CN107097217A - A kind of moving platform has the sphere parallel mechanism of re-configurability - Google Patents
A kind of moving platform has the sphere parallel mechanism of re-configurability Download PDFInfo
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- CN107097217A CN107097217A CN201710476069.5A CN201710476069A CN107097217A CN 107097217 A CN107097217 A CN 107097217A CN 201710476069 A CN201710476069 A CN 201710476069A CN 107097217 A CN107097217 A CN 107097217A
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- moving platform
- revolute pair
- connecting rod
- support
- sphere
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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
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
A kind of moving platform has the sphere parallel mechanism of re-configurability, including support, moving platform and movement branched chain, the moving platform is made up of the sphere multi-bar linkage including at least four connecting rods, each connecting rod rotates connection by connecting rod revolute pair head and the tail and encloses to form moving platform, movement branched chain one end is rotated with support by support revolute pair and is connected, the other end is rotated with moving platform by moving platform revolute pair and is connected, wherein moving platform revolute pair and connecting rod revolute pair coaxial line, the quantity of movement branched chain is identical with the quantity for the connecting rod that moving platform is included, connecting rod revolute pair, the axis of support revolute pair and moving platform revolute pair is intersected in same point.The present invention improves the turning power of moving platform, and increases actual available working space, while improving the rigidity of mechanism, so as to improve its load capacity and kinematic accuracy, improves its service behaviour.
Description
Technical field
The present invention relates to a kind of parallel institution, specifically a kind of moving platform has the spherical surface parallel connected machine of re-configurability
Structure.
Background technology
Parallel institution is that moving platform is connected with silent flatform by least two independent kinematic chains, with two or two
The free degree above, and a kind of close loop mechanism driven with parallel way.Compared with serial manipulator, parallel robot have with
Lower advantage：Accumulated error is small, precision is higher；Drive device can be placed on fixed platform or close to the position of fixed platform, motion parts
Lightweight, speed is high, and dynamic response is good；Compact conformation, rigidity is high, large carrying capacity.Therefore, parallel robot is firm to equipment
Degree,
The applications that movement velocity, positioning precision or load-carrying require higher are relatively broad.
Minority carrier generation lifetime refers to that the free degree is less than 6 parallel institution, can be applied to many parallel institutions that are suitable to and grasps
Make but do not need the task of all 6 frees degree.Compared with 6DOF parallel institution, minority carrier generation lifetime has
Simple in construction, easily controllable, easily manufactured, cheap the advantages of.Wherein, sphere parallel mechanism be important lower-mobility simultaneously
One of online structure, at present in Satellite Tracking hunting gear, numerical control turntable, electronics dexterity eye etc. is obtained in Practical Project field
To certain application.
But due to being limited by Singularity, the turning power of parallel institution moving platform is often all smaller, even
Relatively simple plane parallel mechanism, the slewing area that can be reached in theory is also no more than 180 °, actually can be smaller；It is unusual
Position shape also affect moving platform motion flexibility because close to Singularity when moving platform load transmission efficiency rapidly under
Drop；In addition, bearing capacity is also poor when the movement branched chain of mechanism is less, so as to influence the service behaviour of moving platform.
Redundantly actuated parallel mechanism is the parallel institution that input link number is more than output link number of degrees of freedom, and some are in parallel
Mechanism can cross over Singularity by increasing redundant drive side chain come assistance platform, so that bigger turning power is obtained, but it is superfluous
Remaining driving can cause Planar Mechanisms to produce internal force, mechanism is faced the control problem of complexity；Some parallel institution is then
Selection increases redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original parallel institution
Load transmission characteristic.
