CN106426109B - The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved - Google Patents
The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved Download PDFInfo
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- CN106426109B CN106426109B CN201611047092.4A CN201611047092A CN106426109B CN 106426109 B CN106426109 B CN 106426109B CN 201611047092 A CN201611047092 A CN 201611047092A CN 106426109 B CN106426109 B CN 106426109B
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- 238000004458 analytical method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
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- 210000000707 wrist Anatomy 0.000 description 1
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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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Abstract
The present invention relates to the decoupling type two-freedom-degree parallel mechanism of achievable global face working space, including engine base（1）And moving platform（4）And the first movement branched chain and the second movement branched chain between engine base and moving platform is respectively fixedly connected；It is characterized in that first movement branched chain includes prismatic pair (20), revolute (22) that rotation axis is mutually parallel, revolute (24), revolute (25), revolute (27), revolute (28), and connect prismatic pair (20) and the connecting rod (21) of revolute (22), connect the connecting rod (23) of revolute (22) and revolute (24), connect the connecting rod (29) of the connecting rod (26) of revolute (25) and revolute (27), connection revolute (25) and revolute (28)；Wherein revolute (24) is arranged on connecting rod (29), and revolute (27) is connect with moving platform (4)；The upper end of the connecting rod (21) is connect with the revolute (22), and the slip axis of the prismatic pair (20) and the rotation axis of the revolute (22) intersect vertically.The mechanism meets unconditionally to be decoupled under two degrees of freedom, can realize the working space in global face.
Description
Technical field
The present invention relates to the parallel institution in mechanics field, specially a kind of decoupling type of achievable global face working space
Two-freedom-degree parallel mechanism.
Background technology
Sphere parallel mechanism is widely used in joint of robot, radar antenna posture adjustment, Camera Positioning, numerically-controlled machine tool and micro-
The fields such as operator.Compared with the spherical rotation mechanism of cascaded structure, the rigidity of spherical rotation mechanism in parallel is big, movement is corresponding
Soon, unit volume bears that load is big, especially suitable for the wrist of robot, shoulder, waist joint.But sphere parallel mechanism is strong coupling
Presence cause sphere parallel mechanism configuration, analysis calculate and mechanism controls in terms of there are many difficulties, to a certain extent
Limit the application of sphere parallel mechanism.And to be required to sphere parallel mechanism rotational angle big in above application field, movement is flexible,
The advantages that being easily assembled.
At present, have some achievements, document [Hang Lubin, Wang Yan, Wu Jun etc. in terms of sphere parallel mechanism research.It is based on
Sphere parallel mechanism Decoupling Conditions research [J] mechanical engineering journals of topological decouplity criterion, 2005, Vol.41, No.9:pp28-
32], the 3-RRR spherical rotations mechanism of proposition can only realize partly decoupled；The two of United States Patent (USP) US005966991A propositions are freely
Degree spherical mechanism also can only instantaneously be decoupled in initial position, and other positions cannot decouple；Chinese patent CN1775487A is proposed
Two-free-degree decoupling spherical parallel mechanism, but because the parallelogram mechanism of movement branched chain is replaced by prismatic pair, limit machine
The slewing area of structure；Patent CN2762940 discloses a kind of spherical three-degree-of-freedom parallel mechanism, which can realize an axis
360 degree of rotations in direction, but three rotations coupling completely, i.e., cannot decouple；What patent CN202162805U was proposed has three certainly
By the spherical surface rotating paralleling mechanism spent, three freedom decoupling can be realized, but machine is limited containing hook hinge inside its single branch
The slewing area of structure；Two one-rotation parallel mechanism of decoupling type that patent CN104308833A is proposed can only realize that hemisphere rotates；Patent
One kind three that CN104889976A is proposed rotates decoupling sphere parallel robot mechanism, can realize the complete solution of three rotation directions
Coupling, but its movement branched chain limits the working space of moving platform, that is, can not achieve global face working space.Patent
Two rotating mechanism of a kind of mobile decoupling that CN102126212A is proposed, but the hook hinge contained by inside branch limits mechanism
Slewing area.The two-free-degree decoupling spherical parallel mechanism that patent CN1803410A is proposed, can realize two degrees of freedom without item
Part decouples, but when moving platform bears certain dead load, moving platform is rotated around revolute pair, due to the influence of revolute pair friction circle,
The working space of moving platform is limited, though proposing that two kinds of biasing means can realize the expansion of working space, but still cannot to move
Platform has global face working space.
Invention content
In view of the deficiencies of the prior art, the technical problems to be solved by the invention are：A kind of achievable global face work is provided
Make the decoupling type two-freedom-degree parallel mechanism in space, it, which can meet under two degrees of freedom, unconditionally decouples, and can realize global face
Working space, working range is wider, and have the characteristics that it is simple in structure, control and calibration easily, precision it is high.
