CN203003879U - Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism - Google Patents
Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism Download PDFInfo
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- CN203003879U CN203003879U CN 201220733130 CN201220733130U CN203003879U CN 203003879 U CN203003879 U CN 203003879U CN 201220733130 CN201220733130 CN 201220733130 CN 201220733130 U CN201220733130 U CN 201220733130U CN 203003879 U CN203003879 U CN 203003879U
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- connecting rod
- hooke
- revolute pair
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- column
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Abstract
The utility model relates to a kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism which comprises a first five-rod mechanism closed-loop sub-chain, a second five-rod mechanism closed-loop sub-chain and an executing mechanism sub-chain. The first five-rod mechanism closed-loop sub-chain can control a first Hooke joint to move. The second five-rod mechanism closed-loop sub-chain can control a second Hooke joint to move. Movement of the first Hooke joint and the second Hooke joint enables spatial movement of a moving platform to be achieved. Due to the fact that the movement of the two Hooke joints in space is controlled through the two closed-loop sub-chains, multi-free-degree movement of the moving platform in the space can be achieved and therefore the kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism has the advantages of being compact in structure, simple and flexible in control, small in mechanism movement inertia and good in dynamic performance.
Description
Technical field
The utility model relates to the robot field, particularly a kind of space multiple freedom parallel mechanism that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can be placed on fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large; The parallel institution of full symmetric has isotropism preferably.Due to parallel institution itself with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, 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 more remarkable, as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on frame, like this multiple freedom parallel mechanism is to realize that its motion just needs many side chains or the mode of a plurality of driving levers of taking to connect on side chain, and the parallel institution complex structure of many side chains is controlled difficulty, and on side chain, a plurality of driving levers of series connection can affect the exercise performance of parallel institution.
Summary of the invention
The purpose of this utility model is to provide a kind of kinematic pair to connect two closed loop subchain parallel institutions of full symmetric, and the parallel institution complex structure that solves many side chains is controlled the shortcoming of difficulty.
The utility model achieves the above object by the following technical programs: a kind of kinematic pair connects two closed loop subchain parallel institutions of full symmetric, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the second moving sets, the 4th connecting rod other end is connected with the first column by the 4th revolute pair, the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, the 5th connecting rod one end is connected on the second column by the 6th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by three moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 7th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 4th moving sets, the 8th connecting rod other end is connected with the second column by the 8th revolute pair, the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 7th revolute pair, the second Hooke's hinge is connected with moving platform by the tenth revolute pair, and the first Hooke's hinge, the second Hooke's hinge can be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present utility model is:
1, by the motion of closed loop subchain controlling organization, can realize the multifreedom motion of moving platform in the space;
2, rod connection structure is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the first structural representation that a kind of kinematic pair described in the utility model connects two closed loop subchain parallel institutions of full symmetric.
Fig. 2 is the second structural representation that a kind of kinematic pair described in the utility model connects two closed loop subchain parallel institutions of full symmetric.
Fig. 3 is the 3rd structural representation that a kind of kinematic pair described in the utility model connects two closed loop subchain parallel institutions of full symmetric.
Fig. 4 is the first work schematic diagram of two closed loop subchain parallel institutions of a kind of kinematic pair connection full symmetric described in the utility model.
Fig. 5 is the second work schematic diagram of two closed loop subchain parallel institutions of a kind of kinematic pair connection full symmetric described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, a kind of kinematic pair connects two closed loop subchain parallel institutions of full symmetric, comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
described the first five-rod closed loop subchain is by first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) and the first column (3) are formed by connecting, the first column (3) is connected with frame (1) by the first revolute pair (2), first connecting rod (4) one ends are connected on the first column (3) by the second revolute pair (5), first connecting rod (4) other end is connected with second connecting rod (7) by the first moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the 3rd revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the second moving sets (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 4th revolute pair (11), the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge (24) in spatial movement.
described the second five-rod closed loop subchain is by the 5th connecting rod (15), the 6th connecting rod (13), seven-link assembly (22), the 8th connecting rod (18) and the second column (19) are formed by connecting, the second column (19) is connected with frame (1) by the 5th revolute pair (20), the 5th connecting rod (15) one ends are connected on the second column (19) by the 6th revolute pair (16), the 5th connecting rod (15) other end is connected with the 6th connecting rod (13) by three moving sets (14), the 6th connecting rod (13) other end is connected with seven-link assembly (22) by the 7th revolute pair (26), seven-link assembly (22) other end is connected with the 8th connecting rod (18) by the 4th moving sets (21), the 8th connecting rod (18) other end is connected with the second column (19) by the 8th revolute pair (17), the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge (23) in spatial movement.
Described executing agency subchain by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) be formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the 3rd revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the 9th revolute pair (28), the second Hooke's hinge (23) is connected with the 6th connecting rod (13) by the 7th revolute pair (26), and the second Hooke's hinge (23) is connected with moving platform (12) by the tenth revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. two closed loop subchain parallel institutions of a kinematic pair connection full symmetric, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column is connected with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the second moving sets, the 4th connecting rod other end is connected with the first column by the 4th revolute pair
described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column is connected with frame by the 5th revolute pair, the 5th connecting rod one end is connected on the second column by the 6th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by three moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 7th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 4th moving sets, the 8th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 7th revolute pair, and the second Hooke's hinge is connected with moving platform by the tenth revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733130 CN203003879U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220733130 CN203003879U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN203003879U true CN203003879U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220733130 Withdrawn - After Issue CN203003879U (en) | 2012-12-27 | 2012-12-27 | Kinematic pair connected fully symmetric double closed-loop sub-chain parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990651A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
-
2012
- 2012-12-27 CN CN 201220733130 patent/CN203003879U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990651A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
| CN102990651B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130619 Effective date of abandoning: 20150401 |
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| RGAV | Abandon patent right to avoid regrant |