CN110355741A - Parallel institution with two kinds of motor patterns of 3T1R and 2T2R - Google Patents
Parallel institution with two kinds of motor patterns of 3T1R and 2T2R Download PDFInfo
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- CN110355741A CN110355741A CN201910549776.1A CN201910549776A CN110355741A CN 110355741 A CN110355741 A CN 110355741A CN 201910549776 A CN201910549776 A CN 201910549776A CN 110355741 A CN110355741 A CN 110355741A
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- branch
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- moving platform
- connecting rod
- universal hinge
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of parallel institution with two kinds of motor patterns of 3T1R and 2T2R disclosed by the invention, it include moving platform and fixed platform, the first branch, the second branch, third branch, the 4th branch are connected on moving platform, moving platform passes through the first branch, the second branch, third branch, the 4th branch respectively and connect with fixed platform；First branch includes sequentially connected revolute pair P11, first connecting rod, revolute pair R11, second connecting rod, revolute pair R12, third connecting rod and universal hinge U11, revolute pair P11It is also connect with fixed platform, universal hinge U11Also it is connect with moving platform；Second branch includes sequentially connected universal hinge U21, fourth link, prismatic pair P21, the 5th connecting rod and universal hinge U22, universal hinge U21It is also connect with fixed platform, universal hinge U22Also it is connect with moving platform.Parallel institution of the invention can quickly carry out the transformation of motor pattern, meet the work requirements under its complex situations.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of parallel connection with two kinds of motor patterns of 3T1R and 2T2R
Mechanism.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free
The reduction of degree will be so that mechanism structure be more simple, manufacture and control advantage of lower cost, therefore is meeting expected job requirement
In the case of, Limited-DOF Parallel Robot has its unique advantage.
Parallel institution with multi-motion modes, under the shape of mechanism singularity position, the characteristic with Motion Bifurcation, Ke Yitong
It crosses less driving pair and branch and realizes multi-motion modes, to adapt to a variety of different needs of work.And this kind of mechanism
Motor pattern transformation, do not need to re-assembly mechanism, the conversion rate of motor pattern is fast, process is easy.It is moving
Emulation, machine assembly, sorting crawl, the fields such as parallel machine need while having three mobile one to rotate (3T1R), two movements
Two rotate the parallel-connection structure of (2T2R) two kinds of motor patterns to adapt to a variety of different motion modes, adapt to the work under a variety of circumstances
Make, simplify whole workflow, but there are a three mobile rotations (3T1R), two mobile two rotations (2T2R) two simultaneously at present
The parallel-connection structure of kind motor pattern is less.
Summary of the invention
The object of the present invention is to provide a kind of parallel institutions with two kinds of motor patterns of 3T1R and 2T2R, can be adapted to
Motion simulation, machine assembly, sorting crawl, parallel machine, can quickly carry out the transformation of motor pattern, meet its complex situations
Under work requirements.
The technical scheme adopted by the invention is that the parallel institution with two kinds of motor patterns of 3T1R and 2T2R, includes
Moving platform and fixed platform are connected with the first branch, the second branch, third branch, the 4th branch on moving platform, and moving platform leads to respectively
The first branch, the second branch, third branch, the 4th branch is crossed to connect with fixed platform；
First branch includes sequentially connected revolute pair P11, first connecting rod, revolute pair R11, second connecting rod, revolute pair
R12, third connecting rod and universal hinge U11, revolute pair P11It is also connect with fixed platform, universal hinge U11Also it is connect with moving platform；
Second branch includes sequentially connected universal hinge U21, fourth link, prismatic pair P21, the 5th connecting rod and universal hinge
U22, universal hinge U21It is also connect with fixed platform, universal hinge U22Also it is connect with moving platform.
It is of the invention to be further characterized in that,
Prismatic pair P11On be connected with driving motor.
Prismatic pair P21On be connected with driving motor.
Third branch includes sequentially connected flexural pivot S31, six-bar linkage, prismatic pair P31, seven-link assembly and flexural pivot S32, ball
Cut with scissors S31It is also connect with fixed platform, flexural pivot S32Also it is connect with moving platform.
Prismatic pair P31On be connected with driving motor.
4th branch includes sequentially connected flexural pivot S41, the 8th connecting rod, prismatic pair P41, the 9th connecting rod and flexural pivot S42, ball
Cut with scissors S41It is also connect with fixed platform, flexural pivot S42Also it is connect with moving platform.
Prismatic pair P41On be connected with driving motor.
The invention has the advantages that the mechanism has the parallel institution of two kinds of motor patterns of 3T1R and 2T2R, four branch
Chain can flexible motion, the parallel institution can be enabled to realize a three mobile rotations by control prismatic pair and revolute pair
The motor patterns of (3T1R) and two mobile two rotations (2T2R) so that parallel institution of the invention be suitable for motion simulation,
Behind the fields such as machine assembly, sorting crawl, parallel machine, the transformation of motor pattern can be quickly carried out, its complex situations is met
Under work requirements.