The present invention solve the technical problem the technical solution adopted is that：A kind of achievable global face working space is provided
Decoupling type two-freedom-degree parallel mechanism including engine base (1) and moving platform (4) and is respectively fixedly connected between engine base and moving platform
First movement branched chain and the second movement branched chain；It is characterized in that first movement branched chain includes prismatic pair (20), rotation axis
Revolute (22), revolute (24), revolute (25), revolute (27), revolute (28) and the connection movement being mutually parallel
The connecting rod (23) of secondary (20) and the connecting rod (21) of revolute (22), connection revolute (22) and revolute (24), connects revolute
(25) and the connecting rod of revolute (27) (26), the connecting rod (29) of connection revolute (25) and revolute (28)；Wherein revolute
(24) it is arranged on connecting rod (29), revolute (27) is connect with moving platform (4)；The upper end of the connecting rod (21) and the rotation
Secondary (22) connection, and the slip axis phase vertical with the rotation axis of the revolute (22) of the prismatic pair (20)
It hands over；
Second movement branched chain is mutually perpendicular to intersecting engine base revolute (31) and moving platform rotation including rotation axis
Secondary (32) and the connecting rod (33) of connection engine base revolute (31) and moving platform revolute (32)；Engine base revolute (31) peace
On engine base；The lower end of connecting rod (21) is by the centers of engine base revolute (31), and connecting rod (21) can be in engine base revolute
(31) it is rotated together under drive；Moving platform revolute (32) is on moving platform, and moving platform revolute (32) passes through company
Bar (34) is connect with the revolute (28) of the first movement branched chain, revolute (27), the revolute (28) and of the first movement branched chain
The rotation axis of the moving platform revolute (32) of two movement branched chains is mutually parallel.
Compared with prior art, the decoupling type two-freedom-degree parallel mechanism of global face working space, institute can be achieved in the present invention
Moving platform 4 is operated alone for the first movement branched chain 2 stated so that moving platform 4 rotates around Y-axis, with 3 list of the second movement branched chain
Solely driving moving platform 4 rotates unrelated about the z axis, thus can realize unconditional decoupling；The driving of first movement branched chain 2 is dynamic flat
Platform is rotated around Y-axis, it can be achieved that 180 slewing areas of the moving platform from-Z to Z, the second movement branched chain 3 driving moving platform turn about the z axis
It is dynamic, it can be achieved that 360 slewing areas of moving platform about the z axis, the rotation axis Y rotated by the first movement branched chain driving moving platform and the
The rotation axis Z of two movement branched chains driving moving platform rotation spatially intersects vertically, thus moving platform can realize global face work
Make space.
Description of the drawings
Fig. 1 is a kind of knot of embodiment of decoupling type two-freedom-degree parallel mechanism that global face working space can be achieved in the present invention
Structure schematic diagram；
Fig. 2 is the first movement branched chain of the decoupling type two-freedom-degree parallel mechanism that global face working space can be achieved in the present invention
A kind of 2 structure diagrams；
Fig. 3 is the second movement branched chain of the decoupling type two-freedom-degree parallel mechanism that global face working space can be achieved in the present invention
A kind of 3 structure diagrams；
Fig. 4 is the decoupling type two-freedom-degree parallel mechanism additional drive system that global face working space can be achieved in the present invention
A kind of structure diagram of embodiment.
In figure, 1 engine base, 2 first movement branched chains, 3 second movement branched chains, 4 moving platforms.
Specific embodiment
The present invention is further discussed below, but not in this, as to the application claim with reference to embodiment and its attached drawing
The restriction of protection domain.
The present invention can be achieved global face working space decoupling type two-freedom-degree parallel mechanism (abbreviation parallel institution, referring to
Fig. 1-3), including engine base 1 and moving platform 4 and the first movement branched chain 2 being respectively fixedly connected between engine base 1 and moving platform 4 and
Two movement branched chains 3；First movement branched chain 2 (referring to Fig. 2) includes prismatic pair 20, the revolute that rotation axis is mutually parallel
22nd, revolute 24, revolute 25, revolute 27, revolute 28 and connection prismatic pair 20 and the connecting rod 21 of revolute 22, even
The connecting rod 23 of revolute 22 and revolute 24 is connect, connects the connecting rod 26 of revolute 25 and revolute 27, connects revolute 25 and rotation
Turn the connecting rod 29 of pair 28；Wherein revolute 24 is arranged on connecting rod 29, and revolute 27 is connect with moving platform 4；The connecting rod 21
Upper end is connect with the revolute 22, and the rotary shaft for sliding axis and the revolute 22 of the prismatic pair 20
Line intersects vertically；
Second movement branched chain 3 (referring to Fig. 3) is mutually perpendicular to intersecting engine base revolute 31 including rotation axis and moves
Platform revolute 32 and the connecting rod 33 of connection engine base revolute 31 and moving platform revolute 32；The engine base revolute 31 is installed
On engine base 1；The lower end of connecting rod 21 is by the center of engine base revolute 31, and connecting rod 21 can be under the drive of engine base revolute 31
It rotates together；Moving platform revolute 32 is mounted on moving platform 4, and moving platform revolute 32 moves branch by connecting rod 34 and first
The revolute 28 of chain connects, the revolute 27 of the first movement branched chain, the moving platform revolute of 28 and second movement branched chain of revolute
32 rotation axis is mutually parallel.
