CN109262592A - Two translations, one rotation branch's non complete symmetry parallel institution - Google Patents
Two translations, one rotation branch's non complete symmetry parallel institution Download PDFInfo
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- CN109262592A CN109262592A CN201811330200.8A CN201811330200A CN109262592A CN 109262592 A CN109262592 A CN 109262592A CN 201811330200 A CN201811330200 A CN 201811330200A CN 109262592 A CN109262592 A CN 109262592A
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- revolute pair
- branched chain
- movement branched
- fixed platform
- platform
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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Abstract
The present invention relates to parallel institution technical fields, two translations, one rotation branch's non complete symmetry parallel institution of the invention, including moving platform and fixed platform, fixed platform is connected by the first movement branched chain, the second movement branched chain with the transmission of third movement branched chain with moving platform, first movement branched chain and third movement branched chain are arranged symmetrically, and two translations, one rotation branch's non complete symmetry parallel institution of the invention has the advantages that branched structure is simple, working space is big, easily controllable, manufacture assembly is easy, rigidity is big, bearing capacity is strong.And the mechanism joint is few, and degree of freedom of kinematic pair sum only has 13, and can effectively improve parallel institution causes to be subject to deflection and the problem of torsional deflection because degree of freedom of kinematic pair is excessive.
Description
Technical field
The present invention relates to parallel-connection structures, more particularly to two translation of one kind, one rotation branch's non complete symmetry parallel institution.
Background technique
Parallel institution is big with rigidity, bearing capacity is high, accumulated error is small, power compared with traditional serial mechanism
Learn the advantages that performance is good.But under normal circumstances, as number of degrees of freedom, purpose increases, number of branches can also be increase accordingly, and be controlled
The complexity of process processed is also just increase accordingly.So in some situations, minority carrier generation lifetime due to driving element is few,
Motion model is simple and cost is lower, thus use value with higher.
Summary of the invention
Aiming at the deficiencies in the prior art, it is an object of the invention to propose that two translation of one kind, one rotation branch is endless
Holohedral symmetry parallel institution, geometry is simple, and branched structure is simple, kinematic pair number is few, working space it is big, it is easily controllable,
It is easily fabricated assembly, rigidity is big, bearing capacity is strong and be able to achieve two translations one rotate, kinematic dexterity it is good.
Technical scheme is as follows:
Two translation of one kind, one rotation branch's non complete symmetry parallel institution comprising moving platform, fixed platform and connection two
Three movement branched chains of platform；Three movement branched chains are the first movement branched chain, the second movement branched chain and third movement branched chain respectively；
Each movement branched chain respectively includes upper connecting rod and lower link；Each upper connecting rod distinguishes corresponding lower link rotation connection；Described
The upper connecting rod of one movement branched chain and the moving platform are rotatablely connected；The lower link of first movement branched chain allocates table-hinges with described
It connects；The upper connecting rod of second movement branched chain and the moving platform are hinged, the lower link of second movement branched chain with it is described fixed
Platform is hinged；The upper connecting rod of the third movement branched chain and the moving platform are rotatablely connected, the lower company of the third movement branched chain
Bar and the fixed platform are hinged.
Preferably, the first end of the upper connecting rod in first movement branched chain is cut with scissors by the first revolute pair and the moving platform
It connects, the second end of the upper connecting rod is hinged by the first end of the second revolute pair and lower link, the second end of the lower link
It is connected by the first universal hinge with the fixed platform.
Preferably, the described first universal hinge includes the revolute pair far from the fixed platform and turn with the close fixed platform
Dynamic pair, the axis of first revolute pair, the axis of second revolute pair, the first universal hinge far from the fixed platform
Revolute pair axis it is parallel.
Preferably, the first end of the upper connecting rod in second movement branched chain passes through the universal hinge of third and the moving platform phase
Even, the second end of the upper connecting rod is hinged by the first end of third revolute pair and lower link, and the second end of the lower link is logical
The second universal hinge is crossed to be connected with the fixed platform.
