CN211220685U - Partially decoupled redundant drive four-degree-of-freedom parallel mechanism - Google Patents
Partially decoupled redundant drive four-degree-of-freedom parallel mechanism Download PDFInfo
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- CN211220685U CN211220685U CN201921880204.3U CN201921880204U CN211220685U CN 211220685 U CN211220685 U CN 211220685U CN 201921880204 U CN201921880204 U CN 201921880204U CN 211220685 U CN211220685 U CN 211220685U
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Abstract
A partially decoupled redundant drive four-degree-of-freedom parallel mechanism comprises a movable platform, wherein a pair of mixed branches and independently arranged serial branches are connected to the movable platform, the mixed branches are arranged in bilateral symmetry with respect to the movable platform, and the serial branches are located between the mixed branches. The utility model provides a parallel mechanism can be by five sliding pair drives, and control moves two rotational motion that remove of platform execution, has bearing capacity height, kinematics model advantage such as simple, the singular position shape is few, workspace is big, can be used to the motion simulation field.
Description
Technical Field
The utility model relates to the field of mechanical structures, especially, relate to a parallel mechanism, specifically be a redundant drive four degrees of freedom parallel mechanism of partial decoupling zero.
Background
The parallel mechanism has the advantages of good rigidity, high precision, good dynamic property and the like, thereby having good application prospect in the fields of motion simulation, antenna attitude adjustment and machining. The parallel mechanism with less degrees of freedom has simple structure, low manufacturing cost and less driving energy consumption, has more application advantages compared with a parallel mechanism with six degrees of freedom, and is an important class of the parallel mechanism with four degrees of freedom which can output two-movement two-rotation motion.
Due to the coupling among multiple branches of the parallel mechanism, a kinematic model is complex, and particularly, a kinematic positive solution is difficult to solve, so that the control difficulty of the parallel mechanism is increased. On the other hand, the parallel mechanism has internal singularity, so that the working space is cut, and the movement capability of the parallel mechanism is greatly limited. In practical application, the kinematic model of the parallel mechanism should be as simple as possible, and preferably has a decoupling characteristic, so as to ensure real-time control. Meanwhile, the nonsingular working space of the parallel mechanism can meet the task requirement. In the technical scheme of the prior two-rotation two-shift parallel mechanism published patents such as patent numbers CN105904441A and CN 208826619U and the like, a kinematic model is complex and has a plurality of singularities inside, so that the application of the kinematic model in the field of modern production is limited. Therefore, it is necessary to provide a four-degree-of-freedom parallel mechanism with a simple kinematic model and a small singular working space.
SUMMERY OF THE UTILITY MODEL
The utility model discloses solve the problem that above-mentioned prior art exists, provide a redundant drive four degrees of freedom parallel mechanism of partial decoupling zero, solve the problem that present six degrees of freedom parallel mechanism structural control is complicated to be unfavorable for control.
The utility model provides a technical scheme that its technical problem adopted: the partially decoupled redundant drive four-degree-of-freedom parallel mechanism comprises a movable platform, wherein a pair of mixed branches and a series branch which is independently arranged are connected to the movable platform, the mixed branches are arranged in bilateral symmetry relative to the movable platform, the series branch is positioned between the mixed branches, the mixed branches comprise a moving pair guide rail, a first moving pair sliding block, a first rotating pair, a first connecting rod, a Hooke hinge, a second moving pair sliding block, a second rotating pair and a second connecting rod, the first moving pair sliding block and the second moving pair sliding block are respectively connected to the moving pair guide rail in a sliding manner to form a first moving pair and a second moving pair, and the first connecting rod and the second connecting rod are respectively and correspondingly connected with the first moving pair sliding block and the second moving pair sliding block through the first rotating pair and the second rotating pair; the first connecting rod and the second connecting rod are converged and rotatably connected to a first rotating shaft of the Hooke hinge; and a second rotating shaft of the Hooke's hinge is connected with the movable platform.