The content of the invention
The technical problem to be solved in the present invention is to provide the sphere parallel mechanism that a kind of moving platform has re-configurability, improve
The turning power of moving platform, and increase actual available working space, while the rigidity of mechanism is improved, so as to improve its load
Ability and kinematic accuracy, improve its service behaviour.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme：
A kind of moving platform has the sphere parallel mechanism of re-configurability, including support, moving platform and movement branched chain, the moving platform
It is made up of the sphere multi-bar linkage including at least four connecting rods, each connecting rod is rotated by connecting rod revolute pair head and the tail and connected
Enclose to form moving platform, movement branched chain one end is by the way that support revolute pair is connected with support rotation, the other end is rotated by moving platform
Secondary rotated with moving platform is connected, and wherein moving platform revolute pair is overlapped with connecting rod revolute pair, the quantity and moving platform of movement branched chain
Comprising connecting rod quantity it is identical, the axis of connecting rod revolute pair, support revolute pair and moving platform revolute pair is intersected in together
A bit.
The movement branched chain is made up of drive connecting rod and follower link, and drive connecting rod one end passes through support revolute pair and support
Rotate connection, the other end to be connected by secondary rotate with follower link one end of link rotatable, on the follower link other end and moving platform
Moving platform revolute pair rotate connection, the link rotatable is secondary and connecting rod revolute pair, support revolute pair, the axle of moving platform revolute pair
Line is intersected in same point.
The drive connecting rod and follower link are bow.
The length of the drive connecting rod greater than, equal to or less than follower link length.
The sphere multi-bar linkage is made up of four connecting rods, and the quantity of movement branched chain is four, four movement branched chains
It is uniformly distributed or is randomly distributed on support.
The sphere multi-bar linkage is made up of five connecting rods, and the quantity of movement branched chain is five, five movement branched chains
It is uniformly distributed or is randomly distributed on support.
The present invention crosses over Singularity to obtain bigger turning power by increasing movement branched chain, auxiliary moving platform,
And increase actual available working space, while improving the rigidity of mechanism, so as to improve its load capacity and kinematic accuracy, improve
Its service behaviour.
In addition, moving platform itself can be reconstructed using the free degree of original system redundancy, the re-configurability of moving platform can
To be used as the driving for being installed on end effector on moving platform.Can by moving platform increase by one can be by moving platform weight
Structure ability is converted into the end effector of globally normal direction movement, it is to avoid extra motor is installed on moving platform.Or utilize
Moving platform is directly used as end effector by re-configurability, realizes the operation such as crawl.
Brief description of the drawings
Accompanying drawing 1 is overlooking the structure diagram of the present invention；
Accompanying drawing 2 is dimensional structure diagram of the invention；
Accompanying drawing 3 is motion schematic diagram of the invention；
Accompanying drawing 4 reconstructs schematic diagram for the moving platform of the present invention；
Accompanying drawing 5 moves the schematic diagram of concurrent lively platform reconstruct for the present invention；
Accompanying drawing 6 is the overlooking the structure diagram of five degree of freedom sphere parallel mechanism in the present invention；
Accompanying drawing 7 is the schematic diagram that moving platform of the present invention installs that globally normal direction is moved after end effector；
Accompanying drawing 8 is the present invention driving end effector local process schematic diagram that globally normal direction is moved；
Accompanying drawing 9 is process schematic of the moving platform of the present invention directly as end effector clamping workpiece；
Accompanying drawing 10 is process schematic of the moving platform of the present invention directly as end effector clamping workpiece；
Accompanying drawing 11 is process schematic of the moving platform of the present invention directly as end effector clamping workpiece；
Accompanying drawing 12 is process schematic of the moving platform of the present invention directly as end effector clamping workpiece.
