CN113715003A - RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts - Google Patents
RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts Download PDFInfo
- Publication number
- CN113715003A CN113715003A CN202111090035.5A CN202111090035A CN113715003A CN 113715003 A CN113715003 A CN 113715003A CN 202111090035 A CN202111090035 A CN 202111090035A CN 113715003 A CN113715003 A CN 113715003A
- Authority
- CN
- China
- Prior art keywords
- pair
- branched chain
- rotation
- rrp
- rotating
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The RRP type two-rotation one-movement parallel mechanism with the two non-coplanar rotating shafts is simple in structure, easy to process and manufacture, and wide in application prospect due to the fact that the RRP type two-rotation one-movement parallel mechanism with the two non-coplanar rotating shafts has large-range space movement capacity. The device comprises a fixed base, wherein a movable platform is arranged at the lower end of the fixed base, a first branched chain, a second branched chain and a third branched chain are arranged between the fixed base and the movable platform, the first branched chain and the second branched chain have the same structure and are symmetrically arranged relative to the third branched chain, the first branched chain comprises a moving pair, the upper end of the moving pair is connected with the fixed base through a universal pair, and the lower end of the moving pair is rotatably connected with the movable platform through a first rotating pair; the lower end of the fixed base is further provided with a vertical seat which faces downwards vertically, the third branched chain comprises a connecting rod, one end of the connecting rod is connected with the ball pair, the base of the ball pair is connected with the vertical seat in a sliding mode through the sliding moving pair, and the other end of the connecting rod is connected with the movable platform in a rotating mode through the third rotating pair.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts.
Background
Compared with the traditional serial robot, the parallel mechanism with less degrees of freedom has the advantages of high rigidity and precision, better bearing capacity, easy solving of inverse kinematics and the like; compared with a six-degree-of-freedom parallel mechanism, the less-degree-of-freedom parallel mechanism has the advantages of low coupling degree, easiness in modularization and the like. Therefore, the parallel mechanism with less degrees of freedom, in particular to the parallel mechanism with three degrees of freedom with two rotations and one movement, is widely applied to the fields of processing, minimally invasive surgery, motion simulators and the like. The Chinese patent application No. CN201621253330.2 discloses a two-rotation one-movement parallel mechanism which is driven and fixed, and because the driving sliding pair of the mechanism is fixed in the same plane, the whole working space range of the mechanism is small, and the movement capability of the mechanism is greatly limited.
Disclosure of Invention
The RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts is provided, and has the advantages of simple structure, easy processing and manufacturing, large-scale space movement capability and wide application prospect.
The technical scheme is as follows: two changes of RRP type move parallel mechanism with two antarafacial pivots, it includes fixed baseplate, its characterized in that: the lower end of the fixed base is provided with a movable platform, a first branched chain, a second branched chain and a third branched chain are arranged between the fixed base and the movable platform,
the first branched chain and the second branched chain have the same structure and are symmetrically arranged relative to the third branched chain, the first branched chain comprises a moving pair, the upper end of the moving pair is connected with the fixed base through a universal pair, and the lower end of the moving pair is rotatably connected with the movable platform through a first rotating pair;
the lower end of the fixed base is further provided with a vertical seat which faces downwards vertically, the third branched chain comprises a connecting rod, one end of the connecting rod is connected with a ball pair, a base of the ball pair is connected with the vertical seat in a sliding mode through a sliding moving pair, and the other end of the connecting rod is connected with the movable platform in a rotating mode through a third rotating pair.
It is further characterized in that:
in the first branched chain and the second branched chain, the axis of the moving pair is perpendicular to the first axis and the second axis of the universal pair, the first axes of the two universal pairs are coaxial, and the second axes of the two universal pairs are parallel to each other and parallel to the axis of the first rotating pair;
in the first branched chain and the second branched chain, the axes of the two first rotating pairs are parallel to each other; the axis of the third rotating pair is perpendicular to the axis of the first rotating pair;
in the first branched chain and the second branched chain, the moving pair is a driving pair; in the third branched chain, the sliding moving pair is a driving pair;
the sliding pair is in driving connection through an external electric push rod;
the sliding moving pair drives the ball screw to be in driving connection through the servo motor.
After the structure is adopted, the moving pair of the first branched chain and the second branched chain is connected with the fixed base through the universal pair, meanwhile, the connecting rod of the third branched chain is connected with the sliding moving pair through the ball pair, the sliding moving pair is connected with the vertical seat in a sliding manner, the moving pair and the other end of the connecting rod are rotationally connected with the movable platform through the rotating pair, when the mechanism moves, the coaxial first axes of the two universal pairs on the first branched chain and the second axis penetrating through the sliding moving pair are all out of plane under any position, so that the mechanism has large-range space moving capacity, the application prospect is wide, and meanwhile, the whole structure of the mechanism is simple and the mechanism is easy to process and manufacture.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic perspective view of the first branched chain in the mechanism shown in fig. 1.
