CN205033197U - Asymmetric parallel mechanism with two change one moves three degrees of freedom - Google Patents
Asymmetric parallel mechanism with two change one moves three degrees of freedom Download PDFInfo
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- CN205033197U CN205033197U CN201520767121.9U CN201520767121U CN205033197U CN 205033197 U CN205033197 U CN 205033197U CN 201520767121 U CN201520767121 U CN 201520767121U CN 205033197 U CN205033197 U CN 205033197U
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Abstract
The utility model relates to an industrial robot mechanism field has especially involved an asymmetric parallel mechanism with two change one moves three degrees of freedom. This asymmetric parallel mechanism with two change one moves three degrees of freedom adopts and moves, quiet platform adds two motion branch forms of the composition even to divide one in the side chains to establish to the combination chain two motions, another is established to single open chain, installs that first removal on quiet platform is vice, that third revolute pair and the 8th cylinder pair are elected as the initiative is vice, and wherein first removal is pair perpendicular with third revolute pair and the 8th cylinder pair axis. The 7th revolute pair and the tenth ball vice with move the platform and link to each other. Therefore, the utility model discloses a parallel mechanism moves the platform can realize that the two -dimensional rotates the one -dimensional and removes output movement. The jacobian matrix of mechanism is 33 diagonal matrixs, so the output of moving the platform is the one -to -one relation with the initiative input, the influence between the chain of respectively moving that has significantly reduced has solved that parallel robot decoupling zero nature is poor, the difficult problem of control design.
Description
Technical field
The utility model relates to industrial robot field of mechanisms, has particularly related to a kind of asymmetric parallel institution with two turn of one shift three degrees of freedom.
Background technology
Parallel institution, also known as parallel robot, is one of focus of theory of mechanisms and robot field's research in recent years.Parallel institution has the advantages such as rigidity is large, bearing capacity is strong, deviation accumulation is little, dynamic property is good, compact conformation, is widely used in numerous technical field in recent years.
Parallel robot is divided into six-DOF robot and Limited-DOF Parallel Robot.Relative to conventional serial mechanism, parallel institution has the features such as structure is simple, control is comparatively easy, low cost of manufacture.The parallel institution Configuration Design of current Three Degree Of Freedom has attracted the interest of numerous researcher, and the 3-freedom parallel mechanism wherein with two rotations and an one-movement-freedom-degree form becomes the study hotspot in this field because of its wide application potential.The parallel institution of the type has huge using value and commercial value in fields such as high-speed picking-up, machining, space orientation, medicine equipment, micromanipulator, force snesor, rehabilitation nursing instruments.
Current scholars has launched keen competition to proposing to have this type parallel institution of independent intellectual property right, function admirable in the 3-freedom parallel mechanism Configuration Design with two rotations and an one-movement-freedom-degree form.But such mechanism existing as: 3-RPS parallel institution, 3-PRS parallel institution etc. also exist straight chain kinematic pair number more, require higher, mechanism rotation and translational motion to exist to the link such as processing, assembling of parts to be coupled to make its kinematics solution very shortcoming such as very complicated, limit the practical ranges of such mechanism to a certain extent.How to design content with funtion demand, and kinematics control novel 3-freedom parallel mechanism simple, cheap for manufacturing cost is mechanism researcher urgent problem.
Utility model content
The purpose of this utility model is to provide a kind of asymmetric parallel institution with two turn of one shift three degrees of freedom, the problem that parallel robot decoupling is poor to solve, control design case is difficult.
In order to solve the problem, the asymmetric parallel institution with two turn of one shift three degrees of freedom of the present utility model is by the following technical solutions: the asymmetric parallel institution with two turn of one shift three degrees of freedom, comprise silent flatform, moving platform and two sub-chains be connected between moving platform and silent flatform, one in two sub-chains is combination chain, another is single open chain, described combination chain comprises the first sub-branch, second sub-branch and the 7th revolute pair, first sub-branch comprises by the 3rd revolute pair of connecting successively from silent flatform, 4th universal hinge, 5th moving sets and the 6th universal hinge, wherein the axis of the pivot center of the 3rd revolute pair and the part adjacent with it of the 4th universal hinge is orthogonal, the pivot center of the part be connected with the 5th moving sets in the 4th universal hinge is parallel to each other with the pivot center of the part be connected with the 5th moving sets in the 6th universal hinge, the remaining pivot center of the two is also parallel to each other, second sub-branch comprises and starts first moving sets of connecting successively and the second revolute pair from silent flatform, in the second sub-branch, the axis of the first moving sets and the pivot center of the second revolute pair orthogonal, connect with the 7th revolute pair after first, second sub-branch's parallel connection formation turn moves two degrees of freedom list closed chain and be connected with moving platform by the 7th revolute pair, the axis of the second revolute pair is mutually vertical with the axis of the 7th revolute pair, in combination chain, the first moving sets and the 3rd revolute pair are driving pair, it is secondary that single open chain comprises the 8th cylindrical pair, the 9th revolute pair and the tenth ball of connecting successively from silent flatform to moving platform, and the axis of the 8th cylindrical pair, the 9th revolute pair is parallel to each other and be all parallel to the axis of the 3rd revolute pair, and the 8th cylindrical pair is driving pair.
