CN107297734A - Become born of the same parents' parallel institution - Google Patents
Become born of the same parents' parallel institution Download PDFInfo
- Publication number
- CN107297734A CN107297734A CN201710699473.9A CN201710699473A CN107297734A CN 107297734 A CN107297734 A CN 107297734A CN 201710699473 A CN201710699473 A CN 201710699473A CN 107297734 A CN107297734 A CN 107297734A
- Authority
- CN
- China
- Prior art keywords
- same parents
- born
- side chain
- pairs
- spherical
- 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.)
- Withdrawn
Links
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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
One kind becomes born of the same parents' parallel institution, and it is connected platform and motion platform by 3 identical change born of the same parents side chains being arranged symmetrically；Become born of the same parents' side chain to be combined by the 2DOF spherical five-bar mechanisms with Decoupling Characteristics and 4DOF CRP series connection side chains；Becoming born of the same parents' side chain has 3 kinds of different working modes, and when 3 change born of the same parents' side chains switch between 3 kinds of different working modes, 10 kinds of different mode of operations can be had by becoming born of the same parents' parallel institution；It is described change born of the same parents' parallel institution have dynamic property good, mode of operation is more, restructuring procedure without it is unusual the advantages of.
Description
Technical field：
It is more particularly to a kind of to become born of the same parents' parallel institution the invention belongs to theory of mechanisms and robotics field.
Background technology：
Traditional fixation freedom degree parallel connection mechanism because having the advantages that high rigidity, high bearing capacity, high accuracy, high speed,
It is set to have waited until important and extensive in fields such as over-loading operation, industrial robot, motion simulator, micro-nano operation, increasing material manufacturings
Using.
But it is with the development of modern science and technology, more next in fields such as extreme operation, advanced manufacture, medical rehabilitation, space probations
More wish that mechanism has higher flexibility, can according to job task change restructural its topological structure, change its number of degrees of freedom,
With free degree property, reconstruct its mode of operation.Under this background, restructural parallel institution causes the extensive pass of scholars
Note, as the new study hotspot of theory of mechanisms and robotics field.Scholars utilize metamorphic kinematic pair, lockable joint, constraint
Unusual monocyclic closed chain, the monocyclic closed chain of change born of the same parents, restructural motion platform etc. have invented the restructural parallel institution of some bright characteristics,
But existing restructural parallel institution configuration is still fewer, and have that mode of operation is less, servomotor is mounted remotely from machine
Have that side chain is unusual in rack position, restructuring procedure or the deficiency such as constraint singularity.
The content of the invention：
The present invention is directed to the deficiency of prior art, proposes a kind of new change born of the same parents parallel institution, and it has 10 kinds of different operatings
Pattern, whole servomotors can be arranged on frame, become unbranched unusual and constraint singularity during born of the same parents.
The present invention solves the scheme that is used of its technical problem：One kind becomes born of the same parents' parallel institution, and it is symmetrical structure, is passed through
3 identicals become the fixed platform and motion platform of born of the same parents' side chain connection parallel institution.Become born of the same parents' side chain by the ball with Decoupling Characteristics
Face five-rod and 4DOF CRP series connection side chain series-parallel connections are formed, and when describing kinematic pair, C is cylindrical pair, and R is revolute pair, and P is
Prismatic pair.
Spherical five-bar mechanisms with Decoupling Characteristics are made up of 5 bars, are connected between each bar by revolute pair, adjacent rotated pair
Axis vertical take-off, the axis of all rotations is all by the geometric center point of spherical five-bar mechanisms, and the spherical five-bar mechanisms free degree is 2,
Two revolute pairs that selection spherical five-bar mechanisms are connected with frame are secondary for input.When two input auxiliary inputs are zero, to become born of the same parents' branch
The initial bit shape of chain.
Series connection side chain is made up of cylindrical pair C, revolute pair R and prismatic pair P, adjacent with spherical five-bar mechanisms for C pairs, with C
Parafacies it is adjacent for P pairs, R secondary axises are orthogonal with C width and P secondary axises respectively, C width and P secondary axis linear independences；In initial bit shape C
Width axis is orthogonal with the one of input secondary axis of spherical five-bar mechanisms and another input secondary axis is put down with spherical five-bar mechanisms
OK.
When the locked input pair parallel with C secondary axises, drive another input secondary, become born of the same parents' side chain and there is a restraining force
Arrow, becomes born of the same parents' side chain free degree into 5, becomes born of the same parents' side chain and is operated in Mode A.When the locked input pair orthogonal with C secondary axises, drive another
Individual input is secondary, becomes born of the same parents' side chain and there is a constraint couple of force, becomes born of the same parents' side chain free degree into 5, become born of the same parents' side chain and be operated in Mode B.When same
When two inputs of driving it is secondary, become born of the same parents' side chain without constraint, its free degree is 6, become born of the same parents' side chain and be operated in pattern C.Two inputs are secondary defeated
Enter the position shape for being zero, be to become the initial bit shape that born of the same parents' 3 kinds of different working modes of side chain are switched over.