Fig. 3 is a schematic perspective view of a second branch in the mechanism shown in fig. 1.
Fig. 4 is a schematic perspective view of a third branch chain in the mechanism shown in fig. 1.
In the figure: 1. a fixed base; 2. a first branch chain; 21. a universal pair; 22. a sliding pair; 23. a first rotating pair; 3. a second branch chain; 4. a movable platform; 5. a third branch chain; 51. a sliding pair; 52. a ball pair; 53. a connecting rod; 54. and a third revolute pair.
Detailed Description
As shown in fig. 1 to 4, the RRP type two-rotation one-shift parallel mechanism with two rotation axes with different planes includes a fixed base 1, a movable platform 4 is disposed at the lower end of the fixed base 1, the movable platform 4 is in an approximate triangle shape, a first branched chain 2, a second branched chain 3, and a third branched chain 5 are disposed between the fixed base 1 and the movable platform 4, wherein the first branched chain 2 and the second branched chain 3 have the same structure and are symmetrically disposed relative to the third branched chain 3.
The structure of the first branch chain 3 is specifically described, the first branch chain 2 comprises a sliding pair 22, through holes are formed in the positions, corresponding to the first branch chain 2 and the second branch chain 3, of the top of the fixed base 1, the upper end of the sliding pair 22 penetrates through the through holes in the fixed base 1 and is sleeved inside the universal pair 21 and can slide up and down relative to the universal pair 21, the universal pair 21 is fixedly installed at the top of the fixed base 1, and the lower end of the sliding pair 22 is rotatably connected with the corner of the movable platform 4 through a first rotating pair 23.
The lower end of the fixed base 1 is further provided with a vertical seat 55 facing downwards vertically, the third branched chain 5 comprises a connecting rod 53, one end of the connecting rod 53 is connected with a ball pair 52, the base of the ball pair 52 is connected with the vertical seat 55 in a sliding manner through a sliding moving pair 51, and the other end of the connecting rod 53 is connected with the other corner of the movable platform 4 in a rotating manner through a third rotating pair 54.
Meanwhile, the first branch 2 and the second branch 3 are also called UPR branches, and the third branch 5 is also called PSR branch. In the first branched chain 2 and the second branched chain 3, the axis of the moving pair 22 is vertical to the first axis 211 and the second axis 212 of the universal pair 21, and the axis of the moving pair 32 is vertical to the first axis 311 and the second axis 312 of the universal pair 31; the first axes (211, 311) of the two cardan pairs are coaxial, and the second axes (212, 312) of the two cardan pairs are parallel to each other and to the axis 231 of the first revolute pair 23.
The axes (231, 331) of the two first revolute pairs (23, 33) are parallel to each other, and the axis 541 of the third revolute pair (54) is perpendicular to the axes (231, 331) of the first revolute pairs (23, 33).
Furthermore, in the first branch chain 2 and the second branch chain 3, the moving pairs (22, 32) are driving pairs and are in driving connection through an external electric push rod (not shown in the figure); meanwhile, in the third branched chain 5, the sliding pair 51 is a driving pair, and a ball screw (not shown in the figure) is driven and connected by a servo motor.
In the present invention, as can be seen from fig. 1, when moving, the direction of the movement of the mechanism is affected by the angle formed by the first rotating shaft a and the second rotating shaft B, as seen from the first axis a of the first branch chain 2 and the first axis B of the second branch chain 3, which are coaxial with the two universal pairs 31, and the second axis B of the second branch chain 51, which passes through the sliding moving pair, and when moving in any direction, the two first rotating shaft a and the second rotating shaft B are close to the fixed base 1 and always keep different surfaces, so that the mechanism has a large-scale space moving capability, a wide application prospect, and meanwhile, the mechanism has a simple overall structure and is easy to process and manufacture.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. Two changes of RRP type move parallel mechanism with two antarafacial pivots, it includes fixed baseplate, its characterized in that: the lower end of the fixed base is provided with a movable platform, a first branched chain, a second branched chain and a third branched chain are arranged between the fixed base and the movable platform,
the first branched chain and the second branched chain have the same structure and are symmetrically arranged relative to the third branched chain, the first branched chain comprises a moving pair, the upper end of the moving pair is connected with the fixed base through a universal pair, and the lower end of the moving pair is rotatably connected with the movable platform through a first rotating pair;
the lower end of the fixed base is further provided with a vertical seat which faces downwards vertically, the third branched chain comprises a connecting rod, one end of the connecting rod is connected with a ball pair, a base of the ball pair is connected with the vertical seat in a sliding mode through a sliding moving pair, and the other end of the connecting rod is connected with the movable platform in a rotating mode through a third rotating pair.