Detailed description of the invention
Fig. 1 is the position when parallel institution of the invention with two kinds of motor patterns of 3T1R and 2T2R has 2T2R motor pattern
Shape schematic diagram；
When Fig. 2 is the parallel institution with two kinds of motor patterns of 3T1R and 2T2R of the invention instantaneous with 3T2R freedom degree
Position shape schematic diagram；
Fig. 3 is the position when parallel institution of the invention with two kinds of motor patterns of 3T1R and 2T2R has 3T1R motor pattern
Shape schematic diagram.
In figure, 1. fixed platforms, 2. first connecting rods, 3. second connecting rods, 4. third connecting rods, 5. fourth links, 6. the 5th connecting rods,
7. six-bar linkage, 8. seven-link assemblies, 9. the 8th connecting rods, 10. the 9th connecting rods, 11. moving platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of parallel institution with two kinds of motor patterns of 3T1R and 2T2R of the present invention, as shown in Figure 1, including moving platform
11 and fixed platform 1, the first branch, the second branch, third branch, the 4th branch are connected on moving platform 11, and moving platform 11 is distinguished
It is connect by the first branch, the second branch, third branch, the 4th branch with fixed platform 1；
It defines moving platform 1 and the first branch junction is B1, define moving platform 1 and second branch junction be B2, fixed
Adopted moving platform 1 is B with third branch junction3, define moving platform 1 and the 4th branch junction be B4；
First branch includes sequentially connected revolute pair P11, first connecting rod 2, revolute pair R11, second connecting rod 3, revolute pair
R12, third connecting rod 4 and universal hinge U11, revolute pair P11It is also connect with fixed platform 1, universal hinge U11Also it is connect with moving platform 11；
Prismatic pair P11, revolute pair R11Pivot center, revolute pair R12With universal hinge U11Connect the revolute pair of third connecting rod 4
Axis is each perpendicular to horizontal plane setting.
Second branch includes sequentially connected universal hinge U21, fourth link 5, prismatic pair P21, the 5th connecting rod 6 and universal
Cut with scissors U22, universal hinge U21It is also connect with fixed platform 1, universal hinge U22Also it is connect with moving platform 11.
Prismatic pair P11On be connected with driving motor.
Prismatic pair P21On be connected with driving motor.
Third branch includes sequentially connected flexural pivot S31, six-bar linkage 7, prismatic pair P31, seven-link assembly 8 and flexural pivot S32,
Flexural pivot S31It is also connect with fixed platform 1, flexural pivot S32Also it is connect with moving platform 11.
Prismatic pair P31On be connected with driving motor.
4th branch includes sequentially connected flexural pivot S41, the 8th connecting rod 9, prismatic pair P41, the 9th connecting rod 10 and flexural pivot
S42, flexural pivot S41It is also connect with fixed platform 1, flexural pivot S42Also it is connect with moving platform 11.
Prismatic pair P41On be connected with driving motor.
Under position shape as shown in Figure 1, prismatic pair P11, revolute pair R11, revolute pair R12With connect with third connecting rod 4 ten thousand
To hinge U11In revolute pair, axis is and horizontal plane；Universal hinge U21With universal hinge U22In, be separately connected fourth link 5 with
The revolute pair axis and horizontal plane of 5th connecting rod 6；Universal hinge U21With universal hinge U22In, do not connect with fourth link 5 and the 5th
The revolute pair axis intersection that bar 6 connects, and universal hinge U22The revolute pair axis being connect with moving platform 11 and connect in the first branch
Meet the universal hinge U of moving platform 1111In revolute pair axis it is parallel.
Prismatic pair P in third branch, the 4th branch31, prismatic pair P41Along Spatial General 6 R direction.
Under mechanism as shown in Figure 1 position shape, moving platform has 2T2R motor pattern, controls mobile driving secondary P41, prismatic pair
P31, prismatic pair P21, prismatic pair P11, it can be achieved that the control to mechanism.
Parallel institution mechanism position shape shown in FIG. 1 of the invention is deformed, locking driving prismatic pair P41, prismatic pair
P31, prismatic pair P21, control prismatic pair P11, so that parallel institution of the invention moves to mechanism position shown in Fig. 2 shape.This shape
Under, universal hinge U22The revolute pair of connection moving platform 11 and universal hinge U21The revolute pair for connecting fixed platform 1 is parallel.At this point, of the invention
Parallel institution have the instantaneous freedom degree of 3T2R.
