CN202556401U - Parallel mechanism containing RRR closed-loop subchain - Google Patents
Parallel mechanism containing RRR closed-loop subchain Download PDFInfo
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- CN202556401U CN202556401U CN201220120501XU CN201220120501U CN202556401U CN 202556401 U CN202556401 U CN 202556401U CN 201220120501X U CN201220120501X U CN 201220120501XU CN 201220120501 U CN201220120501 U CN 201220120501U CN 202556401 U CN202556401 U CN 202556401U
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- connecting rod
- revolute pair
- turntable
- subchain
- loop subchain
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Abstract
A parallel mechanism containing an RRR closed-loop subchain comprises the RRR closed-loop subchain and an actuator subchain, wherein the RRR closed-loop subchain can control a first turntable to move in a plane where the RRR closed-loop subchain is positioned, and the spatial two-DOF (degree of freedom) movement of a mobile platform is realized through movement of the first turntable. According to the utility model, one closed-loop subchain is adopted to control the movement of one turntable on the plane, so that the spatial two-DOF movement of the mobile platform is realized. The parallel mechanism provided by the utility model has the advantages of compact structure and simplicity in control and all linear drivers are connected to a machine frame.
Description
Technical field
The utility model relates to the robot field, particularly a kind of parallel institution that contains RRR closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully.Because parallel institution itself is with regard to more complicated; If closed loop is contained again in branch, its mechanism will be complicated more, so in general; Parallel institution symmetry, that branch does not contain closed loop just can have most typical character; Appropriate but if closed loop is used, the performance of parallel institution will be remarkable more, like famous delta mechanism.In addition; Existing parallel institution; Its side chain receives the restriction of connected mode, generally has only a driving lever to be connected in the driving that is cemented on the frame, like this mode of multiple freedom parallel mechanism for realizing that it moves and just needs many side chains or take a plurality of driving levers of series connection on the side chain; Yet the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The purpose of the utility model is to provide a kind of parallel institution of the RRR of containing closed loop subchain, solves a plurality of drivings of side chain of traditional parallel institution and can not be connected the shortcoming on the frame simultaneously.
The utility model achieves the above object through following technical scheme: a kind of parallel institution of the RRR of containing closed loop subchain comprises RRR closed loop subchain and executing agency's subchain.
Said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame.First linear actuator, one end is connected on the frame through first revolute pair; The first linear actuator other end is connected with second linear actuator through the 3rd revolute pair; The second linear actuator other end is connected with frame through second revolute pair, and first linear actuator and the motion of second linear actuator can be controlled the motion of first turntable in plane, RRR closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first connecting rod through second revolute pair; First turntable is connected with first connecting rod through the 4th revolute pair; First turntable is connected with second connecting rod through the 5th revolute pair; The first connecting rod other end is connected with third connecting rod with moving platform through the 6th revolute pair, and the second connecting rod other end is connected with moving platform through the 7th revolute pair, and moving platform is connected with the 4th connecting rod through the 8th revolute pair; The third connecting rod other end is connected with second turntable through the 9th revolute pair; The 4th connecting rod other end is connected with second turntable through the tenth revolute pair, and second turntable is connected with frame through the 11 revolute pair, and the motion of first turntable in the plane, place can realize the space two-freedom motion of moving platform.
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and first connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.
The outstanding advantage of the utility model is:
1, through the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of driving levers to be connected on the frame;
2, all driving levers all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as extracting, carrying, piling.
Description of drawings
Fig. 1 is said a kind of first structural representation that contains the parallel institution of RRR closed loop subchain of the utility model.
Fig. 2 is said a kind of second structural representation that contains the parallel institution of RRR closed loop subchain of the utility model.
Fig. 3 is the said a kind of first work sketch map that contains the parallel institution of RRR closed loop subchain of the utility model.
Fig. 4 is the said a kind of second work sketch map that contains the parallel institution of RRR closed loop subchain of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
Map 1 and Fig. 2, a kind of parallel institution that contains RRR closed loop subchain comprises RRR closed loop subchain and executing agency's subchain.
