CN106903676A - The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives - Google Patents
The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives Download PDFInfo
- Publication number
- CN106903676A CN106903676A CN201710247695.7A CN201710247695A CN106903676A CN 106903676 A CN106903676 A CN 106903676A CN 201710247695 A CN201710247695 A CN 201710247695A CN 106903676 A CN106903676 A CN 106903676A
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- CN
- China
- Prior art keywords
- artificial muscle
- pneumatic artificial
- moving platform
- fixed mount
- guidance set
- Prior art date
- 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
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention discloses the four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives, it is characterised in that：Including moving platform, fixed mount, revolution guidance set, side chain, wherein revolution guidance set, 6 structure identical side chains are fixed between moving platform and fixed mount；Pneumatic artificial muscle is set between 6 side chains.During mechanism kinematic, the Pneumatic artificial muscle in 6 side chains shrinks under compressed gas effect, pulls platform motion, and centre revolution guidance set provides support to moving platform so that moving platform has roll, pitching, driftage and vertical four frees degree；Using Pneumatic artificial muscle as parallel institution driving element so that mechanism has more preferable flexible, faster response speed；Force snesor is installed in side chain, it is directly connected to Pneumatic artificial muscle, i.e., Pneumatic artificial muscle stroke can be estimated by air pressure and tension measurement, it is not necessary to displacement transducer is additionally installed, the structure of mechanism is simplified.
Description
Technical field
The present invention relates to a kind of industrial robot, more particularly to a kind of four-freedom parallel mechanism of Pneumatic artificial muscle,
Belong to machinery equipment field.
Background technology
With the development of virtual reality (VR) technology, increasing requirement is proposed to motion carrier.Parallel institution is one
The closed-loop system kind being made up of multiple parallel-chains, it has high rigidity, high accuracy, a high bearing capacity, it is simple and compact for structure and
The series of advantages such as high-speed motion are easily achieved, are widely used in the motions such as aircraft flight, battlebus road analogy, submarine simulation
Simulator field, can well meet the requirement to motion carrier in VR technologies.But using hydraulic cylinder conventional parallel institution more
Or electric cylinder is used as driving element, driving element is both the main supporting member of driving element and moving platform, there is volume big, heavy
The problems such as amount weight, easy break-down, these problems govern widespread adoption of the parallel institution in VR fields.
The content of the invention
It is contemplated that improving the applicability of parallel institution, fault rate is reduced, improve mechanism reliability.To realize above-mentioned mesh
, technical scheme is as follows：
The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives, it is characterised in that：Including fixed mount (10), move flat
Platform (20), revolution guidance set (30), side chain (40), wherein：It is flat with dynamic that revolution guidance set (30) is fixed on fixed mount (10)
Between platform (20), including Hooke's hinge (31), floating bearing (32), linear motion bearing (33), spring end cap (34), spring case
(35), spring (36) and displacement transducer (37)；Side chain (40), 6 structure identical side chains are arranged on fixed mount (10) and move
Between platform (20), including Pneumatic artificial muscle (41), upper free bearing (42), upper ball pivot (43), pulling force sensor (44), lower ball pivot
(45), lower free bearing (46).
In preferred scheme of the invention, the linear motion bearing (33) of revolution guidance set (30) by axle (331) and
Axle sleeve (332) is constituted；The axle that the Hooke's hinge (31) passes through the floating bearing (32) and the linear motion bearing (33)
(331) connect；The axle (331) of the linear motion bearing (33) is fixedly connected with the spring end cap (34)；The spring case
(35) lower end is connected with the fixed mount (10)；Spring (36) upper end is connected with the spring end cap (34), lower end and institute
Fixed mount (10) connection is stated, and is enclosed within around the spring case (35)；Institute's displacement sensors (37) upper end and the spring terminal
Lid (34) connection, lower end are connected with the fixed mount (10).
In preferred scheme of the invention, the Hooke's hinge (31) of revolution guidance set (30) is logical with the moving platform (20)
Bolt is crossed to be fixedly connected.
In preferred scheme of the invention, the upper free bearing (42) of the side chain (40) is connected with the upper ball pivot (43)；It is described
Upper ball pivot (43) is connected with the pulling force sensor (44)；The pulling force sensor (44) and institute's Pneumatic artificial muscle (41)
Upper end connects；Pneumatic artificial muscle (44) lower end is connected with the lower ball pivot (45)；The lower ball pivot (45) with it is described under
Free bearing (46) is connected；The lower free bearing (46) is connected with the fixed mount (10).
In preferred scheme of the invention, the moving platform (20) is connected with the upper free bearing (42) of the side chain (40).
In preferred scheme of the invention, during mechanism kinematic, the pneumatic people's work(muscle (41) in 6 side chains (40)
Shunk under compressed gas effect, pull moving platform (20) motion；Revolution guidance set (30) is to the moving platform
(20) it is supported；The moving platform (20) is entered in the presence of revolution guidance set (30) with 6 side chains (40)
Row roll, pitching, driftage and the motion in vertical four free degree directions.