The rotation axis of the first movement branched chain 2 driving moving platform rotation is Y-axis defined in the present invention, and the second movement branched chain is driven
The rotation axis of dynamic moving platform rotation is Z axis, and the two spatially intersects vertically, the driving moving platform rotation of the first movement branched chain 2
Rotation axis and moving platform revolute 32 rotation axis, moving platform 4 rotation axis coincident of itself, the second movement branched chain drives
The rotation axis and the rotation axis coincident of engine base revolute 31 of dynamic moving platform rotation.
The transversal of connecting rod 21 described in the decoupling type two-freedom-degree parallel mechanism of global face working space can be achieved in the present invention
Face shape can be that any shape rotated together can be driven by engine base revolute 31.The cross-sectional shape of connecting rod 21 of the present invention can
Think square or the common prismatic pair sliding bar cross-sectional shape such as rectangle, triangle, hexagon, spline shape.
In the decoupling type two-freedom-degree parallel mechanism of the achievable global face working space of the present invention, do not influence it is described simultaneously
In the case of the movement for joining mechanism freedom and working space, the moving platform 4, engine base 1 planform can be arbitrary
, it is not limited；Equally, not under by 2 and/or 3 operative condition of the first and second movement branched chains, the connecting rod 21, even
Bar 23, connecting rod 26, connecting rod 29, connecting rod 33 planform be also not limited.
The operation principle that the decoupling type two-freedom-degree parallel mechanism of global face working space can be achieved in the present invention is (referring to figure
1)：Pair is driven based on the prismatic pair 20 of first movement branched chain 2, is driven based on the engine base revolute 31 of the second movement branched chain 3
Kinematic pair.When the prismatic pair 20 that first movement branched chain 2 is operated alone, the moving platform 4 can be around moving platform revolute 32
Rotation axis realize 180 (- Z~Z) slewing areas, it is unrelated with the driving of the second movement branched chain 3；When the second movement is operated alone
During the engine base revolute 31 of branch 3, the moving platform 4 can be rotated around its own rotation axis, the rotation axis of moving platform itself
For Z axis, moving platform 4 can realize 360 ° of rotations of Z axis at this time, unrelated with the driving of the first movement branched chain 2.Therefore, moving platform 4 is around Z
Shaft rotation is moved mutually to be decoupled, and unconditionally decouple with rotation axis rotation of the moving platform 4 around moving platform revolute 32；
The slewing area that the moving platform 4 is rotated around the rotation axis of engine base revolute 31, that is, turn about the Z axis 360 ranges, with moving platform
4 around moving platform revolute 32 180 slewing area of axis, i.e., around Y-axis rotate 180 ranges, because its rotation axis spatially hangs down
It is straight intersecting, therefore can realize the global face working space of moving platform 4.
The decoupling type two-freedom-degree parallel mechanism of the achievable global face working space of the present invention can add suitable as needed
When driving device.The decoupling type two-freedom-degree parallel mechanism additional drive system of the achievable global face working space of the present invention
A kind of example structure it is following (referring to Fig. 4)；Design installs a leading screw 32a, leading screw 32a in engine base 1 below by stent
It is directly driven by rack-mount motor 33a；Feed screw nut 31a is mounted on leading screw 32a, can be along the length of leading screw 32a
Direction moves up and down；Feed screw nut 31a and a revolute 30 link together, and revolute 30 and engine base revolute 31 are same
Axis；The lower end of connecting rod 21 passes through the center of engine base revolute 31, and is connected in the rotary shaft of revolute 30；Motor 36 is mounted on
On engine base 1, and the rotation axis of motor 36 is parallel with the rotation axis of engine base revolute 31；Engine base revolute 31 is exported with motor
Axis is connected by toothed belt 35 and is driven.
