CN109262592B - Two-translation one-rotation branch incomplete symmetrical parallel mechanism - Google Patents
Two-translation one-rotation branch incomplete symmetrical parallel mechanism Download PDFInfo
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- CN109262592B CN109262592B CN201811330200.8A CN201811330200A CN109262592B CN 109262592 B CN109262592 B CN 109262592B CN 201811330200 A CN201811330200 A CN 201811330200A CN 109262592 B CN109262592 B CN 109262592B
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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 invention relates to the technical field of parallel mechanisms, in particular to a two-translation one-rotation branch incompletely symmetrical parallel mechanism which comprises a movable platform and a fixed platform, wherein the fixed platform and the movable platform are in transmission connection through a first movable branched chain, a second movable branched chain and a third movable branched chain, and the first movable branched chain and the third movable branched chain are symmetrically arranged. And the mechanism has few joints, the total number of the freedom degrees of the kinematic pairs is only 13, and the problem that the parallel mechanism is easy to bend and deform in torsion due to excessive freedom degrees of the kinematic pairs can be effectively solved.
Description
Technical Field
The invention relates to a parallel structure, in particular to a parallel mechanism with two translation branches and one rotation branch not completely symmetrical.
Background
Compared with the traditional series mechanism, the parallel mechanism has the advantages of high rigidity, high bearing capacity, small accumulated error, good dynamic performance and the like. However, in general, as the number of degrees of freedom increases, the number of branches increases accordingly, and the complexity of the control process increases accordingly. Therefore, in some occasions, the parallel mechanism with less degrees of freedom has higher use value due to less driving elements, simple motion model and lower manufacturing cost.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a parallel mechanism with two translation branches and one rotation branch not completely symmetrical, which has the advantages of simple geometric structure, simple branch structure, small number of kinematic pairs, large working space, easy control, easy manufacture and assembly, high rigidity, strong bearing capacity, capability of realizing two translations and one rotation, and good movement flexibility.
The technical scheme of the invention is as follows:
a two-translation one-rotation branch incomplete symmetrical parallel mechanism comprises a movable platform, a fixed platform and three moving branch chains which are connected with the two platforms; the three moving branched chains are respectively a first moving branched chain, a second moving branched chain and a third moving branched chain; each moving branched chain comprises an upper connecting rod and a lower connecting rod respectively; each upper connecting rod is respectively and rotatably connected with the corresponding lower connecting rod; the upper connecting rod of the first moving branched chain is rotationally connected with the moving platform; the lower connecting rod of the first moving branched chain is hinged with the fixed platform; the upper connecting rod of the second moving branched chain is hinged with the movable platform, and the lower connecting rod of the second moving branched chain is hinged with the fixed platform; the upper connecting rod of the third moving branched chain is rotatably connected with the moving platform, and the lower connecting rod of the third moving branched chain is hinged with the fixed platform.
Preferably, a first end of an upper connecting rod in the first moving branched chain is hinged to the moving platform through a first revolute pair, a second end of the upper connecting rod is hinged to a first end of a lower connecting rod through a second revolute pair, and a second end of the lower connecting rod is connected to the fixed platform through a first universal hinge.
Preferably, the first universal hinge comprises a revolute pair far away from the fixed platform and a revolute pair close to the fixed platform, and the axis of the first revolute pair, the axis of the second revolute pair and the axis of the revolute pair far away from the fixed platform of the first universal hinge are all parallel.
Preferably, a first end of an upper connecting rod in the second moving branched chain is connected with the moving platform through a third universal hinge, a second end of the upper connecting rod is hinged with a first end of a lower connecting rod through a third revolute pair, and a second end of the lower connecting rod is connected with the fixed platform through a second universal hinge.
Preferably, the third universal hinge comprises a revolute pair close to the movable platform and a revolute pair far away from the movable platform, and the second universal hinge comprises a revolute pair close to the fixed platform and a revolute pair far away from the fixed platform; and the axis of the third revolute pair, the axis of the revolute pair of the second universal hinge far away from the fixed platform and the axis of the revolute pair of the third universal hinge far away from the movable platform are all parallel to each other.
Preferably, a first end of an upper connecting rod in the third moving branched chain is hinged to the moving platform through a fifth revolute pair, a second end of the upper connecting rod is hinged to a first end of a lower connecting rod through a fourth revolute pair, and a second end of the lower connecting rod is connected to the fixed platform through a fourth universal hinge.
Preferably, the fourth universal hinge comprises a revolute pair far away from the fixed platform and a revolute pair close to the fixed platform, and the axis of the fourth revolute pair, the axis of the fifth revolute pair and the axis of the revolute pair far away from the fixed platform of the fourth universal hinge are all parallel to each other.
Preferably, the axis of the revolute pair of the third moving branch chain close to the fixed platform is parallel to the axis of the revolute pair of the first moving branch chain close to the fixed platform and the axis of the revolute pair of the second moving branch chain close to the fixed platform.
The invention has the following beneficial effects:
1. the mechanism has the advantages of simple kinematic pair configuration, easy mechanism manufacture and installation, high transmission precision and low cost.
