CN109531550A - It is a kind of without coupling two one-rotation parallel mechanisms - Google Patents
It is a kind of without coupling two one-rotation parallel mechanisms Download PDFInfo
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- CN109531550A CN109531550A CN201910064384.6A CN201910064384A CN109531550A CN 109531550 A CN109531550 A CN 109531550A CN 201910064384 A CN201910064384 A CN 201910064384A CN 109531550 A CN109531550 A CN 109531550A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 230000008878 coupling Effects 0.000 title claims abstract description 10
- 238000010168 coupling process Methods 0.000 title claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 10
- 239000011159 matrix material Substances 0.000 abstract description 4
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
It is a kind of without coupling two one-rotation parallel mechanisms, including fixed platform, moving platform and the first sub-chain and the second sub-chain that connect two platforms；First sub-chain is connected in series by space loop circuit structure and the second revolute pair, space loop circuit structure includes two sub-branches, first sub-branch includes first revolute pair, second sub-branch is the single open chain being made of first screw pair, a third revolute pair, the 4th revolute pair and a first universal hinge, and using the first screw pair as a rotational freedom of active sub-control moving platform；Second sub-chain is made of second screw pair, the 5th revolute pair, the 6th revolute pair and a second universal hinge, and driving pair is the second screw pair, can control another rotational freedom of moving platform.Since the velocity Jacobian matrix of the mechanism is diagonal matrix, there is preferable kinematics characteristic, and control design case is simple, solves the problems, such as that general parallel institution kinematic decoupling is poor.
Description
Technical field
It is especially a kind of without coupling two one-rotation parallel mechanisms the present invention relates to space mechanism, robot field.
Background technique
Parallel institution is widely used in the fields such as numerically-controlled machine tool, sensor, micro-manipulating robot and Medical Robot, generally
It is made of 2-6 movement branched chain of two platforms of moving platform, fixed platform and connection.Relative to serial mechanism, parallel institution has
Compact-sized, the advantages that rigidity is big, bearing capacity is strong, precision is high, cumulative errors are small.Parallel institution can be divided into six-freedom parallel
Mechanism and minority carrier generation lifetime, compared with six-degree-of-freedom parallel connection mechanism, minority carrier generation lifetime has structure simple, adds
The advantages that work manufacturing cost is lower, and working space is big has more vast development prospect.Currently, existing scholar proposes that two is free
One-rotation parallel mechanism is spent, and has applied for national inventing patent, such as application No. is the two-freedom spaces of CN201110031919.3
One-rotation parallel mechanism, although which is able to achieve the rotation of two-freedom, but its kinematics coupling is strong, in design and analysis meter
Calculation and trajectory planning etc. exist many difficult.Therefore realizing the decoupling of parallel institution and improving its movenent performance is to have very much
It is necessary.
Summary of the invention
It is a kind of without two one-rotation parallel mechanisms are coupled the purpose of the present invention is designing, solve the coupling of existing two one-rotation parallel mechanism
The deficiencies of conjunction property is strong, and control is difficult.
To achieve the goals above, The technical solution adopted by the invention is as follows:
It is a kind of without coupling two one-rotation parallel mechanisms, including fixed platform, moving platform and the first sub-chain for connecting two platforms
With the second sub-chain；
First sub-chain is combination chain, is connected in series by space loop circuit structure and the second revolute pair, the space is closed back
Line structure include two sub-branches, the first sub-branch include first revolute pair, the second sub-branch be by first screw pair,
The single open chain that one third revolute pair, the 4th revolute pair and a first universal hinge are constituted；First revolute pair, the second rotation
Secondary and the first universal hinge one end is connected with three branches perpendicular to one another of first connecting rod respectively, the first universal hinge it is another
End, third revolute pair, the 4th revolute pair and the first screw pair are realized suitable each other by second connecting rod, third connecting rod and fourth link
Secondary connection；Connect in the first spiral secondary axis, third revolute pair axis, the 4th revolute pair axis and the first universal hinge with second
The connected pivot center of bar is parallel to each other, the pivot center being connected in the first revolute pair axis and the first universal hinge with first connecting rod
Parallel and perpendicular to the second revolute pair axis；
Second sub-chain is single open chain, by second screw pair, the 5th revolute pair, the 6th revolute pair and one
A second universal hinge composition；Second screw pair, the 5th revolute pair, the 6th revolute pair and the second universal hinge connect each other by the 5th
Bar, six-bar linkage and seven-link assembly realization are sequentially connected；Second spiral secondary axis, the 5th revolute pair axis, the 6th turns auxiliary shaft
It is parallel to each other between the pivot center being connected in line and the second universal hinge with seven-link assembly；
The first screw pair, the first revolute pair in first sub-chain and the second screw pair in the second sub-chain
It is installed on the fixed platform of mechanism, the second spiral secondary axis is parallel with the first revolute pair axis, and both perpendicular to
One spiral secondary axis；The second revolute pair and the in second sub-chain second universal hinge are equal in first sub-chain
It is mounted on the moving platform of mechanism, it is parallel with the pivot center that moving platform is connected in the second revolute pair axis and the second universal hinge；
Flip-flop movement, the second sub-chain control moving platform are done around first revolute pair by the first sub-chain control moving platform
Flip-flop movement is done around the second revolute pair.
