairs in the three branches are perpendicular to one another.
Description
Technical field
The present invention relates to robotics, the three submissive parallel connections of one-movement-freedom-degree of a kind of large stroke and high precision
Mechanism.
Background technology
Compared to traditional rigid mechanism, the deformation of what compliant mechanism utilized is flexible material comes transmitting movement, power or energy
Amount.Compliant mechanism have can integration processing, assembling less, precision advantages of higher, be widely used in accurate operation, location etc. neck
Territory.Particularly, parallel layout can limit the accumulation of flexible hinge error, improve integral rigidity, brings dynamic property
Improve.Therefore, parallel compliant mechanism is researched and developed.Wherein, the compliant parallel mechanism with three one-movement-freedom-degrees is important
A class, be widely used in the field such as precision positioning, robot.
Existing three one-movement-freedom-degree compliant parallel mechanisms (such as CN201498217U, CN102446563A) use mostly
It is Piezoelectric Ceramic, there is fast response time, advantage that positioning precision is high, but there is also the problem that displacement knots modification is little,
The range of movement making integrated model is less, needs to design some displacement amplifying mechanisms such as leverage in mechanism and carrys out enlarger
The range of movement of structure, such design causes the structure complexity of mechanism, adds manufacturing cost.It is therefore proposed that a kind of motion model
Enclose three one-movement-freedom-degree compliant parallel mechanisms big, precision height, simple in construction, low cost of manufacture necessary.
Summary of the invention
It is an object of the invention to overcome the deficiency in above-mentioned background technology, it is provided that the three of a kind of large stroke and high precision move certainly
By degree compliant parallel mechanism, this mechanism has that range of movement is big, precision is high, the advantage of simple in construction, low cost of manufacture.
The technical scheme is that
A kind of three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision, including frame, moving platform and parallel connection even
Three flexible branch being connected between frame and moving platform；It is characterized in that:
Each flexible branch includes that the moving sets being connected in turn between frame and moving platform, mounting blocks, the first flexibility turn
Dynamic pair, first connecting rod, the second compliant rotational pair, second connecting rod, the 3rd compliant rotational are secondary；
In described each flexible branch, moving sets axis is perpendicular to first connecting rod axis and second connecting rod axis, and moves
Dynamic secondary axis, the first compliant rotational secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；Institute
Stating in three branches, three moving sets axis are orthogonal.
Described moving sets is to be driven by servomotor and as the secondary ball screw framework of each branch drives.
Described mounting blocks is fixed on the slide unit in ball screw framework.
The invention has the beneficial effects as follows:
The compliant parallel mechanism that the present invention proposes has three one-movement-freedom-degrees and structure is full symmetric, has range of movement
Greatly, the advantage such as precision height, low cost of manufacture, assembling be simple, can be used for the field such as precision positioning, robot.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited in following example.
As it is shown in figure 1, three one-movement-freedom-degree compliant parallel mechanisms of a kind of large stroke and high precision, including frame 1, moving platform
2 and three flexible branch being connected in parallel between frame and moving platform.
Moving sets 10, mounting blocks 11, first that each flexible branch includes being connected in turn between frame and moving platform are soft
Property revolute pair 12, first connecting rod the 13, second compliant rotational pair 14, second connecting rod the 15, the 3rd compliant rotational pair 16；Described each soft
Property branch in: moving sets axis is perpendicular to first connecting rod axis and second connecting rod axis, simultaneously moving sets axis, first flexible turn
Dynamic secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；In described three flexible branch: three
Individual moving sets axis is mutually perpendicular to, and three the first compliant rotational secondary axises are mutually perpendicular to, three the second compliant rotational secondary axis phases
The most vertical, three the 3rd compliant rotational secondary axises are mutually perpendicular to,
Described moving sets is the ball screw framework (include leading screw, slide unit 17, servomotor 18) fixing with frame, ball
The slide unit of screw mechanism is fixed with mounting blocks；Described first connecting rod two ends are flexible by the first compliant rotational pair and second respectively
Revolute pair is connected with one end of mounting blocks and second connecting rod, and the other end of second connecting rod is secondary and dynamic flat by the 3rd compliant rotational
Platform connects.
In the case of undeformed: in three flexible branch, three first connecting rod axis are mutually perpendicular to, three second connecting rods
Axis is mutually perpendicular to.
In the present embodiment:
Each compliant rotational pair is that flexible material is made, the preferred beryllium-bronze of described flexible material, titanium alloy, polypropylene, spring
Steel etc.；Described ball screw framework is that the driving of each flexible branch is secondary, and moving platform makees three freedoms of movement under servomotor drives
Degree motion.