Preferably, the universal hinge of the third includes the revolute pair close to the moving platform and the rotation far from the moving platform
Pair, the second universal hinge include the revolute pair close to the revolute pair of the fixed platform and with the separate fixed platform；Described
The axis of three revolute pairs, the second universal hinge the revolute pair far from the fixed platform axis and the universal hinge of the third
The axis of revolute pair far from the moving platform is mutually parallel.
Preferably, the first end of the upper connecting rod in the third movement branched chain is cut with scissors by the 5th revolute pair and moving platform
It connects, the second end of the upper connecting rod is hinged by the first end of the 4th revolute pair and lower link, the second end of the lower link
It is connected by the 4th universal hinge with fixed platform.
Preferably, the described 4th universal hinge includes the revolute pair far from the fixed platform and turn with the close fixed platform
Dynamic pair, the axis of the 4th revolute pair, the 5th revolute pair axis and the 4th universal hinge turn far from the fixed platform
It is mutually parallel to move secondary axis.
Preferably, the axis of the revolute pair close to the fixed platform of the third movement branched chain and the first movement branch
Axis phase of the chain close to the revolute pair close to the fixed platform of axis, second movement branched chain of the revolute pair of the fixed platform
In parallel.
Beneficial effects of the present invention are as follows:
1. two translations, one rotation branch's non complete symmetry parallel institution kinematic pair configuration in the present invention is simple, mechanism manufacture
Installation is easy, and high transmission accuracy is at low cost.
2. two translations, one rotation branch's non complete symmetry parallel institution in the present invention belongs to asymmetric parallel institution, and right
The parallel institution of title is compared, and working space is larger, and kinematic dexterity is good.
3. two translations, one rotation branch's non complete symmetry parallel institution joint in the present invention is few, degree of freedom of kinematic pair sum
Only 13, can effectively improve parallel institution causes to be subject to deflection and torsional deflection because degree of freedom of kinematic pair is excessive
The problem of.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of two translations, one rotation branch's non complete symmetry parallel institution according to the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Referring to FIG. 1, wherein Fig. 1 is that the structure of two translations, one rotation branch's non complete symmetry parallel institution of the invention is shown
It is intended to.The present invention provides two translation of one kind one rotation branch's non complete symmetry parallel institution, including moving platform 1 and fixed platform 2, fixed
Platform 2 is connected by the first movement branched chain, the second movement branched chain with the transmission of third movement branched chain with moving platform 1, the first movement branch
Chain and third movement branched chain are symmetrical arranged.
One end of upper connecting rod 4 in first movement branched chain is hinged by revolute pair 3 and moving platform 1, the upper connecting rod 4 it is another
End is hinged by revolute pair 5 and one end of lower link 6, and the other end of the lower link 6 passes through the first universal hinge 7 and 2 phase of fixed platform
Even.First universal hinge 7 includes the revolute pair far from fixed platform 2 and the revolute pair with close fixed platform 2, and the axis of revolute pair 3 turns
The axis of the revolute pair of the axis of dynamic pair 5 and the separate fixed platform 2 of the first universal hinge 7 is mutually parallel.
One end of upper connecting rod 11 in second movement branched chain is connected by the universal hinge 12 of third with moving platform 1, upper connecting rod 11
The other end it is hinged by revolute pair 10 and one end of lower link 9, the other end of lower link 9 universal cut with scissors 8 and allocates by second
Platform 2 is connected.Second universal hinge 8 includes the revolute pair with revolute pair and separate fixed platform 2 close to fixed platform 2, the universal hinge of third
12 include the revolute pair close to the revolute pair of moving platform 1 and with separate moving platform 1.The universal hinge 12 of the axis of revolute pair 10, third
Separate moving platform 1 the axis of revolute pair and the axis of revolute pair of separate fixed platform 2 of the second universal hinge 8 mutually put down
Row.