The second screw pair in the first screw pair and the second sub-chain in first sub-chain is mechanism
Driving pair.
Compared with prior art, the beneficial effects of the present invention are:
First sub-chain of the invention is combination chain, is the one of active sub-control mechanism moving platform by the first screw pair therein
A rotational freedom, the second sub-chain are single open chain, are active sub-control mechanism moving platform by the second screw pair therein
Another freedom degree, due to the mechanism speed Jacobian matrix be diagonal matrix, the mechanism have good kinematics
Characteristic is output and input there are one-to-one control planning, greatly reduces influencing each other between each sub-chain,
Solves the problems such as decoupling existing for conventional parallel mechanism is poor, working space is small, control difficulty is big.
Detailed description of the invention
Fig. 1 is of the present invention without two one-rotation parallel mechanism structural schematic diagrams of coupling；
Appended drawing reference: 1, fixed platform, 2, moving platform, L1, the first sub-chain, L2, the second sub-chain, H1, the first spiral shell
Revolve pair, H2, the second screw pair, R11, the first revolute pair, R12, the second revolute pair, R13, third revolute pair, R14, the 4th rotation
Pair, R21, the 5th revolute pair, R22, the 6th revolute pair, U1, the first universal hinge, U2, the second universal hinge, I -1, first connecting rod, I -
2, second connecting rod, I -3, third connecting rod, I -4, fourth link, II -1, the 5th connecting rod, II -2, six-bar linkage, the II -3, the 7th connects
Bar.
Specific embodiment
With reference to the accompanying drawings of the specification, by specific embodiment, further description of the technical solution of the present invention.
As shown, it is a kind of without two one-rotation parallel mechanisms are coupled, by between two platforms of fixed platform 1, moving platform 2 and connection
The first sub-chain L1 and the second sub-chain L2 composition.
First sub-chain L1 is combination chain, is connected in series by space loop circuit structure and the second revolute pair R12, space
Loop circuit structure includes two sub-branches again, only one kinematic pair of the first sub-branch, which is the first revolute pair R11, the
Two sub-branches are by a first screw pair H1, a third revolute pair R13, a 4th revolute pair R14 and one the 10000th
The single open chain constituted to hinge U1.Wherein one end and first of the universal hinge U1 of the first revolute pair R11, the second revolute pair R12 and first
Three branches of connecting rod I -1 are connected, these three branches are vertical two-by-two, the other end and third revolute pair of the first universal hinge U1
R13 is connected by second connecting rod I -2, and third revolute pair R13 is connected with the 4th revolute pair R14 by third connecting rod I -3, and the 4th turn
Dynamic secondary R14 is connected with the first screw pair H1 by fourth link I -4.The first screw pair H1 in the first sub-chain L1
What is be connected in axis, third revolute pair R13 axis, the 4th revolute pair R14 axis and the first universal hinge U1 with second connecting rod I -2 turns
Shaft line U1-1 is parallel to each other, the shaft that is connected with first connecting rod I -1 in the first revolute pair R11 axis and the first universal hinge U1
U1-2 is parallel and perpendicular to the second revolute pair R12 axis, and the axis of the first screw pair H1 is perpendicular to 1 plane of fixed platform, and described
The axis of two revolute pair R12 is parallel to the plane of moving platform 2.
Second sub-chain L2 is single open chain, by a second screw pair H2, a 5th revolute pair R21, one the
Six revolute pair R22, a second universal hinge U2 composition, wherein the second screw pair H2 and the 5th revolute pair R21 connects by the 5th
Bar II -1 is connected, and the 5th revolute pair R21 and the 6th revolute pair R22 pass through six-bar linkage II -2 and be connected, the 6th revolute pair R22 and the
Two universal hinge U2 are connected by seven-link assembly II -3.The second screw pair H2 axis in the second sub-chain L2, the 5th
The pivot center being connected in revolute pair R21 axis, the 6th revolute pair R22 axis and the second universal hinge U2 with seven-link assembly II -3
U2-2 is parallel to each other.
In the first screw pair H1, the first revolute pair R11 and the second sub-chain in the first sub-chain L1
The second screw pair H2 be installed on fixed platform 1, and the first screw pair H1 and the first revolute pair R11 on fixed platform 1 in diagonal
Line arrangement, the first revolute pair in the second screw pair H2 axis and the first sub-chain L1 in the second sub-chain L2
R11 axis is parallel, and both perpendicular to the first screw pair H1 axis in the first sub-chain L1.