Embodiment
For the ease of the understanding of those skilled in the art, the invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1 and 2, present invention is disclosed the sphere parallel mechanism that a kind of moving platform has re-configurability, including
Support 1, moving platform 2 and movement branched chain 3, the moving platform 2 are made up of the sphere multi-bar linkage including at least four connecting rods, respectively
Individual connecting rod rotates connection by connecting rod revolute pair head and the tail and encloses to form moving platform 2, and the one end of movement branched chain 3 is turned by support
Dynamic pair 4 is connected with the rotation of support 1, the other end is rotated with moving platform 2 by moving platform revolute pair 21 and is connected, and wherein moving platform is rotated
Pair is overlapped with connecting rod revolute pair, and the quantity for the connecting rod that quantity and the moving platform of movement branched chain are included is identical, connecting rod turn
The axis of dynamic secondary, support revolute pair and moving platform revolute pair is intersected in same point.The quantity of movement branched chain also with whole sphere simultaneously
Total number of degrees of freedom, of online structure is identical.Movement branched chain 3 is made up of drive connecting rod 31 and follower link 33, and the one end of drive connecting rod 31 leads to
Cross support revolute pair 4 and support 1 rotate be connected, the other end is connected by link rotatable pair 32 with the rotation of the one end of follower link 33,
The other end of follower link 33 is rotated with the moving platform revolute pair 21 on moving platform 2 and is connected, and link rotatable pair 32 and support are rotated
Pair 4, connecting rod revolute pair, the axis of moving platform revolute pair 21 be intersected in same point, i.e. link rotatable pair, connecting rod revolute pair,
The axis of support revolute pair and moving platform revolute pair all crosses at the centre of sphere of sphere parallel mechanism to be collected, it is ensured that the fortune of moving platform
Dynamic completed on sphere.
In addition, drive connecting rod and follower link are bow.The length of drive connecting rod is greater than, equal to or less than driven
The length of connecting rod, flexibly selection can be specifically carried out by actual conditions and is set.
In addition, the rod member parameter of each movement branched chain and for drive the movement branched chain move motor arrangement latitude,
Whether it is uniform etc. be not particularly limited, space that can be as needed and load request are adjusted, to reach difference
Movement effects.That is, when having multiple movement branched chains, all movement branched chains can be evenly distributed on support, also may be used
It is distributed in irregular form on support.
It is described in detail below with the sphere parallel mechanism of the specific free degree.
Embodiment one, as shown in figure 1 and 2, sphere multi-bar linkage are spherical four-bar linkage, and the spherical four-bar linkage is by four
Root connecting rod is constituted, and four connecting rods rotate connection by four connecting rod revolute pair head and the tail respectively and enclose to form moving platform,
Adjacent two connecting rods can be rotated using connecting rod revolute pair as center of rotation.Now the quantity of movement branched chain also corresponds to four
Bar, total number of degrees of freedom, of sphere parallel mechanism is four-degree-of-freedom.Moving platform motion is driven including support, and by four groups of motion branch
The power of chain transmission makes moving platform realize the motion of three degree of freedom, including two translational degree of freedom globally, and around radius
One rotational freedom of azimuth axis, as shown in Figure 3.
As shown in Figure 4, moving platform itself can be reconstructed using the free degree of original system redundancy, spherical four-bar linkage
The moving platform of composition, each connecting rod carries out certain rotation, the visible accompanying drawing 4 of its quality reconstruction figure.Accompanying drawing 5 is that moving platform is normal
During motion, while occurring the schematic diagram that position, corner and moving platform change, the action of four movement branched chains is transmitted the force to dynamic
Platform so that the position of moving platform, the corner of adjacent two connecting rods all change.
As depicted in figures 7 and 8, end effector is installed on moving platform, the end effector can the side of being connected through a screw thread
Formula is arranged in moving platform revolute pair.The connecting rod B of end effector A and moving platform cooperatively forms screw pair by screw thread, with
The connecting rod C formation prismatic pairs of moving platform；When moving platform is reconstructed, moving platform action, connecting rod B are driven by movement branched chain
Relatively rotated with respect to connecting rod C, and end effector A transmitted motion to by screw thread engagement, and end effector A with
Prismatic pair between connecting rod C again limits end effector A rotation, therefore end effector A can only be held along end
Row device A, connecting rod B and the common axis of connecting rod C three, i.e. sphere normal direction make translation., will be dynamic flat by this process
The reconstitution movement of platform is converted into the translation of end effector A globally normal direction, it is possible thereby to avoid that motor is installed on moving platform,
So as to the inertia of reducing mechanism moving component.Moving platform can also be directly used as to end effector using the re-configurability, it is real
The now operation such as crawl.As shown in accompanying drawing 9-12, moving platform is directly clamped into work as end effector using the moving platform
Part, drives moving platform to realize the purpose that clamping workpiece is acted by four groups of movement branched chains.