One end of upper connecting rod 14 in third movement branched chain is hinged by revolute pair 13 and moving platform 1, upper connecting rod 14 it is another
One end is hinged by revolute pair 15 and one end of lower link 16, and the other end of lower link 16 passes through the 4th universal hinge 17 and allocates
Platform 2 is connected.4th universal hinge 17 includes the revolute pair far from fixed platform 2 and the revolute pair with close fixed platform 2.4th rotation
The axis of the revolute pair of the separate fixed platform 2 of the axis of pair 15, the axis of the 5th revolute pair 13 and the 4th universal hinge 17 is mutually
In parallel.The rotation of the close fixed platform 2 of the axis and the first movement branched chain of the revolute pair of the close fixed platform 2 of third movement branched chain
The axis of the revolute pair of the close fixed platform 2 of secondary axis, the second movement branched chain is mutually parallel.
Specifically, two translations, one rotation branch's non complete symmetry parallel institution according to the present invention, first movement branched chain,
2 two sides of moving platform 1 and fixed platform respectively symmetrically are arranged in third movement branched chain.Second movement branched chain is located at the first movement branch
Between chain, third movement branched chain.
Be provided with the first connector on the left of the edge of moving platform 1, the first connector be it is integrally formed with moving platform 1,
It can be the edge by welding or being connected to by fastener moving platform 1.
First movement branched chain includes the first upper connecting rod and the first lower link, and the first end of the first upper connecting rod is provided with the second company
Fitting, between the first connector and the second connector, for example, being attached by pin shaft, so that the first connector and second connect
Fitting is able to carry out relative rotation.
The second end of first upper connecting rod is provided with third connector, and the first end of the first lower link is provided with the 4th connection
Part, between the 4th connector and third connector, for example, being attached by pin shaft, so that third connector and the 4th connect
It is relatively rotatable to each other between part.
The second end of first lower link is provided with the 5th connector, is provided with the 6th connector on the left of the edge of fixed platform,
6th connector be it is integrally formed with fixed platform 2, be also possible to by welding or be connected to fixed platform 2 by fastener
Edge.5th connector is connected with the first 7 first ends of universal hinge, and the first 7 second ends of universal hinge are connected with the 6th connector.
The middle edge of moving platform 1 is provided with the 7th connector, the 7th connector be it is integrally formed with moving platform 1,
It can be the edge by welding or being connected to by fastener moving platform 1.
Second movement branched chain includes the second upper connecting rod and the second lower link, and the first end of the second upper connecting rod is provided with the 8th company
Fitting, the 7th connector are connected with third 12 first ends of universal hinge, and third 12 second ends of universal hinge are connected with the 8th connector
It connects.
The second end of second upper connecting rod is provided with the 9th connector, and the first end of the second lower link is provided with the tenth connection
Part, between the 9th connector and the tenth connector, for example, being attached by pin shaft, so that the 9th connector and the tenth connect
It is relatively rotatable to each other between part.
The second end of second lower link is provided with the tenth a connection piece, and the middle edge of fixed platform 2 is provided with the 12nd company
Fitting, the 12nd connector be it is integrally formed with fixed platform 2, it is fixed by welding or being connected to by fastener to be also possible to
The edge of platform 2.Tenth a connection piece is connected with the second 8 first ends of universal hinge, and the second 8 second ends of universal hinge connect with the 12nd
Fitting is connected.
Third movement branched chain is identical with the connection type of the first movement branched chain.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.Those skilled in the art should understand that: it still can be to aforementioned implementation
Technical solution documented by example is modified, or is equivalently replaced to part of or all technical features；And these are repaired
Change or replaces, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. one kind two translation one rotation branch's non complete symmetry parallel institution, which is characterized in that it include moving platform, fixed platform and
Connect three movement branched chains of two platforms；Three movement branched chains are the first movement branched chain, the second movement branched chain and third respectively
Movement branched chain；Each movement branched chain respectively includes upper connecting rod and lower link；Each upper connecting rod is distinguished corresponding lower link rotation and is connected
It connects；The upper connecting rod of first movement branched chain and the moving platform are rotatablely connected；The lower link of first movement branched chain and institute
It is hinged to state fixed platform；The upper connecting rod of second movement branched chain and the moving platform are hinged, the lower company of second movement branched chain
Bar and the fixed platform are hinged；The upper connecting rod of the third movement branched chain and the moving platform are rotatablely connected, the third movement
The lower link of branch and the fixed platform are hinged.