The series branch comprises a mounting seat fixed on the rack, a first ball pair, a third connecting rod, a fourth connecting rod and a second ball pair, the third connecting rod is connected to the mounting seat through the first ball pair, the third connecting rod and the fourth connecting rod are connected in a telescopic matching mode to form a third moving pair, and the fourth connecting rod is connected to the moving platform through the second ball pair. The third connecting rod and the fourth connecting rod are matched in a telescopic mode to form the movement of a third moving pair, so that the moving platform can move.
As the utility model discloses a further improvement, the left and right sides removes vice guide rail parallel arrangement each other, and the axis of rotation of the first revolute pair of the left and right sides is parallel to each other, and the second axis of rotation of the left and right sides hooke's hinge is for being located the same pivot on the moving platform. After each arrangement, the rotation planes of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are superposed with the axis plane of the sliding pair guide rail, namely the up-down moving plane and the rotation plane of the connecting rods are on the same plane, so that the moving and rotating fluency of each connecting rod in the moving process can be effectively ensured.
As a further improvement of the utility model, the first revolute pair axis and the second revolute pair axis are both parallel to the first revolute axis of the hooke joint and perpendicular to the sliding pair guide rail. And in the process that the first sliding pair and the second sliding pair move along the sliding pair guide rail, the first connecting rod and the second connecting rod are driven to move, so that the moving platform can move vertically and horizontally.
The utility model discloses profitable effect is: the utility model provides a parallel mechanism can be by five sliding pair drives, and control moves two rotational motion that remove of platform execution, has bearing capacity height, kinematics model advantage such as simple, the singular position shape is few, workspace is big, can be used to the motion simulation field.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Description of reference numerals: the device comprises a movable platform 1, a sliding pair guide rail 2, a first sliding pair slider 3, a first revolute pair 4, a first connecting rod 5, a Hooke's hinge 6, a second sliding pair slider 7, a second revolute pair 8, a second connecting rod 9, a mounting seat 10, a first ball pair 11, a third connecting rod 12, a fourth connecting rod 13 and a second ball pair 14.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
with reference to the accompanying drawings: the partially decoupled redundant drive four-degree-of-freedom parallel mechanism in the embodiment comprises a movable platform 1, wherein a pair of mixed branches and independently arranged serial branches are connected to the movable platform 1, the mixed branches are arranged in bilateral symmetry with respect to the movable platform 1, the serial branches are positioned between the mixed branches, the mixed branches comprise a moving pair guide rail 2, a first moving pair sliding block 3, a first revolute pair 4, a first connecting rod 5, a hooke hinge 6, a second moving pair sliding block 7, a second revolute pair 8 and a second connecting rod 9, the first moving pair sliding block 3 and the second moving pair sliding block 7 are respectively connected onto the moving pair guide rail 2 in a sliding mode to form a first moving pair and a second moving pair, and the first connecting rod 5 and the second connecting rod 9 are respectively correspondingly connected with the first moving pair sliding block 3 and the second moving pair sliding block 7 through the first revolute pair 4 and the second revolute pair 8; the first connecting rod and the second connecting rod are converged and rotatably connected to a first rotating shaft of the Hooke hinge 6; and a second rotating shaft of the Hooke's hinge 6 is connected with the movable platform. The axes of the first revolute pair 4 and the second revolute pair 8 are parallel to the first rotating shaft of the hooke joint 6 and perpendicular to the sliding pair guide rail 2.
The series branch comprises a mounting base 10 fixed on the rack, a first ball pair 11, a third connecting rod 12, a fourth connecting rod 13 and a second ball pair 14, the third connecting rod 12 is connected to the mounting base 10 through the first ball pair 11, the third connecting rod 12 and the fourth connecting rod 13 are connected in a telescopic matching mode to form a third moving pair, and the fourth connecting rod 13 is connected to the moving platform 1 through the second ball pair 14.