When 3 that become born of the same parents' parallel institution, which become born of the same parents' side chain, switches respectively between 3 kinds of different working modes, become born of the same parents' parallel institution
Variable born of the same parents are 3T3R, 3T2R, 2T3R, 2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T totally 10 kinds of different mode of operations,
When describing work or motor pattern, T represents movement, and R, which is represented, to be rotated.
Brief description of the drawings：
Fig. 1 is spherical five-bar mechanisms.
Fig. 2 is change born of the same parents' side chain initial bit shape.
Fig. 3 is change born of the same parents' side chain mode of operation A.
Fig. 4 is change born of the same parents' side chain mode of operation B.
Fig. 5 is change born of the same parents' side chain mode of operation C.
Fig. 6 is change born of the same parents' parallel institution.
Embodiment：
Below in conjunction with drawings and examples, the invention will be further described：
Fig. 1 show the spherical five-bar mechanisms with decoupling property, and it is made up of 5 bars and 5 revolute pairs.Lead between each bar
Cross revolute pair to be connected, the axis of all revolute pairs is all by the geometric center of spherical five-bar mechanisms, and adjacent rotated secondary axis is orthogonal.
Choose the revolute pair R being connected with frame1And R2It is secondary for input.
Fig. 2 show change born of the same parents' side chain during initial bit shape, and it is by 2DOF spherical five-bar mechanisms and a 4DOF CRP
Series connection side chain is combined；Series connection side chain is made up of cylindrical pair C, revolute pair R and prismatic pair P, adjacent with spherical five-bar mechanisms
It is P pairs with C parafacies neighbour for C pairs, R secondary axises are orthogonal with C width and P secondary axises respectively, C width and P secondary axis linear independences；
Initial bit shape C width axis and R1Axis vertical take-off and and R2Diameter parallel.
Fig. 3 show the change born of the same parents' side chain for being reconstructed into mode of operation A, now R1Secondary, the R for input2It is locked.Now C width axis
With R1Axis vertical take-off, C width axis and R2Axis is no longer parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1 constraint force vector,
Constraint force vector crosses C width axis and R1The intersection point of axis, direction is identical with R secondary axises direction.
Fig. 4 show the change born of the same parents' side chain for being reconstructed into mode of operation B, now R2Secondary, the R for input1It is locked.Now C width axis
With R1Axis is no longer orthogonal and also non-intersect, C width axis and R2Diameter parallel.This time-varying born of the same parents' side chain free degree is 5, and it has 1
Constrain couple of force, C width and R2Axis constitute one group of parallel lines arrow, R secondary axises constitute another group of line arrow, and constraint couple of force direction is two
The common normal of group line arrow.
Fig. 5 show the change born of the same parents' side chain for being reconstructed into mode of operation C, now R1And R2Be all input, become born of the same parents' side chain free degree into
6, it is without constraint.
Become change born of the same parents' parallel institution that born of the same parents' side chain is constituted by 3 as shown in Figure 6, component 1 is motion platform, and component 2 is fixation
Platform, 3 of be connected platform 2 and motion platform 1 become born of the same parents' side chains to be arranged symmetrically.Become when 3 born of the same parents side chains respectively at 3 kinds not
During with switching between mode of operation, becoming born of the same parents parallel institution has 10 kinds of different working modes, respectively 3T3R, 3T2R, 2T3R,
2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T mode of operation, when describing work or motor pattern, T is movement, and R is to turn
It is dynamic.
Because the pair that fully enters for becoming born of the same parents' parallel institution is all connected with fixed platform, its whole servomotor is all arranged on and fixed
Platform, therefore change born of the same parents' parallel institution has the advantages that dynamic characteristic is good.Because every change born of the same parents side chain has 3 kinds of different operating moulds
Formula, when 3 structures are identical and change born of the same parents' side chain that be arranged symmetrically switches between different working modes, 10 can be had by becoming born of the same parents' parallel institution
Different working modes are planted, therefore change born of the same parents' parallel institution has the advantages that mode of operation is more.Because spherical five-bar mechanisms have solution
Coupling characteristic, becomes born of the same parents' parallel institution unbranched unusual and constraint singularity in restructuring procedure, it is prevented effectively from above-mentioned unusual
Advantage.
