CN1418763A - Four-freedom parallel robot mechanism having two motions and one rotation - Google Patents
Four-freedom parallel robot mechanism having two motions and one rotation Download PDFInfo
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- CN1418763A CN1418763A CN 02158043 CN02158043A CN1418763A CN 1418763 A CN1418763 A CN 1418763A CN 02158043 CN02158043 CN 02158043 CN 02158043 A CN02158043 A CN 02158043A CN 1418763 A CN1418763 A CN 1418763A
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Abstract
The present invention provides a kind of four-freedom parallel robot mechanism which three-movement and one-turning. Said mechanism consists of moving platform, fixed platform and four kinematical branch chains for connecting moving platform and fixed platform. Four kinematical branch chains are identical in structure, every branch chain is formed from turning pair, universal joint and cylinder pair, and the axis adjacent to turning pair in the universal joint of every kinematical branch chain is parallel to the axis of turning pair, and the axis adjacent to the cylinder pair in the universal joint of every kinematical branch chain is parallel to the axis of cylinder pair, and all the turning pairs and cylinder pairs of all the kinematical branch chains are mutually parallel.
Description
(1) technical field
The present invention relates to a kind of parallel robot mechanism.
(2) background technology
Parallel robot has that rigidity is big, load is from the high traditional unexistent advantage of serial machine people of anharmonic ratio, becomes the focus and the focus of robotics research in the world in recent years.Parallel robot is formed by the movement branched chain connection by moving platform and fixed platform usually, the free degree number of parallel robot is general identical with the number of movement branched chain, early stage parallel robot is the 6-SPS Stewart platform mechanism of 6DOF normally, shortcoming such as the Stewart platform mechanism has that working space is little, motion normal solution difficulty, complex structural designs and position and pose parameter lotus root are closed.In order to overcome these shortcomings of 6DOF parallel institution, many in recent years researchers have turned to lower-mobility (moving platform freedom of motion number is less than 6) parallel robot to notice, that the lower-mobility parallel robot mechanism has is simple in structure, working space is big, design with control advantages such as fairly simple.So far the lower-mobility parallel robot mechanism great majority that proposed are Three Degree Of Freedoms, and the parallel robot of existing four-degree-of-freedom all is made up of the movement branched chain of different structure, and (Chinese patent application number: 00105935.1) the four-degree-of-freedom robot mechanism of Ti Chuing is made up of the movement branched chain of RPS (R-revolute pair, P-moving sets, S-spherical pair) and two kinds of structures of UPS (U-universal joint) as Liu Xinjun etc.The movement branched chain of structure inequality can cause the working space of motion platform asymmetric, thereby can increase the difficulty of operation planning, in addition, the movement branched chain of different structure can make design, manufacturing and assembly cost improve, therefore in the parallel robot design up to now, all be the parallel institution that first-selection has identical branched structure.Four-freedom parallel connection robot mechanism with same structure movement branched chain only has only a kind of by (Zlatanov such as Zlatanov so far, D., and Gosselin, C.M., 2001, AFamily of New Parallel Architectures With Four Degrees of Freedom; " in Computational Kinematics, Editors, F.C.Park and C.C.Iurascu, pp.57-66.) every movement branched chain of calendar year 2001 proposition contains the parallel institution of 5 revolute pairs, this parallel institution has three rotations and an one-movement-freedom-degree, moves and the parallel robot mechanism of the same movement branched structure of a rotational freedom still belongs to blank up to now and have three.
(2) summary of the invention
The present invention wants the technical solution problem to provide a kind ofly to have three and move and a four-freedom parallel connection robot mechanism that rotates.
The present invention solves the technical scheme that its technical problem adopts: parallel robot mechanism of the present invention is by fixed platform and moving platform and be connected moving platform and four movement branched chain of fixed platform are formed, it is characterized in that: the structure of four movement branched chain is identical, every movement branched chain and the joining kinematic pair of fixed platform are revolute pairs, with the joining kinematic pair of moving platform be cylindrical pair, the intermediary movements pair of movement branched chain is a universal joint, when mechanism kinematic, moving platform has four frees degree.
The beneficial effect that the present invention had: provide a kind of and had three and move and a four-freedom parallel connection robot mechanism that rotates.That these mechanisms have is simple in structure, design and manufacture cost is low, working space is symmetrical and do not have advantages such as lazy pair, can be applicable to occasions such as parallel robot, parallel machine and three coordinate measuring machine in parallel.
(4) description of drawings
Fig. 1 has three and moves and a four-freedom parallel connection robot mechanism schematic diagram that rotates
Among the figure: fixed platform 1, moving platform 2, four movement branched chain I, II, III and IV, the axis 4 of revolute pair 3, the axis 11 of revolute pair 10, the axis 25 of revolute pair 24, the axis 18 of revolute pair 17, the axis 5 and 7 of universal joint 6, the axis 13 and 14 of universal joint 12, the axis 27 and 28 of universal joint 26, the axis 20 and 21 of universal joint 19, the axis 9 of cylindrical pair 8, the axis 16 of cylindrical pair 15, the axis 30 of cylindrical pair 29, the axis 23 of cylindrical pair 22.
(5) specific embodiment
Parallel robot mechanism of the present invention is by fixed platform 1 and moving platform 2 and be connected moving platform 2 and four movement branched chain I, II, III and IV of fixed platform 1 form.Article four, the structure of movement branched chain is identical, every movement branched chain is made up of revolute pair, universal joint and cylindrical pair, every movement branched chain and the joining kinematic pair of fixed platform are revolute pairs, with the joining kinematic pair of moving platform be cylindrical pair, the intermediary movements pair of movement branched chain is a universal joint, when mechanism kinematic, moving platform has four frees degree.