Silent flatform is rectangular platform, and combination chain and single open chain are connected to the relative both sides of silent flatform.
The locus of the 8th cylindrical pair is higher than the 3rd revolute pair and the first moving sets.
The asymmetric parallel institution with two turn of one shift three degrees of freedom of the present utility model, is installed on the first moving sets on silent flatform, the 3rd revolute pair and the 8th cylindrical pair and is chosen as driving pair.Wherein the first moving sets and the 3rd revolute pair and the 8th cylindrical pair axes normal.7th revolute pair is connected with moving platform with the tenth ball pair.Therefore, parallel institution moving platform of the present utility model can realize bidimensional and rotate one-dimensional movement output motion.The Jacobian matrix of mechanism is 3 × 3 diagonal matrixs, therefore the output of moving platform is one-to-one relationship with initiatively inputting, and greatly reduces the impact between each kinematic chain, solves the problem that parallel robot decoupling is poor, control design case is difficult.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the embodiment of the asymmetric parallel institution with two turn of one shift three degrees of freedom;
Fig. 2 is the structural representation of the embodiment of the asymmetric parallel institution with two turn of one shift three degrees of freedom.
Detailed description of the invention
The embodiment of the asymmetric parallel institution of two turn of one shift three degrees of freedom, as shown in Figure 1-2, this mechanism comprises silent flatform 8, moving platform 9 and connects combination chain and the single open chain of silent flatform 8 and moving platform 9.Moving platform 9 adopts deck plate.
The 7th revolute pair R7 that combination chain comprises the single closed chain in a space and connects with it, the single closed chain in described space comprises the first sub-branch and the second sub-branch.
First sub-branch comprises the 3rd revolute pair R3 that silent flatform 9 to the six universal coupling U6 sets gradually, the 4th universal coupling U4 and the 5th moving sets P5.3rd revolute pair R3 is connected by connecting rod 1 with the 4th universal coupling U4, and the 4th universal coupling U4 is connected by connecting rod 2 with the 5th moving sets P5, and the 5th moving sets P5 is connected by connecting rod 3 with the 6th universal coupling U6.In first sub-branch, the pivot center of the 3rd revolute pair R3 is mutually vertical with the axis be connected with connecting rod 1 in the 4th universal coupling U4, the axis that the pivot center that 4th universal coupling U4 is connected with connecting rod 2 is connected with connecting rod 3 with the 6th universal coupling U6 is parallel to each other, and other two axis are also parallel to each other.The second revolute pair R2 that second sub-branch comprises the first moving sets P1 on silent flatform 9 and is connected with the first moving sets, they are connected by connecting rod 5.In second sub-branch the axis of the first moving sets P1 and the axis of the second revolute pair R2 mutually vertical.The first moving sets P1 in this side chain and the 3rd revolute pair R3 distinguishes the driving pair of parallel institution for this reason.
Described first sub-branch, the second sub-branch are connected with moving platform with the 7th revolute pair R7 by connecting rod 4, and the second revolute pair R2 is mutually vertical with the 7th revolute pair R7 axis.
Single open chain comprises the 8th cylindrical pair C8, the 9th revolute pair R9 and the tenth ball secondary S10 that are connected successively to moving platform 9 by silent flatform 8, wherein the 8th cylindrical pair C8 is connected by connecting rod 7 with the 9th revolute pair R9, and the 9th revolute pair R9 is connected by connecting rod 6 with the tenth ball secondary S10.8th cylindrical pair C8 axis being parallel is in z-axis, and the axis of the 8th cylindrical pair C8 and the axis being parallel of the 9th revolute pair R9, the tenth ball secondary S10 is connected with moving platform 9, and the 8th cylindrical pair C8 be connected with silent flatform 8 is driving pair.