2. two translations, one rotation branch's non complete symmetry parallel institution as described in claim 1, which is characterized in that described first
The first end of upper connecting rod in movement branched chain is hinged by the first revolute pair and the moving platform, the second end of the upper connecting rod
First end by the second revolute pair and lower link is hinged, and the second end of the lower link is allocated by the first universal hinge with described
Platform is connected.
3. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 2, which is characterized in that described first
Universal hinge includes the revolute pair far from the fixed platform and the revolute pair with the close fixed platform, the axis of first revolute pair
Line, the axis of second revolute pair, the first universal hinge far from the fixed platform revolute pair axis it is parallel.
4. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 3, which is characterized in that described second
The first end of upper connecting rod in movement branched chain is connected by the universal hinge of third with the moving platform, and the second end of the upper connecting rod is logical
The first end for crossing third revolute pair and lower link is hinged, and the second end of the lower link passes through the universal hinge of third and the fixed platform
It is connected.
5. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 4, which is characterized in that the third
Universal hinge includes the revolute pair close to the moving platform and the revolute pair far from the moving platform, and the second universal hinge includes remote
Revolute pair from the fixed platform and the revolute pair with the close fixed platform；The axis of the third revolute pair, described second
The axis of the revolute pair far from the fixed platform of universal hinge and the revolute pair far from the moving platform of the universal hinge of the third
Axis it is mutually parallel.
6. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 5, which is characterized in that described the
The first end of upper connecting rod in three movement branched chains is hinged by the 5th revolute pair and moving platform, and the second end of the upper connecting rod passes through
4th revolute pair and the first end of lower link are hinged, and the second end of the lower link is connected by the 4th universal hinge with fixed platform
It connects.
7. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 6, which is characterized in that the described 4th
Universal hinge includes the revolute pair far from the fixed platform and the revolute pair with the close fixed platform, the axis of the 4th revolute pair
Line, the 5th revolute pair axis and the axis of the revolute pair far from the fixed platform of the 4th universal hinge are mutually parallel.
8. two translations, one rotation branch's non complete symmetry parallel institution as claimed in claim 7, which is characterized in that the third
The axis of the revolute pair close to the fixed platform of movement branched chain is with first movement branched chain close to the rotation of the fixed platform
The axis of revolute pair of the secondary axis, second movement branched chain close to the fixed platform is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330200.8A CN109262592B (en) | 2018-11-09 | 2018-11-09 | Two-translation one-rotation branch incomplete symmetrical parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330200.8A CN109262592B (en) | 2018-11-09 | 2018-11-09 | Two-translation one-rotation branch incomplete symmetrical parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109262592A true CN109262592A (en) | 2019-01-25 |
| CN109262592B CN109262592B (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811330200.8A Active CN109262592B (en) | 2018-11-09 | 2018-11-09 | Two-translation one-rotation branch incomplete symmetrical parallel mechanism |
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| CN (1) | CN109262592B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN114313130A (en) * | 2021-11-30 | 2022-04-12 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
| CN114460574A (en) * | 2022-03-09 | 2022-05-10 | 燕山大学 | Stable tracking platform based on 2-RRPU +2-RPU/U two-degree-of-freedom parallel mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN113476270B (en) * | 2021-06-24 | 2022-08-05 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN114313130A (en) * | 2021-11-30 | 2022-04-12 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
| CN114460574A (en) * | 2022-03-09 | 2022-05-10 | 燕山大学 | Stable tracking platform based on 2-RRPU +2-RPU/U two-degree-of-freedom parallel mechanism |
| CN114460574B (en) * | 2022-03-09 | 2024-04-02 | 燕山大学 | Stable tracking platform based on 2-RRPU+2-RPU/U two-degree-of-freedom parallel mechanism |
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| CN109262592B (en) | 2020-06-23 |
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