Said RRR closed loop subchain first linear actuator 3, second linear actuator 9, and frame 1 be formed by connecting.First linear actuator, 3 one ends are connected on the frame 1 through first revolute pair 2; First linear actuator, 3 other ends are connected with second linear actuator 9 through the 3rd revolute pair 20; Second linear actuator, 9 other ends are connected with frame 1 through second revolute pair 10, and first linear actuator 3 and 9 motions of second linear actuator can be controlled the motion of first turntable 4 in plane, RRR closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 4, second turntable 19, first connecting rod 8, second connecting rod 7, third connecting rod 16, the 4th connecting rod 15 and moving platform 13.First turntable 4 is connected with first linear actuator 3 through the 3rd revolute pair 20; First turntable 4 is connected with first connecting rod 8 through the 4th revolute pair 6; First turntable 4 is connected with second connecting rod 7 through the 5th revolute pair 5; First connecting rod 8 other ends are connected with third connecting rod 16 with moving platform 13 through the 6th revolute pair 12, and second connecting rod 7 other ends are connected with moving platform 13 through the 7th revolute pair 11, and moving platform 13 is connected with the 4th connecting rod 15 through the 8th revolute pair 14; Third connecting rod 16 other ends are connected with second turntable 19 through the 9th revolute pair 18; The 4th connecting rod 15 other ends are connected with second turntable 19 through the tenth revolute pair 17, and second turntable 19 is connected with frame 1 through the 11 revolute pair 21, and the motion of first turntable 4 in the plane, place can realize the space two-freedom motion of moving platform 13.
The rotation of said first revolute pair 2, second revolute pair 10, the 3rd revolute pair 20, the 11 revolute pair 21 is parallel to each other, and first connecting rod 8 is isometric parallel with second connecting rod 7, and third connecting rod 16 is isometric parallel with the 4th connecting rod 15.
Claims (1)
1. a parallel institution that contains RRR closed loop subchain comprises RRR closed loop subchain and executing agency's subchain, it is characterized in that its structure and connected mode are:
Said RRR closed loop subchain is formed by connecting first linear actuator, second linear actuator and frame; First linear actuator, one end is connected on the frame through first revolute pair; The first linear actuator other end is connected with second linear actuator through the 3rd revolute pair; The second linear actuator other end is connected with frame through second revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and moving platform; First turntable is connected with first connecting rod through second revolute pair; First turntable is connected with first connecting rod through the 4th revolute pair, and first turntable is connected with second connecting rod through the 5th revolute pair, and the first connecting rod other end is connected with third connecting rod with moving platform through the 6th revolute pair; The second connecting rod other end is connected with moving platform through the 7th revolute pair; Moving platform is connected with the 4th connecting rod through the 8th revolute pair, and the third connecting rod other end is connected with second turntable through the 9th revolute pair, and the 4th connecting rod other end is connected with second turntable through the tenth revolute pair; Second turntable is connected with frame through the 11 revolute pair
The rotation of said first revolute pair, second revolute pair, the 3rd revolute pair, the 11 revolute pair is parallel to each other, and first connecting rod is isometric parallel with second connecting rod, and third connecting rod is isometric parallel with the 4th connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220120501XU CN202556401U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRR closed-loop subchain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220120501XU CN202556401U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRR closed-loop subchain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202556401U true CN202556401U (en) | 2012-11-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220120501XU Expired - Fee Related CN202556401U (en) | 2012-03-28 | 2012-03-28 | Parallel mechanism containing RRR closed-loop subchain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601784A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel mechanism with RRR closed-loop subchain |
| CN109191987A (en) * | 2018-11-16 | 2019-01-11 | 上海赢浩机电设备有限公司 | 3-RRR+3-PRS type six freedom-degree motion simulator executing agency |
-
2012
- 2012-03-28 CN CN201220120501XU patent/CN202556401U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601784A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel mechanism with RRR closed-loop subchain |
| CN109191987A (en) * | 2018-11-16 | 2019-01-11 | 上海赢浩机电设备有限公司 | 3-RRR+3-PRS type six freedom-degree motion simulator executing agency |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20150328 |
|
| EXPY | Termination of patent right or utility model |