Claims (3)
1. three one-movement-freedom-degree compliant parallel mechanisms of large stroke and high precision, including frame (1), moving platform (2) and also
Three flexible branch that connection is connected between frame and moving platform；It is characterized in that:
Moving sets (10) that each flexible branch includes being connected in turn between frame and moving platform, mounting blocks (11), first soft
Property revolute pair (12), first connecting rod (13), the second compliant rotational secondary (14), second connecting rod (15), the 3rd compliant rotational secondary (16)；
In described each flexible branch, moving sets axis is perpendicular to first connecting rod axis and second connecting rod axis, and moving sets
Axis, the first compliant rotational secondary axis, the second compliant rotational secondary axis, the 3rd compliant rotational secondary axis are parallel to each other；Described three
In individual branch, three moving sets axis are orthogonal.
Three one-movement-freedom-degree compliant parallel mechanisms of a kind of large stroke and high precision the most according to claim 1, its feature exists
It is to be driven by servomotor and as the secondary ball screw framework of each branch drives in: described moving sets.
Three one-movement-freedom-degree compliant parallel mechanisms of a kind of large stroke and high precision the most according to claim 2, its feature exists
In: on the slide unit that described mounting blocks is fixed in ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819233.3A CN106313003A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610819233.3A CN106313003A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313003A true CN106313003A (en) | 2017-01-11 |
Family
ID=57787144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610819233.3A Pending CN106313003A (en) | 2016-09-13 | 2016-09-13 | Large-stroke and high-precision three-moving-freedom-degree flexible parallel mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN106313003A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984443A (en) * | 2017-12-28 | 2018-05-04 | 大连交通大学 | One kind intersects curved beam six-freedom parallel compliant mechanism |
| CN110480535A (en) * | 2019-07-26 | 2019-11-22 | 北京工业大学 | A kind of asymmetric nano-positioning stage of combination drive |
| CN114654454A (en) * | 2022-04-29 | 2022-06-24 | 浙江理工大学 | Three-branch motion redundancy parallel mechanism driven by sliding pair |
| CN114800443A (en) * | 2022-03-22 | 2022-07-29 | 湖北工业大学 | Novel precise flexible parallel directional mechanism |
| CN115476340A (en) * | 2022-09-19 | 2022-12-16 | 燕山大学 | Three-independent-spiral-motion-freedom parallel mechanism |
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| CN101733754A (en) * | 2009-12-04 | 2010-06-16 | 山东理工大学 | Three-dimensionally moved decoupling micro-manipulating robot |
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| CN206154293U (en) * | 2016-09-13 | 2017-05-10 | 浙江理工大学 | Gentle and agreeable parallel mechanism of three movement freedom of big stroke high accuracy |
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| FR2688437A1 (en) * | 1992-03-11 | 1993-09-17 | Centre Nat Rech Scient | Parallel space manipulator with six degrees of freedom |
| WO2002096605A1 (en) * | 2001-05-31 | 2002-12-05 | UNIVERSITé LAVAL | Cartesian parallel manipulators |
| CN1526483A (en) * | 2003-09-23 | 2004-09-08 | 江苏大学 | Completely flexible three-freedom miniature vibration exciter |
| CN100999080A (en) * | 2006-12-28 | 2007-07-18 | 山东理工大学 | Three-translation orthogonal decoupling parallel micromotion platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984443A (en) * | 2017-12-28 | 2018-05-04 | 大连交通大学 | One kind intersects curved beam six-freedom parallel compliant mechanism |
| CN107984443B (en) * | 2017-12-28 | 2024-01-30 | 大连交通大学 | Six-degree-of-freedom parallel compliant mechanism with crossed curved beams |
| CN110480535A (en) * | 2019-07-26 | 2019-11-22 | 北京工业大学 | A kind of asymmetric nano-positioning stage of combination drive |
| CN114800443A (en) * | 2022-03-22 | 2022-07-29 | 湖北工业大学 | Novel precise flexible parallel directional mechanism |
| CN114654454A (en) * | 2022-04-29 | 2022-06-24 | 浙江理工大学 | Three-branch motion redundancy parallel mechanism driven by sliding pair |
| CN115476340A (en) * | 2022-09-19 | 2022-12-16 | 燕山大学 | Three-independent-spiral-motion-freedom parallel mechanism |
| CN115476340B (en) * | 2022-09-19 | 2024-04-12 | 燕山大学 | Three-independent spiral motion degree-of-freedom parallel mechanism |
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Application publication date: 20170111 |
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