CN1803410A - Two freedom degrees decoupling sphere parallel mechanism - Google Patents
Two freedom degrees decoupling sphere parallel mechanism Download PDFInfo
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- CN1803410A CN1803410A CN 200610013060 CN200610013060A CN1803410A CN 1803410 A CN1803410 A CN 1803410A CN 200610013060 CN200610013060 CN 200610013060 CN 200610013060 A CN200610013060 A CN 200610013060A CN 1803410 A CN1803410 A CN 1803410A
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Abstract
The invention discloses a paralleling device of two-freedom degree decoupling sphere, which comprises the following parts: frame, mobile platform, first moving branched chain and second moving branched chain fixed between frame and mobile platform, wherein the first contains moving pair, upper rotary pair and lower rotary pair with mutual paralleling rotary axle, short connection rod to connect the upper and lower rotary pairs; the second moving branched chain contains frame rotary pair and platform rotary pair with mutual vertical and intersection rotary axle, short connecting rod to connect the frame rotary pair and platform rotary pair; the sliding rod top of moving pair connects the lower rotary pair, which is vertical and intersection of lower rotary pair axle; the bottom of sliding rod is anchored to rotate by frame rotary pair, which is set on the frame; the upper rotary pair and platform are set on the mobile platform separately, whose rotary axles parallel mutually and parallel the lower rotary pair and is vertical of moving pair and frame rotary pair.
Description
Technical field
The present invention relates to the parallel institution in mechanics field, be specially a kind of can be under two degrees of freedom the sphere parallel mechanism of unconditional decoupling zero, international Patent classificating number intends being Int.Cl
7B25J9/08.
Background technology
Parallel institution is widely used in fields such as heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation.Yet, be coupled between each driver element of parallel institution, be the whole output stage of parallel institution along any one party to move all be that moving of all driver elements is synthetic, and be non-linear between the motion of each driver element and the parallel institution mass motion (i.e. input and export).This characteristic causes parallel institution control complicated, demarcates difficulty, and has restricted the raising of precision.Therefore, how to realize the decoupling zero of parallel institution, simplifying its control and demarcation, improve kinematic accuracy, be a difficulty and be imbued with challenging problem always.
For the clear decoupling problem of describing parallel institution, illustrate that at first related notion is defined as follows:
Decoupling zero:, then be referred to as decoupling zero if parallel institution only depends on a direction driver element action in the translation or the rotation of certain direction;
Unconditional decoupling zero: if parallel institution at an arbitrary position with all be decoupling zero under the attitude, then be referred to as unconditional decoupling zero;
The decoupling zero of having ready conditions: if parallel institution at an arbitrary position, be decoupling zero under the particular pose, then be referred to as the decoupling zero of having ready conditions;
Instantaneous decoupling zero:, then be referred to as instantaneous decoupling zero under ad-hoc location, particular pose if parallel institution is decoupling zero only.
At present, more existing achievements aspect parallel institution decoupling zero research, for example, " machine-tool with 6-freedom virtual axle " that CN 1261018A proposes, realize the decoupling zero that position, space (being initial position) is located, and therefore reduced the degree of coupling of complete machine, but except that initial position, other position is still coupling, so this design is instantaneous decoupling zero; Again for example, " the reconfigurable modularization 3-6 free degree structure decoupling parallel jiggle robot " that " three, four, five, six degree of freedom structure decoupling parallel jiggle robot " that Chinese patent literature ZL00100198.1, CN 00100197.3, CN00100196.5, CN 99121020.4 propose respectively and CN1377757A propose, be only applicable to the fine motion field, reason is that the decoupling zero of these mechanisms is similar to, and along with the increasing of working space, the degree of coupling between each driver element also can increase.In order to keep the approximate decoupling zero relation between the input and output, this design real work space only is several microns, therefore still has the characteristics of instantaneous decoupling zero.For the parallel institution that only has rotational freedom, decoupling zero is then difficult more.For example, adopted three-degree-of-freedom spherical mechanism in " based on the sun tracker of spherical mechanism " of Chinese patent literature CN03258423.7 bibliographical information, but its three rotations are coupled fully, promptly can not decoupling zero; The two degrees of freedom spherical mechanism that U.S. Pat 005966991A proposes also can only be in the instantaneous decoupling zero of initial position, and other positions can not decoupling zero.The document inventor of relevant two degrees of freedom sphere parallel mechanism that can decoupling zero does not retrieve at present as yet.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is: a kind of two-free-degree decoupling spherical parallel mechanism is provided, and it can accomplish under the two degrees of freedom unconditional decoupling zero, and have simple in structure, control and demarcate easily characteristics such as precision height.