Claims (1)
1. one kind becomes born of the same parents' parallel institution, it is symmetrical structure, its by 3 identicals become born of the same parents' side chains be connected platform and motion it is flat
Platform；Become born of the same parents' side chain to be combined by 2DOF spherical five-bar mechanisms and 4DOF CRP the series connection side chain decoupled, in description motion
When secondary, C is cylindrical pair, and R is revolute pair, and P is prismatic pair；
Spherical five-bar mechanisms are made up of 5 bars and 5 revolute pairs, and each bar is connected by revolute pair, and all revolute pair axis all lead to
The geometric center of spherical five-bar mechanisms is crossed, adjacent rotated secondary axis is orthogonal, choose the rotation being connected with spherical five-bar mechanisms frame
Secondary R1And R2It is used as the input pair of spherical five-bar mechanisms, R1And R2When input is zero, cut to become born of the same parents' side chain different working modes
The initial bit shape changed；
Series connection side chain is made up of cylindrical pair C, revolute pair R and prismatic pair P, adjacent with spherical five-bar mechanisms for C pairs, with C parafacies
Adjacent R secondary axises are secondary and P secondary axises are orthogonal with C respectively for R pairs, and C is secondary and P secondary axis linear independences；In initial bit shape C countershafts
Line and R1Axis vertical take-off and and R2Diameter parallel；
As locked R2, drive R1, become born of the same parents' side chain and be operated in mode of operation A, now C pairs and R1Axis vertical take-off, but C pairs and R2Axis is not
Parallel again, this time-varying born of the same parents' side chain free degree is 5, becomes born of the same parents' side chain and there is a constraint force vector, the constraint force vector crosses C pairs and R1Axis
Intersection point, direction is identical with R secondary axises direction；
As locked R1, drive R2, become born of the same parents' side chain and be operated in mode of operation B, now C pairs and R1Axis is no longer orthogonal and also non-intersect,
But C pairs and R2Diameter parallel, this time-varying born of the same parents' side chain free degree is 5, becomes born of the same parents' side chain and there is a constraint couple of force, now C pairs and R2Axle
Line constitutes one group of parallel lines arrow, and R secondary axises are another group of line arrow, and the common normal direction of two groups of line arrows is constraint couple of force direction；
When while driving R1And R2, become born of the same parents' side chain and be operated in mode of operation C, now the spherical five-bar mechanisms free degree is 2, series connection branch
The chain free degree is 4, and the change born of the same parents' side chain free degree combined by them is 6, and this time-varying born of the same parents' side chain is without constraint；
When 3, which become born of the same parents' side chains, switches between 3 kinds of different working modes, become born of the same parents parallel institution will have 3T3R, 3T2R, 2T3R,
2T2R, 3T1R, 3R1T, 3R, 3T, 2T1R and 2R1T totally 10 kinds of different mode of operations, when describing work or motor pattern, T
Movement is represented, R, which is represented, to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699473.9A CN107297734A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699473.9A CN107297734A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107297734A true CN107297734A (en) | 2017-10-27 |
Family
ID=60132179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710699473.9A Withdrawn CN107297734A (en) | 2017-08-16 | 2017-08-16 | Become born of the same parents' parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107297734A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
| CN109719712A (en) * | 2019-03-19 | 2019-05-07 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732570A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732569A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732571A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732573A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732572A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2235759A1 (en) * | 1997-04-23 | 1998-10-23 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
-
2017
- 2017-08-16 CN CN201710699473.9A patent/CN107297734A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2235759A1 (en) * | 1997-04-23 | 1998-10-23 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1473685A (en) * | 2003-03-25 | 2004-02-11 | 江苏工业学院 | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine |
| CN201808063U (en) * | 2010-09-27 | 2011-04-27 | 南京化工职业技术学院 | Six-degrees-of-freedom parallel robot device |
| CN105751202A (en) * | 2016-03-04 | 2016-07-13 | 北京交通大学 | Reorganizable parallel mechanism with five-rod movement branches |
Non-Patent Citations (1)
| Title |
|---|
| 叶伟: "《基于运动限定机构的可重构并联机构设计》", 《机械工程学报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
| CN108621130B (en) * | 2018-04-19 | 2020-08-25 | 西安工程大学 | Parallel mechanism with two motion modes of 2R1T and 2T1R |
| CN109719712A (en) * | 2019-03-19 | 2019-05-07 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732570A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732569A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732571A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732573A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
| CN109732572A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107297734A (en) | Become born of the same parents' parallel institution | |
| CN107520835A (en) | Become born of the same parents' parallel institution | |
| CN107283427A (en) | Become born of the same parents' parallel institution | |
| CN107650112A (en) | Become born of the same parents' parallel institution | |
| CN107139167B (en) | Motion bifurcation parallel mechanism | |
| CN104985590B (en) | Six degree of freedom partly decoupled parallel institution | |
| CN107263454A (en) | Become born of the same parents' parallel institution | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN107116557A (en) | Restructural space five-rod | |
| CN105216901A (en) | A kind of four-degree-of-freedom leg mechanism in parallel of walking robot | |
| CN107398891A (en) | Become born of the same parents' parallel institution | |
| CN104875190A (en) | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism | |
| CN202317698U (en) | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism | |
| CN107336219A (en) | A kind of parallel institution that there are two movements three to rotate five degree of freedom | |
| CN102441891B (en) | Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation | |
| CN107175654A (en) | A kind of structural redundancy parallel institution that there are two rotations two to move | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN102975197A (en) | Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom | |
| CN104875191A (en) | (3T)&(2R) Completely decoupling parallel serial robot mechanism | |
| CN107498537A (en) | Become born of the same parents' parallel institution | |
| CN107351065A (en) | Become born of the same parents' parallel institution | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN106514624B (en) | A kind of restructural four-degree-of-freedparallel parallel manipulator | |
| CN110238826B (en) | Metamorphic parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171027 |