The left and right moving pair guide rails 2 are arranged in parallel, the rotating axes of the left and right first rotating pairs are parallel, and the second rotating shafts of the left and right hooke joints 6 are the same rotating shaft positioned on the moving platform 1.
In the embodiment, the driving pair is a moving pair in each branch, and a ball screw mechanism (omitted in the figure) is driven by a servo motor; when the moving pair moves, the mechanism moves in two-moving two-rotating four-freedom degree.
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.
Claims (3)
1. The utility model provides a four degree of freedom parallel mechanism of redundant drive of partial decoupling zero, is connected with a pair of mixed branch and the series connection branch that sets up alone including moving platform (1) on moving the platform, mixes branch and sets up about moving platform (1) bilateral symmetry, and series connection branch lies in between the mixed branch, its characterized in that: the hybrid branch comprises a moving pair guide rail (2), a first moving pair sliding block (3), a first rotating pair (4), a first connecting rod (5), a Hooke joint (6), a second moving pair sliding block (7), a second rotating pair (8) and a second connecting rod (9), wherein the first moving pair sliding block (3) and the second moving pair sliding block (7) are respectively connected to the moving pair guide rail (2) in a sliding manner to form a first moving pair and a second moving pair, and the first connecting rod (5) and the second connecting rod (9) are respectively connected with the first moving pair sliding block (3) and the second moving pair sliding block (7) correspondingly through the first rotating pair (4) and the second rotating pair (8); the first connecting rod and the second connecting rod are converged and rotatably connected to a first rotating shaft of a Hooke hinge (6); a second rotating shaft of the hook joint (6) is connected with the movable platform;
series branch is including fixing mount pad (10), first ball pair (11), third connecting rod (12), fourth connecting rod (13), the second ball pair (14) in the frame, third connecting rod (12) are connected to on mount pad (10) through first ball pair (11), third connecting rod (12) and fourth connecting rod (13) flexible cooperation are connected and are formed the third and remove vice, fourth connecting rod (13) are connected to on moving platform (1) through second ball pair (14).
2. The partially decoupled redundant drive four degree-of-freedom parallel mechanism of claim 1, further comprising: the left side and the right side are parallel to each other, the rotating axes of the first rotating pairs are parallel to each other, and the second rotating shafts of the Hooke's joints (6) on the left side and the right side are the same rotating shaft on the movable platform (1).
3. The partially decoupled redundant drive four degree-of-freedom parallel mechanism of claim 1 or 2, wherein: the axis of the first revolute pair (4) and the axis of the second revolute pair (8) are both parallel to the first rotary shaft of the Hooke joint (6) and perpendicular to the sliding pair guide rail (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921880204.3U CN211220685U (en) | 2019-11-04 | 2019-11-04 | Partially decoupled redundant drive four-degree-of-freedom parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921880204.3U CN211220685U (en) | 2019-11-04 | 2019-11-04 | Partially decoupled redundant drive four-degree-of-freedom parallel mechanism |
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| CN211220685U true CN211220685U (en) | 2020-08-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022088508A1 (en) * | 2020-10-26 | 2022-05-05 | 浙江理工大学 | Constrained redundant parallel mechanism with four degrees of freedom including two rotational and two translational degrees of freedom |
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2019
- 2019-11-04 CN CN201921880204.3U patent/CN211220685U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022088508A1 (en) * | 2020-10-26 | 2022-05-05 | 浙江理工大学 | Constrained redundant parallel mechanism with four degrees of freedom including two rotational and two translational degrees of freedom |
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Effective date of registration: 20230928 Address after: 201406 Room 408, No. 30, Lane 4808, Jinhai Road, Fengxian District, Shanghai Patentee after: Shanghai Jiuling Power Technology Co.,Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310053 shore road 528 Patentee before: ZHEJIANG INSTITUTE OF MECHANICAL & ELECTRICAL ENGINEERING |