The technical scheme that the present invention solve the technical problem is: design a kind of two-free-degree decoupling spherical parallel mechanism, comprise support and moving platform and be connected in first movement branched chain and second movement branched chain between support and the moving platform respectively; Described first movement branched chain comprises: last rotary pair that moving sets, axis of rotation are parallel to each other and turning down pair, the short connecting rod of rotary pair and turning down pair in the connection; Described second movement branched chain comprises: support rotary pair that axis of rotation intersects vertically mutually and platform rotary pair, and the long connecting rod that connects support rotary pair and platform rotary pair; The upper end of the slide bar of described moving sets is connected with described turning down is secondary, and with the intersect vertical axis of described turning down pair, the center of described support rotary pair is passed through in the lower end of slide bar, and can be driven rotation together by the support rotary pair, and the support rotary pair is installed on the support; Described upward rotary pair and platform rotary pair are installed in respectively on the moving platform, and its axis of rotation is parallel to each other, and is parallel to described turning down pair, perpendicular to described moving sets and support rotary pair.
Two-free-degree decoupling spherical parallel mechanism of the present invention (referring to Fig. 1), compared with prior art, in the two-free-degree decoupling spherical parallel mechanism of the present invention, the independent driving of described each side chain can make that all moving platform only rotates around corresponding axis, and irrelevant with the driver element of another one side chain, thereby can realize unconditional decoupling zero, simplified kinematical equation, make mechanism kinematic control and demarcation easily, precision improves, and simple in structure.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 2 is the structural representation of the another kind of embodiment of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 3 is the structural representation of the third embodiment of two-free-degree decoupling spherical parallel mechanism of the present invention;
Fig. 4 is the structural representation of a kind of embodiment of two-free-degree decoupling spherical parallel mechanism additional drive system of the present invention.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof, but it does not limit claim of the present invention.
Two-free-degree decoupling spherical parallel mechanism of the present invention (hereinafter to be referred as parallel institution, referring to Fig. 1), comprise support 1 and moving platform 4 and be connected in support 1 respectively and moving platform 4 between first movement branched chain 2 and second movement branched chain 3; Described first movement branched chain 2 comprises: last rotary pair 24 that moving sets 21, axis of rotation are parallel to each other and turning down pair 22, the short connecting rod 23 of rotary pair 24 and turning down pair 22 in the connection; Described second movement branched chain 3 comprises: support rotary pair 31 that axis of rotation intersects vertically mutually and platform rotary pair 33, and the long connecting rod 32 that connects support rotary pair 31 and platform rotary pair 33; The upper end of the slide bar 26 of described moving sets 21 is connected with described turning down secondary 22, and with the intersect vertical axis of described turning down pair 22, the center of described support rotary pair 31 is passed through in the lower end of slide bar 26, and can be driven rotation together by support rotary pair 31, and support rotary pair 31 is installed on the support 1; The described rotary pair 24 of going up is installed in respectively on the moving platform 4 with platform rotary pair 33, and its axis of rotation is parallel to each other, and is parallel to described turning down pair 22, perpendicular to described moving sets 21 and support rotary pair 31.
Parallel institution of the present invention also can adopt other embodiment (referring to Fig. 2 and Fig. 3), is connected with described turning down secondary 22 behind upper end bending 90 degree of the slide bar 26 of promptly described moving sets 21 again.This design is intersected the axis of described turning down pair 22 and the axis formation spatial vertical of described moving sets 21 and support rotary pair 31, rather than the plane square crossing of previous embodiment.In fact, the upper end of slide bar 26 bending is other angles, and perhaps bending also is feasible for other shapes, but the upper end that all will guarantee slide bar 26 does not influence the smooth and easy motion of turning down pair 22 with after turning down pair 22 is connected.The length of the not bending part (being straight bar part) of described slide bar 26 upper ends should satisfy the work traverse needs of described moving sets 21.
The shape of cross section of the slide bar 26 of the described moving sets 21 of parallel institution of the present invention can be driven the Any shape of rotating together by described support rotary pair 31.The shape of cross section of the slide bar 26 of illustrated embodiment of the present invention adopts square, but also can be moving sets slide bar shape of cross sections commonly used such as rectangle, triangle, hexagon, spline shape.
In parallel institution of the present invention, do not influencing under the free-moving situation of described parallel institution, the planform of described moving platform 4, support 1 can be arbitrarily, is not limited; Equally, do not influencing under described first and/or second movement branched chain 2 and/or the 3 effect situations, the planform of described short connecting rod 23 and long connecting rod 32 is not limited yet.