The second universal hinge U2 installation in the second revolute pair R12 and the second sub-chain L2 of first sub-chain L1
In on the moving platform 2 of mechanism, and the second revolute pair R12 is connected to the side of moving platform, and the second universal hinge U2 is connected to second turn
2 lower surface of moving platform of the dynamic opposite side secondary R12, the second revolute pair R12 axis of the first sub-chain L1 and the movement of the second branch
It is parallel with the pivot center U2-1 that moving platform 2 is connected in the universal hinge U2 of chain L2 second.
The parallel institution take respectively the first screw pair H1 in the first sub-chain L1 and the second sub-chain L2 and
Second screw pair H2 is driving pair, wherein the first sub-chain L1 controls moving platform 2 around the first of the first sub-chain L1
Revolute pair R11 does flip-flop movement, and the second sub-chain L2 controls moving platform 2 around the second revolute pair of the first sub-chain L1
R12 does flip-flop movement.
Claims (2)
1. a kind of without coupling two one-rotation parallel mechanisms, it is characterised in that: the including two platforms of fixed platform, moving platform and connection
One sub-chain and the second sub-chain；
First sub-chain is combination chain, is connected in series by space loop circuit structure and the second revolute pair, the space is closed back
Line structure include two sub-branches, the first sub-branch include first revolute pair, the second sub-branch be by first screw pair,
The single open chain that one third revolute pair, the 4th revolute pair and a first universal hinge are constituted；First revolute pair, the second rotation
Secondary and the first universal hinge one end is connected with three branches perpendicular to one another of first connecting rod respectively, the first universal hinge it is another
End, third revolute pair, the 4th revolute pair and the first screw pair are realized suitable each other by second connecting rod, third connecting rod and fourth link
Secondary connection；Connect in the first spiral secondary axis, third revolute pair axis, the 4th revolute pair axis and the first universal hinge with second
The connected pivot center of bar is parallel to each other, the pivot center being connected in the first revolute pair axis and the first universal hinge with first connecting rod
Parallel and perpendicular to the second revolute pair axis；
Second sub-chain is single open chain, by second screw pair, the 5th revolute pair, the 6th revolute pair and one
A second universal hinge composition；Second screw pair, the 5th revolute pair, the 6th revolute pair and the second universal hinge connect each other by the 5th
Bar, six-bar linkage and seven-link assembly realization are sequentially connected；Second spiral secondary axis, the 5th revolute pair axis, the 6th turns auxiliary shaft
It is parallel to each other between the pivot center being connected in line and the second universal hinge with seven-link assembly；
The first screw pair, the first revolute pair in first sub-chain and the second screw pair in the second sub-chain
It is installed on the fixed platform of mechanism, the second spiral secondary axis is parallel with the first revolute pair axis, and both perpendicular to
One spiral secondary axis；The second revolute pair and the in second sub-chain second universal hinge are equal in first sub-chain
It is mounted on the moving platform of mechanism, it is parallel with the pivot center that moving platform is connected in the second revolute pair axis and the second universal hinge；
Flip-flop movement, the second sub-chain control moving platform are done around first revolute pair by the first sub-chain control moving platform
Flip-flop movement is done around the second revolute pair.
2. according to claim 1 a kind of without coupling two one-rotation parallel mechanisms, it is characterised in that: the first branch movement
The second screw pair in the first screw pair and the second sub-chain in chain is the driving pair of mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064384.6A CN109531550B (en) | 2019-01-23 | 2019-01-23 | Coupling-free two-rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064384.6A CN109531550B (en) | 2019-01-23 | 2019-01-23 | Coupling-free two-rotation parallel mechanism |
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| CN109531550A true CN109531550A (en) | 2019-03-29 |
| CN109531550B CN109531550B (en) | 2024-02-13 |
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| CN201910064384.6A Active CN109531550B (en) | 2019-01-23 | 2019-01-23 | Coupling-free two-rotation parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757266A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotating parallel mechanism |
| CN112757265A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Two-degree-of-freedom rotation parallel mechanism |
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| US20080229860A1 (en) * | 2005-11-17 | 2008-09-25 | Ilian Bonev | Planar Parallel Mechanism and Method |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103600348A (en) * | 2013-11-25 | 2014-02-26 | 燕山大学 | Parallel mechanism with four branches, no concurrent point and two rotational degrees of freedom |
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| CN109531551A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of easily controllable two-freedom-degree parallel mechanism |
| CN209425434U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
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2019
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Patent Citations (9)
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| US20080229860A1 (en) * | 2005-11-17 | 2008-09-25 | Ilian Bonev | Planar Parallel Mechanism and Method |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103600348A (en) * | 2013-11-25 | 2014-02-26 | 燕山大学 | Parallel mechanism with four branches, no concurrent point and two rotational degrees of freedom |
| CN104626121A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | (2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757266A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotating parallel mechanism |
| CN112757265A (en) * | 2021-01-28 | 2021-05-07 | 河南科技大学 | Two-degree-of-freedom rotation parallel mechanism |
| CN112757265B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Two-degree-of-freedom rotary parallel mechanism |
| CN112757266B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotary parallel mechanism |
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| CN109531550B (en) | 2024-02-13 |
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