The work of the decoupling type two-freedom-degree parallel mechanism additional drive system of the achievable global face working space of the present invention
It is as follows to make process；When motor 36 drives engine base revolute 31 to rotate by toothed belt 35, moving platform 4 is in the second movement branched chain 3
Under the action of can realize 360 rotations about the z axis around the axis of engine base revolute 31, and can continuously rotate in one direction and
Without interference；When motor 33a driving leading screw 32a rotations, drive the feed screw nut 31a that is connect with leading screw 32a together with screw spiral shell
The revolute 30 and connecting rod 21 that female 31a is installed together move up and down namely drive prismatic pair 20 to slide up and down, and then drive dynamic
Platform 4 realizes 180 (- Z~Z) slewing areas around the axis Y of moving platform revolute 32.Due to any kinematic chain (the first movement branch
2 or second movement branched chain 3 of chain) be operated alone can cause moving platform 4 only around corresponding axis rotate, and and another
The driving of movement branched chain (the second movement branched chain 3 or the first movement branched chain 2) is unrelated.Thus moving platform 4 is along engine base revolute 31
The rotation of rotation axis and the rotation of the rotation axis of moving platform revolute 32 mutually decouple, and are unconditionally to decouple
's；Moving platform 4 turns about the Z axis 360 ranges with being revolved around the moving platform 4 around 360 slewing area of axis of engine base revolute 31
Turn 180 slewing area of axis of pair 32, i.e., 180 ranges are rotated around Y-axis, because rotation axis spatially intersects vertically, therefore can
Realize the global face working space of moving platform 4.
The outstanding advantages that the decoupling type two-freedom-degree parallel mechanism of global face working space can be achieved in the present invention are；Structure letter
Single, manufacture is easy, easy to maintenance.
The decoupling type two-freedom-degree parallel mechanism of global face working space can be achieved in the present invention, since movement is full decoupled
, thus the kinematics model that can be simplified the internal structure of an organization, so as to the decoupling type two degrees of freedom for global face working space can be achieved simultaneously
The accurate control and calibration of online structure bring may and conveniently.
The decoupling type two-freedom-degree parallel mechanism of the achievable global face working space of the present invention, since global face can be achieved
Working space, thus the deficiency that sphere parallel mechanism working range is limited is compensated for, the realization decoupled in addition so that can be achieved complete
The decoupling type two-freedom-degree parallel mechanism of spherical surface working space has certain actual application value.
The present invention does not address part and is suitable for the prior art.
Claims (3)
1. a kind of decoupling type two-freedom-degree parallel mechanism of achievable global face working space, including engine base (1) and moving platform (4)
And the first movement branched chain and the second movement branched chain between engine base and moving platform is respectively fixedly connected；It is characterized in that described first
Movement branched chain includes prismatic pair (20), the first revolute (22) that rotation axis is mutually parallel, the second revolute (24), third rotation
Turn the of secondary (25), the 4th revolute (27), the 5th revolute (28) and connection prismatic pair (20) and the first revolute (22)
The second connecting rod (23) of one connecting rod (21), the first revolute of connection (22) and the second revolute (24), connects third revolute
(25) connect with the third connecting rod (26) of the 4th revolute (27), connect third revolute (25) and the 5th revolute (28) the 4th
Bar (29)；Wherein the second revolute (24) is arranged in fourth link (29), and the 4th revolute (27) is connect with moving platform (4)；
The upper end of the first connecting rod (21) is connect with first revolute (22), and the sliding axle of the prismatic pair (20)
Line and the rotation axis of first revolute (22) intersect vertically；
Second movement branched chain is mutually perpendicular to intersecting engine base revolute (31) and moving platform revolute including rotation axis
(32) and connection engine base revolute (31) and moving platform revolute (32) the 5th connecting rod (33)；The engine base revolute (31)
On engine base；The lower end of first connecting rod (21) is by the centers of engine base revolute (31), and first connecting rod (21) can be in machine
It is rotated together under the drive of seat revolute (31)；Moving platform revolute (32) is on moving platform, and moving platform revolute
(32) it is connect by six-bar linkage (34) with the 5th revolute (28) of the first movement branched chain, the 4th rotation of the first movement branched chain
The rotation axis of the moving platform revolute (32) of secondary (27), the 5th revolute (28) and the second movement branched chain is mutually parallel.
2. the decoupling type two-freedom-degree parallel mechanism of achievable global face working space according to claim 1, feature
The cross-sectional shape for being the first connecting rod (21) is square, rectangle, triangle, hexagon or spline shape.
3. the decoupling type two-freedom-degree parallel mechanism of achievable global face working space according to claim 1, feature
It is that the parallel institution is attached with driving device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611047092.4A CN106426109B (en) | 2016-11-25 | 2016-11-25 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
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| CN201611047092.4A CN106426109B (en) | 2016-11-25 | 2016-11-25 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
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| CN106426109B true CN106426109B (en) | 2018-06-15 |
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| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1775487A (en) * | 2005-12-06 | 2006-05-24 | 河北工业大学 | Two-free-degree decoupling spherical parallel mechanism |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
-
2016
- 2016-11-25 CN CN201611047092.4A patent/CN106426109B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1775487A (en) * | 2005-12-06 | 2006-05-24 | 河北工业大学 | Two-free-degree decoupling spherical parallel mechanism |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
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