The operation principle of parallel institution of the present invention is (referring to Fig. 1,2,3): the moving sets 21 of described first movement branched chain 2 is main actuation movement pair, and the support rotary pair 31 of second movement branched chain 3 is main actuation movement pair.When the moving sets 21 of described first movement branched chain 2 of independent driving, described moving platform 4 can rotate around the axis of described platform rotary pair 33, and is irrelevant with the driving of described second movement branched chain 3; When the support rotary pair 31 of independent driving second movement branched chain 3, described moving platform 4 can rotate around described himself centre of gyration, also promptly rotates around the axis of described support rotary pair 31, and is irrelevant with the driving of described first movement branched chain 2.Therefore, moving platform 4 rotates and the axis rotation of platform rotary pair 33 is mutual decoupling zeros along the axis of support rotary pair 31, and is unconditional decoupling zero.
Parallel institution of the present invention can add appropriate driving device as required.A kind of example structure of parallel institution additional drive system of the present invention following (referring to Fig. 4): design is installed a rhizoid thick stick 25 at support 1 below by support, and leading screw 25 is directly driven by rack-mount following motor 29; Screw 28 is enclosed within on the leading screw 25, can move along the leading screw direction; Screw 28 and a rotary pair 27 link together, and rotary pair 27 is coaxial with described support rotary pair 31; The slide bar 26 of moving sets 21 passes the center of support rotary pair 31, is connected on the gyroaxis of rotary pair 27, and perhaps designing the slide bar 26 of moving sets 21 and the gyroaxis of rotary pair 27 is integral piece; Last motor 35 is installed on the support 1, and its axis of rotation is parallel with the axis of support rotary pair 31; Support rotary pair 31 is connected transmission with motor output shaft by cog belt 34.
The course of work of parallel institution additional drive system of the present invention following (referring to Fig. 4): when last motor 35 drives 31 rotations of support rotary pair by cog belt 34, described moving platform 4 can rotate around the axis of support rotary pair 31 under the effect of second movement branched chain 3, and can not have interference along a direction rotation continuously; When motor 29 drives leading screw 25 revolutions instantly, drive with the supporting screw 28 of leading screw 25 and move up and down together with the rotary pair 27 that is installed together with screw 28 and the slide bar 26 of moving sets 21, also promptly drive moving sets 21 and move up and down, and then order about moving platform 4 and rotate around the axis of platform rotary pair 33.Because the independent driving of arbitrary movement branched chain (first movement branched chain 2 or second movement branched chain 3) all can make moving platform 4 only around corresponding axle rotation, and it is irrelevant with the driving of another one movement branched chain (second movement branched chain 3 or first movement branched chain 2), thereby moving platform 4 is mutual decoupling zeros along the rotation of support rotary pair 31 axis and the rotation of platform rotary pair 33 axis, and is unconditional decoupling zero.
Parallel institution of the present invention is not addressed part and is applicable to prior art.
The outstanding advantage of parallel institution design of the present invention is: simple in structure, easy to manufacture, dimension is supported convenient.
Two-free-degree decoupling spherical parallel mechanism of the present invention, because motion is full decoupled, thereby the kinematics model that can simplify the internal structure of an organization, thereby for the accurate control of two-free-degree decoupling spherical mechanism and demarcation brought may and convenient, be convenient to industrial implementation and use.
Claims (5)
1. two-free-degree decoupling spherical parallel mechanism comprises support and moving platform and is connected in first movement branched chain and second movement branched chain between support and the moving platform respectively; Described first movement branched chain comprises: last rotary pair that moving sets, axis of rotation are parallel to each other and turning down pair, the short connecting rod of rotary pair and turning down pair in the connection; Described second movement branched chain comprises: support rotary pair that axis of rotation intersects vertically mutually and platform rotary pair, and the long connecting rod that connects support rotary pair and platform rotary pair; The upper end of the slide bar of described moving sets is connected with described turning down is secondary, and with the intersect vertical axis of described turning down pair, the center of described support rotary pair is passed through in the lower end of slide bar, and can be driven rotation together by the support rotary pair, and the support rotary pair is installed on the support; Described upward rotary pair and platform rotary pair are installed in respectively on the moving platform, and its axis of rotation is parallel to each other, and is parallel to described turning down pair, perpendicular to described moving sets and support rotary pair.
2. two-free-degree decoupling spherical parallel mechanism according to claim 1, it is characterized in that being connected with described turning down is secondary again behind upper end bending 90 degree of slide bar of described moving sets, the axis of described turning down pair and the axis spatial vertical of described moving sets and support rotary pair are intersected.
3. two-free-degree decoupling spherical parallel mechanism according to claim 1 and 2, the shape of cross section that it is characterized in that the slide bar of described moving sets can be driven the Any shape of rotating together by described support rotary pair, comprises square, rectangle, triangle, hexagon or spline shape.