Guide rail 10 as the guide rail 7 of Fig. 2 first moving sets P1, the base 1 of the 3rd revolute pair R3 and the 8th cylindrical pair C8 is connected with silent flatform.The axis of moving sets P1 is mutually vertical with the axis of revolute pair R3, and the axis of moving sets P1 is mutually vertical with the axis of cylindrical pair C8.
Driving pair is the driving mechanism of moving sets is that servomotor drives ball-screw to coordinate guide rail to realize linear displacement for initiatively input, initiatively the driving mechanism of cylindrical pair is that active input that servomotor drives ball-screw to realize linear displacement is connected the axis coaxle of its axis of revolute pair and ball-screw simultaneously, and the driving mechanism of active rotation pair is driven by motor reductor.
In the course of the work, as driving first moving sets P1, the 8th cylindrical pair C8 and the 3rd revolute pair R3, described moving platform can rotate one-dimensional movement output by implementation space bidimensional to the full decoupled three-freedom parallel robot mechanism of the one that the utility model proposes.The Jacobian matrix of mechanism is 3 × 3 diagonal matrixs, therefore the output of moving platform is one-to-one relationship with initiatively inputting.A movement output of moving platform only needs a driver input control, greatly reduces the impact between each kinematic chain, solves the problem of parallel robot decoupling difference control design case difficulty.Initiatively the driving mechanism of moving sets is the screw mechanism of driven by motor, or servomotor, the driving mechanism of active rotation pair is the reductor of driven by motor, a turning joint of can connecting on leading screw axis when cylindrical pair is driving pair realizes its set motion, the conventional design of these Dou Shi robots.This parallel institution can be used for industrial robot, medical robot and micro-manipulating robot etc.
Claims (3)
1. there is the asymmetric parallel institution of two turn of one shift three degrees of freedom, comprise silent flatform, moving platform and two sub-chains be connected between moving platform and silent flatform, it is characterized in that, one in two sub-chains is combination chain, another is single open chain, described combination chain comprises the first sub-branch, second sub-branch and the 7th revolute pair, first sub-branch comprises by the 3rd revolute pair of connecting successively from silent flatform, 4th universal hinge, 5th moving sets and the 6th universal hinge, wherein the axis of the pivot center of the 3rd revolute pair and the part adjacent with it of the 4th universal hinge is orthogonal, the pivot center of the part be connected with the 5th moving sets in the 4th universal hinge is parallel to each other with the pivot center of the part be connected with the 5th moving sets in the 6th universal hinge, the remaining pivot center of the two is also parallel to each other, second sub-branch comprises and starts first moving sets of connecting successively and the second revolute pair from silent flatform, in the second sub-branch, the axis of the first moving sets and the pivot center of the second revolute pair orthogonal, connect with the 7th revolute pair after first, second sub-branch's parallel connection formation turn moves two degrees of freedom list closed chain and be connected with moving platform by the 7th revolute pair, the axis of the second revolute pair is mutually vertical with the axis of the 7th revolute pair, in combination chain, the first moving sets and the 3rd revolute pair are driving pair, it is secondary that single open chain comprises the 8th cylindrical pair, the 9th revolute pair and the tenth ball of connecting successively from silent flatform to moving platform, and the axis of the 8th cylindrical pair, the 9th revolute pair is parallel to each other and be all parallel to the axis of the 3rd revolute pair, and the 8th cylindrical pair is driving pair.
2. the asymmetric parallel institution with two turn of one shift three degrees of freedom according to claim 1, is characterized in that, silent flatform is rectangular platform, and combination chain and single open chain are connected to the relative both sides of silent flatform.
3. the asymmetric parallel institution with two turn of one shift three degrees of freedom according to claim 1 and 2, is characterized in that, the locus of the 8th cylindrical pair is higher than the 3rd revolute pair and the first moving sets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520767121.9U CN205033197U (en) | 2015-09-30 | 2015-09-30 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
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| CN201520767121.9U CN205033197U (en) | 2015-09-30 | 2015-09-30 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
-
2015
- 2015-09-30 CN CN201520767121.9U patent/CN205033197U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN105215975B (en) * | 2015-09-30 | 2017-11-03 | 河南科技大学 | Asymmetric parallel institution with two turn of one shift three degrees of freedom |
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
| CN109531552B (en) * | 2019-01-23 | 2024-03-22 | 河南科技大学 | Two-degree-of-freedom pure rotation parallel mechanism |
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Granted publication date: 20160217 Effective date of abandoning: 20171103 |
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| AV01 | Patent right actively abandoned |