2. The two-translation one-rotation branch incompletely symmetrical parallel mechanism belongs to an asymmetrical parallel mechanism, and has larger working space and good movement flexibility compared with a symmetrical parallel mechanism.
3. The two-translation-one-rotation-branch incomplete symmetrical parallel mechanism has few joints, the total number of the freedom degrees of the kinematic pairs is only 13, and the problem that the parallel mechanism is easy to bend and deform due to excessive freedom degrees of the kinematic pairs can be effectively solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a two-translation-one-rotation branch incompletely symmetrical parallel mechanism according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a parallel mechanism with two translation branches and one rotation branch not completely symmetrical according to the present invention. The invention provides a two-translation-one-rotation branch incomplete symmetrical parallel mechanism which comprises a movable platform 1 and a fixed platform 2, wherein the fixed platform 2 and the movable platform 1 are in transmission connection through a first moving branched chain, a second moving branched chain and a third moving branched chain, and the first moving branched chain and the third moving branched chain are symmetrically arranged.
One end of an upper connecting rod 4 in the first moving branched chain is hinged with the moving platform 1 through a revolute pair 3, the other end of the upper connecting rod 4 is hinged with one end of a lower connecting rod 6 through a revolute pair 5, and the other end of the lower connecting rod 6 is connected with the fixed platform 2 through a first universal hinge 7. The first universal hinge 7 comprises a revolute pair far away from the fixed platform 2 and a revolute pair close to the fixed platform 2, and the axes of the revolute pair 3, the axis of the revolute pair 5 and the axis of the revolute pair far away from the fixed platform 2 of the first universal hinge 7 are parallel to each other.
One end of an upper connecting rod 11 in the second moving branched chain is connected with the moving platform 1 through a third universal hinge 12, the other end of the upper connecting rod 11 is hinged with one end of a lower connecting rod 9 through a revolute pair 10, and the other end of the lower connecting rod 9 is connected with the fixed platform 2 through a second universal hinge 8. The second universal hinge 8 comprises a revolute pair close to the fixed platform 2 and a revolute pair far away from the fixed platform 2, and the third universal hinge 12 comprises a revolute pair close to the movable platform 1 and a revolute pair far away from the movable platform 1. The axial line of the revolute pair 10, the axial line of the revolute pair of the third universal hinge 12 far away from the movable platform 1 and the axial line of the revolute pair of the second universal hinge 8 far away from the fixed platform 2 are all parallel to each other.
One end of an upper connecting rod 14 in the third moving branched chain is hinged with the moving platform 1 through a revolute pair 13, the other end of the upper connecting rod 14 is hinged with one end of a lower connecting rod 16 through a revolute pair 15, and the other end of the lower connecting rod 16 is connected with the fixed platform 2 through a fourth universal hinge 17. The fourth universal hinge 17 comprises a revolute pair far away from the fixed platform 2 and a revolute pair close to the fixed platform 2. The axis of the fourth revolute pair 15, the axis of the fifth revolute pair 13 and the axis of the revolute pair of the fourth universal hinge 17 far away from the fixed platform 2 are all parallel to each other. The axis of the revolute pair of the third kinematic branched chain close to the fixed platform 2 is parallel to the axis of the revolute pair of the first kinematic branched chain close to the fixed platform 2 and the axis of the revolute pair of the second kinematic branched chain close to the fixed platform 2.
Specifically, according to the incompletely symmetrical parallel mechanism with two translation and one rotation branches, the first moving branch chain and the third moving branch chain are respectively and symmetrically arranged on two sides of the moving platform 1 and the fixed platform 2. The second moving branched chain is positioned between the first moving branched chain and the third moving branched chain.
The left side of the edge of the movable platform 1 is provided with a first connecting piece, the first connecting piece is integrally formed with the movable platform 1, and the first connecting piece can also be connected to the edge of the movable platform 1 through welding or a fastener.
The first moving branched chain comprises a first upper connecting rod and a first lower connecting rod, a second connecting piece is arranged at the first end of the first upper connecting rod, and the first connecting piece and the second connecting piece are connected through a pin shaft, for example, so that the first connecting piece and the second connecting piece can rotate relatively.
The second end of the first upper connecting rod is provided with a third connecting piece, the first end of the first lower connecting rod is provided with a fourth connecting piece, and the fourth connecting piece and the third connecting piece are connected through a pin shaft, for example, so that the third connecting piece and the fourth connecting piece can rotate relatively.
The second end of the first lower connecting rod is provided with a fifth connecting piece, the left side of the edge of the fixed platform is provided with a sixth connecting piece, and the sixth connecting piece is integrally formed with the fixed platform 2 and can also be connected to the edge of the fixed platform 2 through welding or a fastener. The fifth connecting piece is connected with the first end of the first universal hinge 7, and the second end of the first universal hinge 7 is connected with the sixth connecting piece.
The middle edge of the movable platform 1 is provided with a seventh connecting piece, the seventh connecting piece is integrally formed with the movable platform 1, and the seventh connecting piece can also be connected to the edge of the movable platform 1 through welding or a fastener.