In the universal joint 6,12,26,19 of each movement branched chain, the axis 7,14,28,21 adjacent with revolute pair 3,10,24,17, parallel with this revolute pair axis 4,11,25,18 respectively.
In the universal joint of each movement branched chain, the axis 5,13,27,20 adjacent with cylindrical pair 8,15,29,22, parallel with the axis 9,16,30,23 of cylindrical pair respectively.
Movement branched chain I is parallel with 30 with the cylindrical pair axis 9 of movement branched chain III, and movement branched chain I is parallel with 25 with the revolute pair axis 4 of movement branched chain III.
Movement branched chain II is parallel with 23 with the cylindrical pair axis 16 of movement branched chain IV, and movement branched chain II is parallel with 18 with the revolute pair axis 11 of movement branched chain IV.
Revolute pair axis 4 among movement branched chain I and the III and 25 and movement branched chain II and IV in revolute pair axis 11 and 18 not in one plane.The present invention has symmetrical configuration, is convenient to manufacture and design precision and rigidity advantages of higher.
Claims (5)
1. one kind has three and moves and a four-freedom parallel connection robot mechanism that rotates, this mechanism is by fixed platform (1) and moving platform (2) and be connected moving platform and four movement branched chain of fixed platform are formed, it is characterized in that: the structure of four movement branched chain (I, II, III and IV) is identical, every movement branched chain and the joining kinematic pair of fixed platform (1) are revolute pairs, with the joining kinematic pair of moving platform (2) be cylindrical pair, the intermediary movements pair of movement branched chain is a universal joint, when mechanism kinematic, moving platform has four frees degree.
2. according to claim 1 have three and move and a four-freedom parallel connection robot mechanism that rotates, it is characterized in that: in the universal joint of each movement branched chain, the axle (7,14,28,21) adjacent with revolute pair, parallel with this revolute pair axis (4,11,25,18) respectively; Axis (5,13,27,20) adjacent with cylindrical pair in the universal joint is parallel with this cylindrical pair axis (9,16,30,23) respectively.
3. describedly have three and move and a four-freedom parallel connection robot mechanism that rotates according to claim 1,2, it is characterized in that: movement branched chain (I) is parallel with (30) with the cylindrical pair axis (9) of movement branched chain (III), and movement branched chain (I) is parallel with (25) with the revolute pair axis (4) of movement branched chain (III).
4. describedly have three and move and a four-freedom parallel connection robot mechanism that rotates according to claim 1,2, it is characterized in that: movement branched chain (II) is parallel with the cylindrical pair axis (16,23) of movement branched chain (IV), and movement branched chain (II) is parallel with (18) with the revolute pair axis (11) of movement branched chain (IV).
5. describedly have three and move and a four-freedom parallel connection robot mechanism that rotates according to claim 1,2, it is characterized in that: movement branched chain (I) and (III) in revolute pair axis (4,25) and movement branched chain (II) and (IV) in revolute pair axis (11,18) not in one plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB02158043XA CN1190297C (en) | 2002-12-24 | 2002-12-24 | Four-freedom parallel robot mechanism having two motions and one rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB02158043XA CN1190297C (en) | 2002-12-24 | 2002-12-24 | Four-freedom parallel robot mechanism having two motions and one rotation |
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| Publication Number | Publication Date |
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| CN1418763A true CN1418763A (en) | 2003-05-21 |
| CN1190297C CN1190297C (en) | 2005-02-23 |
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| CNB02158043XA Expired - Fee Related CN1190297C (en) | 2002-12-24 | 2002-12-24 | Four-freedom parallel robot mechanism having two motions and one rotation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317499A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type four-degree-of-freedom parallel connected stable platform |
| CN105538290A (en) * | 2015-12-14 | 2016-05-04 | 北京工业大学 | Symmetric coupling mechanism with one moving freedom degree |
| CN105666471A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot |
| CN105773578A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branched-chain coupled spherical two-rotation parallel robot joint |
| CN106133395A (en) * | 2014-03-31 | 2016-11-16 | Ntn株式会社 | Parallel linkage and connecting rod powder operation device |
| CN111438683A (en) * | 2020-04-10 | 2020-07-24 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101709748B (en) * | 2009-12-10 | 2012-06-20 | 江苏大学 | Double universal joint consisting flexible knuckles |
-
2002
- 2002-12-24 CN CNB02158043XA patent/CN1190297C/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317499A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type four-degree-of-freedom parallel connected stable platform |
| CN106133395A (en) * | 2014-03-31 | 2016-11-16 | Ntn株式会社 | Parallel linkage and connecting rod powder operation device |
| CN106133395B (en) * | 2014-03-31 | 2018-09-28 | Ntn株式会社 | Parallel linkage and connecting rod powder operation device |
| US10406677B2 (en) | 2014-03-31 | 2019-09-10 | Ntn Corporation | Parallel link mechanism and link actuation device |
| CN105538290A (en) * | 2015-12-14 | 2016-05-04 | 北京工业大学 | Symmetric coupling mechanism with one moving freedom degree |
| CN105773578A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branched-chain coupled spherical two-rotation parallel robot joint |
| CN105666471A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot |
| CN111438683A (en) * | 2020-04-10 | 2020-07-24 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
| CN111438683B (en) * | 2020-04-10 | 2021-05-14 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
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| CN1190297C (en) | 2005-02-23 |
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