Control prismatic pair P21, prismatic pair P31, prismatic pair P41, revolute pair R11It is in the lock state, control driving prismatic pair
P11It is moved along the direction for being parallel to Z axis, so that parallel institution of the invention is under structure bit shape as shown in Figure 3；At this point, ten thousand
To hinge U11The revolute pair of middle connection moving platform 11 and universal hinge U22The revolute pair of middle connection moving platform 11 is parallel, universal hinge U22In
Be not connected to the revolute pair axis of moving platform 11 not with horizontal plane.Under the mechanism position shape of Fig. 3, parallel institution of the invention has
The motor pattern of 3T1R.Control prismatic pair P11, prismatic pair P21, prismatic pair P31, prismatic pair P41, it can be achieved that 3T1R motor pattern
Control.
Parallel institution of the invention, fixed platform and moving platform pass through control prismatic pair and rotation by four branch chain links
Pair enables to the parallel institution to realize different motor patterns, that is, includes a three mobile rotations (3T1R), two rotations, two movement
(2R2T) can be adapted to motion simulation, machine assembly, sorting crawl, parallel machine, can quickly carry out the change of motor pattern
It changes, meets the work requirements under its complex situations.
Claims (7)
1. the parallel institution with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that include moving platform (11) and allocate
Platform (1) is connected with the first branch, the second branch, third branch, the 4th branch, the moving platform on the moving platform (11)
(11) it is connect respectively by the first branch, the second branch, third branch, the 4th branch with fixed platform (1)；
First branch includes sequentially connected revolute pair P11, first connecting rod (2), revolute pair R11, second connecting rod (3), turn
Dynamic secondary R12, third connecting rod (4) and universal hinge U11, the revolute pair P11It is also connect with fixed platform (1), the universal hinge U11Also with
Moving platform (11) connection；
Second branch includes sequentially connected universal hinge U21, fourth link (5), prismatic pair P21, the 5th connecting rod (6) and ten thousand
To hinge U22, the universal hinge U21It is also connect with fixed platform (1), the universal hinge U22Also it is connect with moving platform (11).
2. the parallel institution according to claim 1 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
Prismatic pair P11On be connected with driving motor.
3. the parallel institution according to claim 1 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
Prismatic pair P21On be connected with driving motor.
4. the parallel institution according to claim 1 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
Third branch includes sequentially connected flexural pivot S31, six-bar linkage (7), prismatic pair P31, seven-link assembly (8) and flexural pivot S32, described
Flexural pivot S31It is also connect with fixed platform (1), the flexural pivot S32Also it is connect with moving platform (11).
5. the parallel institution according to claim 4 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
Prismatic pair P31On be connected with driving motor.
6. the parallel institution according to claim 1 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
4th branch includes sequentially connected flexural pivot S41, the 8th connecting rod (9), prismatic pair P41, the 9th connecting rod (10) and flexural pivot S42, institute
State flexural pivot S41It is also connect with fixed platform (1), the flexural pivot S42Also it is connect with moving platform (11).
7. the parallel institution according to claim 6 with two kinds of motor patterns of 3T1R and 2T2R, which is characterized in that described
Prismatic pair P41On be connected with driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549776.1A CN110355741B (en) | 2019-06-24 | 2019-06-24 | Parallel mechanism with two motion modes of 3T1R and 2T2R |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910549776.1A CN110355741B (en) | 2019-06-24 | 2019-06-24 | Parallel mechanism with two motion modes of 3T1R and 2T2R |
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| CN110355741A true CN110355741A (en) | 2019-10-22 |
| CN110355741B CN110355741B (en) | 2020-12-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370189A (en) * | 2021-07-16 | 2021-09-10 | 燕山大学 | High-rigidity three-translation redundant driving parallel mechanism |
Citations (3)
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|---|---|---|---|---|
| CN203460178U (en) * | 2013-08-20 | 2014-03-05 | 山东大学 | Four-DOF (degree of freedom) spatial parallel mechanism with position-variable rotating shaft |
| US20180236658A1 (en) * | 2015-09-07 | 2018-08-23 | Tyco Electronics (Shanghai) Co. Ltd. | Assembly System and Method For Inserting a Terminal Into a Housing |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
-
2019
- 2019-06-24 CN CN201910549776.1A patent/CN110355741B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203460178U (en) * | 2013-08-20 | 2014-03-05 | 山东大学 | Four-DOF (degree of freedom) spatial parallel mechanism with position-variable rotating shaft |
| US20180236658A1 (en) * | 2015-09-07 | 2018-08-23 | Tyco Electronics (Shanghai) Co. Ltd. | Assembly System and Method For Inserting a Terminal Into a Housing |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
Non-Patent Citations (1)
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|---|---|---|---|---|
| CN113370189A (en) * | 2021-07-16 | 2021-09-10 | 燕山大学 | High-rigidity three-translation redundant driving parallel mechanism |
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Effective date of registration: 20210722 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 Shaanxi province Xi'an Beilin District Jinhua Road No. 19 Patentee before: XI'AN POLYTECHNIC University |
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