The second moving branched chain comprises a second upper connecting rod and a second lower connecting rod, an eighth connecting piece is arranged at the first end of the second upper connecting rod, a seventh connecting piece is connected with the first end of a third universal hinge 12, and the second end of the third universal hinge 12 is connected with the eighth connecting piece.
The second end of the second upper connecting rod is provided with a ninth connecting piece, the first end of the second lower connecting rod is provided with a tenth connecting piece, and the ninth connecting piece and the tenth connecting piece are connected through a pin shaft, for example, so that the ninth connecting piece and the tenth connecting piece can rotate relatively.
The second end of the second lower connecting rod is provided with an eleventh connecting piece, the middle edge of the fixed platform 2 is provided with a twelfth connecting piece, and the twelfth connecting piece is integrally formed with the fixed platform 2 and can also be connected to the edge of the fixed platform 2 through welding or a fastening piece. The eleventh connecting piece is connected with the first end of the second universal hinge 8, and the second end of the second universal hinge 8 is connected with the twelfth connecting piece.
The connection mode of the third moving branched chain and the first moving branched chain is completely the same.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (2)
1. A two-translation one-rotation branch incomplete symmetrical parallel mechanism is characterized by comprising a movable platform, a fixed platform and three movable branch chains for connecting the two platforms; the three moving branched chains are respectively a first moving branched chain, a second moving branched chain and a third moving branched chain; each moving branched chain comprises an upper connecting rod and a lower connecting rod respectively; each upper connecting rod is respectively and rotatably connected with the corresponding lower connecting rod; the upper connecting rod of the first moving branched chain is rotationally connected with the moving platform; the lower connecting rod of the first moving branched chain is hinged with the fixed platform; the upper connecting rod of the second moving branched chain is hinged with the movable platform, and the lower connecting rod of the second moving branched chain is hinged with the fixed platform; the upper connecting rod of the third moving branched chain is rotatably connected with the moving platform, and the lower connecting rod of the third moving branched chain is hinged with the fixed platform;
a first end of an upper connecting rod in the first moving branched chain is hinged with the moving platform through a first revolute pair, a second end of the upper connecting rod is hinged with a first end of a lower connecting rod through a second revolute pair, and a second end of the lower connecting rod is connected with the fixed platform through a first universal hinge;
the first universal hinge comprises a rotating pair far away from the fixed platform and a rotating pair close to the fixed platform, and the axis of the first rotating pair, the axis of the second rotating pair and the axis of the rotating pair far away from the fixed platform of the first universal hinge are parallel;
the first end of an upper connecting rod in the second moving branched chain is connected with the moving platform through a third universal hinge, the second end of the upper connecting rod is hinged with the first end of a lower connecting rod through a third revolute pair, and the second end of the lower connecting rod is connected with the fixed platform through a second universal hinge;
the third universal hinge comprises a revolute pair close to the movable platform and a revolute pair far away from the movable platform, and the second universal hinge comprises a revolute pair far away from the fixed platform and a revolute pair close to the fixed platform; the axis of the third revolute pair, the axis of the revolute pair of the second universal hinge far away from the fixed platform and the axis of the revolute pair of the third universal hinge far away from the movable platform are all parallel to each other;
a first end of an upper connecting rod in the third moving branched chain is hinged with the moving platform through a fifth revolute pair, a second end of the upper connecting rod is hinged with a first end of a lower connecting rod through a fourth revolute pair, and a second end of the lower connecting rod is connected with the fixed platform through a fourth universal hinge;
the fourth universal hinge comprises a revolute pair far away from the fixed platform and a revolute pair close to the fixed platform, and the axis of the fourth revolute pair, the axis of the fifth revolute pair and the axis of the revolute pair far away from the fixed platform of the fourth universal hinge are parallel to each other.
2. The mechanism of claim 1, wherein the axis of the revolute pair of the third kinematic branch, which is close to the fixed platform, is parallel to the axis of the revolute pair of the first kinematic branch, which is close to the fixed platform, and the axis of the revolute pair of the second kinematic branch, which is close to the fixed platform.
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| CN201811330200.8A CN109262592B (en) | 2018-11-09 | 2018-11-09 | Two-translation one-rotation branch incomplete symmetrical parallel mechanism |
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| CN113476270B (en) * | 2021-06-24 | 2022-08-05 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
| CN114313130B (en) * | 2021-11-30 | 2023-04-25 | 北京特种机械研究所 | Three-degree-of-freedom stable platform with static load compensation function |
| 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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| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| CN102248532A (en) * | 2011-06-13 | 2011-11-23 | 天津理工大学 | Spatial three-degree-of-freedom parallel robot mechanism |
| CN106181974A (en) * | 2016-09-30 | 2016-12-07 | 中国地质大学（武汉） | A kind of freedom degree parallel connection platform mechanism |
| CN206527734U (en) * | 2016-11-10 | 2017-09-29 | 中国地质大学（武汉） | A kind of 2R two-degree-of-freedom parallel mechanisms for lifting load capacity |
| CN108748109B (en) * | 2018-07-11 | 2020-04-28 | 燕山大学 | Two-translation one-rotation 2RRR-CRR parallel mechanism |
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