4. two-free-degree decoupling spherical parallel mechanism according to claim 1 and 2, but it is characterized in that its additional drive system: comprise that a rhizoid thick stick is installed in below the support by support, and by rack-mount following motor direct-drive; Nut sleeve can move along the leading screw direction on leading screw; Screw and a rotary pair link together, and rotary pair is coaxial with described support rotary pair; The slide bar of moving sets passes the center of support rotary pair, is connected on the gyroaxis of rotary pair, and perhaps designing the slide bar of moving sets and the gyroaxis of rotary pair is integral piece; Last motor is installed on the support, and its axis of rotation is parallel with the axis of support rotary pair; The support rotary pair is connected transmission with motor output shaft by cog belt.
5. two-free-degree decoupling spherical parallel mechanism according to claim 3, but it is characterized in that its additional drive system: and be included in support and below by support one rhizoid thick stick be installed, leading screw is by rack-mount following motor direct-drive; Nut sleeve can move along the leading screw direction on leading screw; Screw and a rotary pair link together, and rotary pair is coaxial with described support rotary pair; The slide bar of moving sets passes the center of support rotary pair, is connected on the gyroaxis of rotary pair, and perhaps the gyroaxis of the slide bar of moving sets and rotary pair is an integral piece; Last motor is installed on the support, and its axis of rotation is parallel with the axis of support rotary pair; The support rotary pair is connected transmission with motor output shaft by cog belt.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100130602A CN100348377C (en) | 2006-01-18 | 2006-01-18 | Two freedom degrees decoupling sphere parallel mechanism |
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| CNB2006100130602A CN100348377C (en) | 2006-01-18 | 2006-01-18 | Two freedom degrees decoupling sphere parallel mechanism |
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| CN1803410A true CN1803410A (en) | 2006-07-19 |
| CN100348377C CN100348377C (en) | 2007-11-14 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
| CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104889976A (en) * | 2015-05-28 | 2015-09-09 | 燕山大学 | Three rotating decoupling spherical surface parallel robot mechanism |
| CN105856921A (en) * | 2016-06-03 | 2016-08-17 | 鲁东大学 | Adjustable spherical mechanism plotter |
| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
| CN109849047A (en) * | 2019-03-27 | 2019-06-07 | 上海工程技术大学 | A kind of joint of mechanical arm with rigidity controllable |
| CN111390871A (en) * | 2020-03-12 | 2020-07-10 | 上海交通大学 | Two-degree-of-freedom rotation parallel mechanism for ball hinge control |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| JP3002459B2 (en) * | 1997-11-05 | 2000-01-24 | キム ジョンウォン | Multi-step machining center and its parallel mechanism structure |
| FR2809048B1 (en) * | 2000-05-18 | 2002-10-11 | Commissariat Energie Atomique | CONTROL ARM |
| CN1155458C (en) * | 2001-12-31 | 2004-06-30 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| FR2835068B1 (en) * | 2002-01-22 | 2004-09-03 | Commissariat Energie Atomique | CONTROLLER HAVING THREE PARALLEL BRANCHES |
| US6844631B2 (en) * | 2002-03-13 | 2005-01-18 | Freescale Semiconductor, Inc. | Semiconductor device having a bond pad and method therefor |
| CN1233512C (en) * | 2003-06-06 | 2005-12-28 | 河北工业大学 | Parallel decoupling mechanism with 3 degree of freedom |
| CN100400246C (en) * | 2003-12-15 | 2008-07-09 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| CN1715009A (en) * | 2005-07-06 | 2006-01-04 | 河北工业大学 | Two freedom movement decoupling parallel mechanism |
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2006
- 2006-01-18 CN CNB2006100130602A patent/CN100348377C/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791798B (en) * | 2010-03-27 | 2011-05-25 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
| CN102126212A (en) * | 2010-12-24 | 2011-07-20 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
| CN102126212B (en) * | 2010-12-24 | 2012-09-05 | 燕山大学 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN104308833B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104889976B (en) * | 2015-05-28 | 2016-08-17 | 燕山大学 | A kind of three rotate decoupling sphere parallel robot mechanism |
| CN104889976A (en) * | 2015-05-28 | 2015-09-09 | 燕山大学 | Three rotating decoupling spherical surface parallel robot mechanism |
| CN105856921A (en) * | 2016-06-03 | 2016-08-17 | 鲁东大学 | Adjustable spherical mechanism plotter |
| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| CN106426109B (en) * | 2016-11-25 | 2018-06-15 | 河北工业大学 | The decoupling type two-freedom-degree parallel mechanism of whole world face working space can be achieved |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
| CN109849047A (en) * | 2019-03-27 | 2019-06-07 | 上海工程技术大学 | A kind of joint of mechanical arm with rigidity controllable |
| CN109849047B (en) * | 2019-03-27 | 2021-09-10 | 上海工程技术大学 | Mechanical arm joint with controllable rigidity |
| CN111390871A (en) * | 2020-03-12 | 2020-07-10 | 上海交通大学 | Two-degree-of-freedom rotation parallel mechanism for ball hinge control |
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