2. An RRP type two-rotation one-movement parallel mechanism with two rotation shafts with different surfaces as claimed in claim 1, wherein: in the first branched chain and the second branched chain, the axis of the moving pair is perpendicular to the first axis and the second axis of the universal pair, the first axes of the two universal pairs are coaxial, and the second axes of the two universal pairs are parallel to each other and are parallel to the axis of the first rotating pair.
3. A RRP-type two-rotation one-movement parallel mechanism having two rotation axes with different planes as claimed in claim 2, wherein: in the first branched chain and the second branched chain, the axes of the two first rotating pairs are parallel to each other; the axis of the third rotating pair is perpendicular to the axis of the first rotating pair.
4. A RRP-type two-turn one-turn parallel mechanism having two out-of-plane rotation axes as claimed in claim 3, wherein: in the first branched chain and the second branched chain, the moving pair is a driving pair; in the third branched chain, the sliding moving pair is a driving pair.
5. An RRP type two-rotation one-movement parallel mechanism with two rotation shafts with different surfaces as claimed in claim 4, wherein: the sliding pair is in driving connection through an external electric push rod.
6. An RRP type two-rotation one-movement parallel mechanism with two rotation shafts with different surfaces as claimed in claim 5, wherein: the sliding moving pair drives the ball screw to be in driving connection through the servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111090035.5A CN113715003A (en) | 2021-09-16 | 2021-09-16 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111090035.5A CN113715003A (en) | 2021-09-16 | 2021-09-16 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113715003A true CN113715003A (en) | 2021-11-30 |
Family
ID=78684144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111090035.5A Pending CN113715003A (en) | 2021-09-16 | 2021-09-16 | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113715003A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056204A (en) * | 2022-07-15 | 2022-09-16 | 中国民航大学 | Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| US20090205457A1 (en) * | 2004-11-18 | 2009-08-20 | Karl-Erik Neumann | Parallel-Kinematical Machine |
| CN202292114U (en) * | 2011-11-11 | 2012-07-04 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN107584478A (en) * | 2017-10-18 | 2018-01-16 | 西安科技大学 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
-
2021
- 2021-09-16 CN CN202111090035.5A patent/CN113715003A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| US20090205457A1 (en) * | 2004-11-18 | 2009-08-20 | Karl-Erik Neumann | Parallel-Kinematical Machine |
| CN202292114U (en) * | 2011-11-11 | 2012-07-04 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN107584478A (en) * | 2017-10-18 | 2018-01-16 | 西安科技大学 | It is a kind of with can shaft axis revolute pair 3-freedom parallel mechanism |
| CN110116399A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution |
Non-Patent Citations (1)
| Title |
|---|
| 李秦川等: ""2-UPR-SPR并联机构转轴分析"", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056204A (en) * | 2022-07-15 | 2022-09-16 | 中国民航大学 | Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101513736B (en) | Nonsingularity space five- freedom-degree parallel robot | |
| CN105729450B (en) | Four-freedom parallel mechanism | |
| CN108555889B (en) | Space five-degree-of-freedom series-parallel processing equipment containing redundancy constraint and use method thereof | |
| US8429998B2 (en) | Parallel mechanism and moveable linkage thereof | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN104622573A (en) | High-rigidity four-freedom-degree remote motion center mechanism | |
| KR101485999B1 (en) | 5-dof micro robot of parallel-type | |
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| CN105500338A (en) | Double-arm SCARA (selective compliance assembly robot arm) industrial robot | |
| CN102366896B (en) | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts | |
| CN105522561A (en) | Fully-isotropic and asymmetric parallel mechanism capable of performing two-dimensional rotation and one-dimensional movement | |
| CN107336219A (en) | A kind of parallel institution that there are two movements three to rotate five degree of freedom | |
| CN110653799A (en) | Three-branch non-overconstrained high-speed parallel robot with three shifts and one turn | |
| CN112192550A (en) | Constraint redundant two-rotation two-movement four-freedom-degree parallel mechanism | |
| CN101693366A (en) | 5-DOF (degree of freedom) parallel robot mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN111300380B (en) | Six-degree-of-freedom parallel robot based on redundant drive | |
| CN113715003A (en) | RRP type two-rotation one-movement parallel mechanism with two non-coplanar rotating shafts | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN108110424B (en) | Parallel satellite antenna attitude adjusting device | |
| CN106671062A (en) | Three-translation one-rotation four-degree-of-freedom parallel mechanism | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN201380487Y (en) | Five freedom degree paralleling robot with no fantastic space | |
| US11708882B2 (en) | Head mechanism and robot |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211130 |
|
| RJ01 | Rejection of invention patent application after publication |