Embodiment two, as shown in Figure 6, the sphere multi-bar linkage be spherical five-bar mechanisms, the spherical five-bar mechanisms by
Five connecting rods are constituted, and five connecting rods rotate connection by five connecting rod revolute pair head and the tail respectively and enclose to form moving platform,
The quantity of movement branched chain is five, and five movement branched chains are evenly distributed on support.
The moving platform that the moving platform and spherical five-bar mechanisms constituted above by a spherical four-bar linkage is constituted is explained
State bright, still, the example above is not to limit.It can also be moving platform, sphere seven-bar mechanism that spherical six-link mechanism is constituted
Moving platform of composition etc..
It should be noted that described above is not the restriction to technical solution of the present invention, the wound of the present invention is not being departed from
On the premise of making design, any obvious replacement is within protection scope of the present invention.
Claims (6)
1. a kind of moving platform has the sphere parallel mechanism of re-configurability, including support, moving platform and movement branched chain, its feature exists
In, the moving platform is made up of the sphere multi-bar linkage including at least four connecting rods, and each connecting rod is turned by connecting rod
Dynamic secondary head and the tail rotate connection and enclose to form moving platform, and movement branched chain one end is connected by support revolute pair and support rotation, another
End is rotated with moving platform by moving platform revolute pair and is connected, wherein moving platform revolute pair and connecting rod revolute pair coaxial line, motion
The quantity of side chain is identical with the quantity for the connecting rod that moving platform is included, and connecting rod revolute pair, support revolute pair and moving platform turn
Move secondary axis and be intersected in same point.
2. moving platform according to claim 1 has the sphere parallel mechanism of re-configurability, it is characterised in that the motion
Side chain is made up of drive connecting rod and follower link, and drive connecting rod one end is connected by support revolute pair with support rotation, the other end
It is connected by secondary rotated with follower link one end of link rotatable, the follower link other end turns with the moving platform revolute pair on moving platform
Dynamic connection, the link rotatable is secondary and support revolute pair, connecting rod revolute pair, the axis of moving platform revolute pair are intersected in same point.
3. moving platform according to claim 2 has the sphere parallel mechanism of re-configurability, it is characterised in that the active
Connecting rod and follower link are bow.
4. moving platform according to claim 3 has the sphere parallel mechanism of re-configurability, it is characterised in that the active
The length of connecting rod greater than, equal to or less than follower link length.
5. the moving platform according to any one of claim 2-4 has the sphere parallel mechanism of re-configurability, its feature exists
In the sphere multi-bar linkage is made up of four connecting rods, and the quantity of movement branched chain is four, and four movement branched chains are uniformly divided
Cloth is randomly distributed on support.
6. the moving platform according to any one of claim 2-4 has the sphere parallel mechanism of re-configurability, its feature exists
In the sphere multi-bar linkage is made up of five connecting rods, and the quantity of movement branched chain is five, and five movement branched chains are uniformly divided
Cloth is randomly distributed on support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710476069.5A CN107097217B (en) | 2017-06-21 | 2017-06-21 | Spherical parallel mechanism with reconstruction capability of movable platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710476069.5A CN107097217B (en) | 2017-06-21 | 2017-06-21 | Spherical parallel mechanism with reconstruction capability of movable platform |
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| Publication Number | Publication Date |
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| CN107097217A true CN107097217A (en) | 2017-08-29 |
| CN107097217B CN107097217B (en) | 2023-03-10 |
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| CN201710476069.5A Active CN107097217B (en) | 2017-06-21 | 2017-06-21 | Spherical parallel mechanism with reconstruction capability of movable platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
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| CN206899231U (en) * | 2017-06-21 | 2018-01-19 | 东莞爱创机器人科技有限公司 | A kind of moving platform has the sphere parallel mechanism of re-configurability |
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| CN101214647A (en) * | 2007-12-26 | 2008-07-09 | 燕山大学 | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive |
| CN102275161A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical motion mechanism |
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| CN107097217B (en) | 2023-03-10 |
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