In preferred scheme of the invention, during mechanism kinematic, the Pneumatic artificial muscle (41) is to the moving platform
(20) active force is by the pulling force sensor between the upper ball pivot (42) and the Pneumatic artificial muscle (41)
(44) measure；The upper and lower moving displacement of the moving platform (20) is by being connected to the spring end cap (34) and the fixed mount
(10) institute's displacement sensors (37) measurement between.
The advantage of the invention is that：
(1) flexible, fast response time：The present invention, as parallel institution driving element, is passed through using Pneumatic artificial muscle
The strength size and its stroke of air pressure control Pneumatic artificial muscle；
(2) lightweight, compact conformation：Side chain is driven not as moving platform main supporting structure, it is lightweight；It is reducing mechanism matter
Amount, the present invention will be emptied in the middle of the parts such as conductance bar shell；Directly pulling force sensor is connected with Pneumatic artificial muscle, by air pressure
Pneumatic artificial muscle stroke is estimated with Pneumatic artificial muscle measurement of exerting oneself, it is not necessary to displacement transducer is additionally installed so that mechanism
More compact structure；
(3) good stability：Spring is connected between fixed mount and moving platform by guidance set respectively up and down, can be protected all the time
Hold stability higher.
Brief description of the drawings
Fig. 1 is the four-freedom parallel mechanism structural representation that embodiment of the present invention Pneumatic artificial muscle drives.
Specific embodiment
Below in conjunction with the accompanying drawings, structure and working principle of the invention is further described by the present embodiment.
It is as shown in figure 1, the four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives including fixed mount (10), dynamic flat
Platform (20), revolution guidance set (30), side chain (40), wherein：Revolution guidance set (30) is fixed on the fixed mount
(10) between the moving platform (20), revolution guidance set (30) includes Hooke's hinge (31), floating bearing (32), straight line
Motion bearings (33), spring end cap (34), spring case (35), spring (36) and displacement transducer (37)；6 structures are identical
Side chain (40) be arranged between the fixed mount (10) and the moving platform (20), the side chain (40) includes artificial pneumatic flesh
Meat (41), upper free bearing (42), upper ball pivot (43), pulling force sensor (44), lower ball pivot (45), lower free bearing (46).
With reference to the accompanying drawings shown in 1, revolution guidance set (30) provides the moving platform (20) constraint, and limitation is described
The translation of moving platform (20) both direction so that the moving platform (20) only has roll, pitching, driftage and vertical four freedom
Degree；During mechanism kinematic, the Pneumatic artificial muscle (41) in 6 side chains (40) provides the moving platform (20)
The power of motion；The Pneumatic artificial muscle (41) shrinks under compressed gas effect, and the pressure of compressed gas is different
Amount of contraction is also different, and so by adjusting the supply gas pressure of the Pneumatic artificial muscle (41), 6 side chains (40) can be to institute
State moving platform (20) different directions and act on different power；The moving platform (20) 6 side chains (40) difference active force and
Revolution guidance set (30) constraint is lower to produce different motions；Pneumatic artificial muscle (41) provides phase as described in 6
With the compressed gas of pressure, the Pneumatic artificial muscle (41) produces identical decrement, and phase is produced to the moving platform (20)
Same active force, then under 6 identical active forces and middle described revolution guidance set (30) effect of contraction, the moving platform
(20) movement in vertical direction can be produced.
The foregoing describe structure of the invention and basic functional principle, the technical staff of the industry it will be appreciated that the present invention not
It is restricted to the described embodiments, merely illustrating the principles of the invention described in above-mentioned implementation method and specification is not departing from
On the premise of spirit and scope of the invention, various changes and modifications of the present invention are possible, and these changes and improvements all list requirement in
In protection domain, the claimed scope of the invention is by described claims and its equivalent thereof.
Claims (7)
1. the four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives, it is characterised in that：Including fixed mount (10), moving platform
(20), revolution guidance set (30), side chain (40), wherein：Revolution guidance set (30) is fixed on fixed mount (10) and moving platform
(20) between, including Hooke's hinge (31), floating bearing (32), linear motion bearing (33), spring end cap (34), spring case
(35), spring (36) and displacement transducer (37)；Side chain (40), 6 structure identicals side chain (40) are arranged on fixed mount (10)
Between moving platform (20), including Pneumatic artificial muscle (41), upper free bearing (42), upper ball pivot (43), pulling force sensor (44), under
Ball pivot (45), lower free bearing (46).
2. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 1 drives, it is characterised in that：Described time
The linear motion bearing (33) for turning guidance set (30) is made up of axle (331) and axle sleeve (332)；The Hooke's hinge (31) is by institute
Floating bearing (32) is stated to be connected with the axle (331) of the linear motion bearing (33)；The axle of the linear motion bearing (33)
(331) it is fixedly connected with the spring end cap (34)；Spring case (35) lower end is connected with the fixed mount (10)；The bullet
Spring (36) upper end is connected with the spring end cap (34), lower end is connected with the fixed mount (10), and is enclosed within the spring case
(35) around；Institute's displacement sensors (37) upper end is connected with the spring end cap (34), lower end connects with the fixed mount (10)
Connect.
3. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 2 drives, it is characterised in that：Described time
The Hooke's hinge (31) and the moving platform (20) for turning guidance set (30) are bolted to connection.
4. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 1 drives, it is characterised in that：The branch
The upper free bearing (42) of chain (40) is connected with the upper ball pivot (43)；The upper ball pivot (43) is with the pulling force sensor (44) even
Connect；The pulling force sensor (44) is connected with Pneumatic artificial muscle (41) upper end；Under the Pneumatic artificial muscle (44)
End is connected with the lower ball pivot (45)；The lower ball pivot (45) is connected with the lower free bearing (46)；The lower free bearing (46) and institute
State fixed mount (10) connection.
5. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 4 drives, it is characterised in that：It is described dynamic
Platform (20) is connected with the upper free bearing (42) of the side chain (40).
6. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 1 drives, it is characterised in that：Mechanism transports
During dynamic, the Pneumatic artificial muscle (41) in 6 side chains (40) shrinks under compressed gas effect, pulls described dynamic flat
Platform (20) is moved；Revolution guidance set (30) is supported to the moving platform (20)；The moving platform (20) is described
Roll, pitching, driftage and vertical four free degree sides are carried out in the presence of revolution guidance set (30) and 6 side chains (40)
To motion.
7. the four-freedom parallel mechanism that Pneumatic artificial muscle according to claim 1 drives, it is characterised in that：In mechanism
In motion process, the Pneumatic artificial muscle (41) is to the active force of the moving platform (20) by positioned at the upper ball pivot (42)
Measured with the pulling force sensor (44) between the Pneumatic artificial muscle (41)；The upper and lower motion of the moving platform (20)
Displacement is measured by institute's displacement sensors (37) being connected between the spring end cap (34) and the fixed mount (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247695.7A CN106903676A (en) | 2017-04-17 | 2017-04-17 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247695.7A CN106903676A (en) | 2017-04-17 | 2017-04-17 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
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| Publication Number | Publication Date |
|---|---|
| CN106903676A true CN106903676A (en) | 2017-06-30 |
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ID=59211229
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247695.7A Pending CN106903676A (en) | 2017-04-17 | 2017-04-17 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263452A (en) * | 2017-08-04 | 2017-10-20 | 哈尔滨工业大学 | A kind of parallel line driving soft robot flexion torsion deformation module |
| CN107538231A (en) * | 2017-09-28 | 2018-01-05 | 上海交通大学 | Multiple degrees of freedom points to vibration isolation unified platform and combination unit from precision is sensed |
| CN108858273A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of submissive joint of six degree of freedom of pneumatic muscles driving |
| CN110722540A (en) * | 2019-10-31 | 2020-01-24 | 北京机械设备研究所 | Three-degree-of-freedom platform driven by pneumatic artificial muscles |
| CN112917459A (en) * | 2021-02-01 | 2021-06-08 | 上海交通大学 | Multistage parallel mechanism of shape memory alloy |
| CN113345312A (en) * | 2021-05-11 | 2021-09-03 | 北京若贝特智能机器人科技有限公司 | Four-degree-of-freedom parallel mechanism and motion simulator using same |
| CN114992475A (en) * | 2022-06-20 | 2022-09-02 | 广州大学 | Multifunctional camera holder carried on water surface ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107263452A (en) * | 2017-08-04 | 2017-10-20 | 哈尔滨工业大学 | A kind of parallel line driving soft robot flexion torsion deformation module |
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| CN112917459A (en) * | 2021-02-01 | 2021-06-08 | 上海交通大学 | Multistage parallel mechanism of shape memory alloy |
| CN112917459B (en) * | 2021-02-01 | 2022-08-23 | 上海交通大学 | Multistage parallel mechanism of shape memory alloy |
| CN113345312A (en) * | 2021-05-11 | 2021-09-03 | 北京若贝特智能机器人科技有限公司 | Four-degree-of-freedom parallel mechanism and motion simulator using same |
| CN113345312B (en) * | 2021-05-11 | 2022-12-09 | 北京若贝特智能机器人科技有限公司 | Four-degree-of-freedom parallel mechanism and motion simulator using same |
| CN114992475A (en) * | 2022-06-20 | 2022-09-02 | 广州大学 | Multifunctional camera holder carried on water surface ship |
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Application publication date: 20170630 |