CN104102170A - Four freedom degree parallel mechanism with series input branch chains - Google Patents
Four freedom degree parallel mechanism with series input branch chains Download PDFInfo
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- CN104102170A CN104102170A CN201410289947.9A CN201410289947A CN104102170A CN 104102170 A CN104102170 A CN 104102170A CN 201410289947 A CN201410289947 A CN 201410289947A CN 104102170 A CN104102170 A CN 104102170A
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Abstract
The invention provides a four freedom degree parallel mechanism with series input branch chains. The mechanism is composed of a dynamic platform, a static platform and three branch chains. The first branch chain is composed of a hooke hinge, a moving pair and a spherical pair, wherein the hooke hinge, the moving pair and the spherical pair are connected in series. The second branch chain is composed of a rotating pair, a moving pair and a spherical pair, wherein the rotating pair, the moving pair and the spherical pair are connected in series. The structure of the third branch chain and the structure of the second branch chain are completely same. According to the configuration mode of the three branch chains on two platforms, by driving the moving pairs in the three branch chains and the rotating pair in the second branch chain, two translation and two rotating output of the dynamic platform is controlled. According to the mechanism, undesired motion output is constant; partial control decoupling is realized between motion output and input; kinematics normal solution is easy; the mechanism has the advantages of simple structure, good rigidity and the like; and the mechanism can be used as a reconfigurable actuator of a virtual machine tool and a robot.
Description
Technical field
The present invention relates to the restructural topworks of a class lathe, robot, specifically, is a kind of four-freedom parallel mechanism containing series connection input side chain.
Background technology
Parallel institution numerically-controlled machine refers to the lathe taking parallel institution as topworks, and this lathe has been considered to the revolution of machine tool structure since twentieth century.The model machine (as the Variax type parallel machine of the Giddings and Lewis company of the U.S.) of having developed at present this lathe in the state such as the U.S., Japan, the parallel institution adopting is traditional Stewart (Stewart) mechanism.The mechanism that this control cutter changes in position and the attitude in space is mainly made up of pedestal, motion platform and connecting rod, between pedestal and motion platform, is connected by connecting rod, and connecting rod two ends are respectively ball pair and universal joint.There are six connecting rods in this mechanism, and the length of connecting rod is adjustable, by controlling the length of six roots of sensation connecting rod, changes the pose of cutter in space.But a lot of guardian techniques of Zhe Lei mechanism also fail to solve completely, as: motion normal solution difficulty; Motion platform pose is the strong coupling of input, is unfavorable for controlling; Mechanism's complexity, makes its work space less.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of four-freedom parallel mechanism containing series connection input side chain.That this mechanism has is simple in structure, work space is large, manufacture the advantages such as comparatively easy, easy for installation.Particularly can realize control decoupling zero and forward kinematics solution comparatively simple, significantly simplify the control of parallel institution Virtual Machine and robot system and the complicacy with trajectory planning.For Virtual Machine, restructural equipment provide new architecture, be its exploitation and the practical possibility that provides.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of four-freedom parallel mechanism containing series connection input side chain, this mechanism is made up of the first side chain, the second side chain and the 3rd side chain between moving platform, stationary platform and connection moving platform and stationary platform, described the first side chain and the joining kinematic pair of described stationary platform are Hooke's hinges, with the joining kinematic pair of described moving platform be spherical pair; Kinematic pair in the middle of described the first side chain is moving sets; Described the second side chain and the joining kinematic pair of described stationary platform are revolute pairs, with the joining kinematic pair of described moving platform be spherical pair; Kinematic pair in the middle of described the second side chain is moving sets; Described the 3rd side chain is identical with the structure of described the second side chain; Moving sets in three side chains of two translations two rotation output dependence drivings of described moving platform and the revolute pair of described the second side chain are controlled.
In described the second side chain and described the 3rd side chain, the axis of revolute pair is parallel to each other.
Described stationary platform and described moving platform are equilateral triangle.
Compared with prior art, parallel institution of the present invention, owing to adopting revolute pair to be connected as driving pair between stationary platform and the second side chain, makes the second side chain become the series connection input side chain of this parallel institution, thereby has following features:
(1) mechanism's moving platform has two translations two rotation outputs, and only has three side chains;
(2) the motion input-output of mechanism has partly decoupled, can realize part and control decoupling zero;
(3) kinematics analysis of parallel institution can solve separately two fundamental circuits successively, and analytic expression is comparatively simple, is conducive to realize real-time control and online, the off-line motion planning of robot;
(4) mechanism is simple, flexibility ratio is high, work space is larger.
The invention has the beneficial effects as follows: simple in structure, work space is large, can realize control decoupling zero and forward kinematics solution easily, can significantly simplify the control of parallel institution Virtual Machine and robot system and with trajectory planning complicacy, for Virtual Machine, restructural parallel institution provide the new architecture with These characteristics, be conducive to the exploitation of novel lathe, novel restructural parallel connection equipment and practical.
Brief description of the drawings
Below by describing particularly the present invention with reference to accompanying drawing and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and do not form the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is structure diagram of the present invention; In Fig. 1, I, II, III represent respectively the first side chain, the second side chain and the 3rd side chain; S
1, S
2, S
3represent spherical pair; P
1, P
2, P
3represent moving sets; U
1represent Hooke's hinge; R
2, R
3represent revolute pair; 1,2,3,4,5,6 represent rod member; 7 represent moving platform; 8 represent stationary platform.
Embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
As shown in Figure 1, a kind of four-freedom parallel mechanism containing series connection input side chain of the present invention, it is made up of incomplete three identical side chain I, II, the III of moving platform 7, silent flatform 8 and structure; The first side chain I is by spherical pair S
1, rod member 1, moving sets P
1, rod member 2 and Hooke's hinge U
1connect successively composition; The second side chain II is by spherical pair S
2, rod member 3, moving sets P
2, rod member 4 and revolute pair R
2connect successively composition; The 3rd side chain III is by spherical pair S
3, rod member 5, moving sets P
3, rod member 6 and revolute pair R
3connect successively composition; All side chains two ends connect firmly respectively in moving platform 7 and stationary platform 8; In described the second side chain II and described the 3rd side chain III, revolute pair R
2with revolute pair R
3axis be parallel to each other; Described moving platform 7 and described stationary platform 8 are equilateral triangle.
The course of work of this example: this mechanism is installed on parallel machine, after member scale parameter is determined, controls four and drive secondary (revolute pair R
2with three moving sets P
1, P
2, P
3) input motion, just can control the pose of moving platform 7, realize the requirement of machining locus.
Above embodiments of the invention are had been described in detail, but described content is only preferred embodiment of the present invention, can not be considered to for limiting practical range of the present invention.All equalization variation and improvement etc. of doing according to the scope of the invention, within all should still belonging to this patent covering scope.
Claims (3)
1. the four-freedom parallel mechanism containing series connection input side chain, comprise moving platform, stationary platform and connect the first side chain, the second side chain and the 3rd side chain between moving platform and stationary platform, it is characterized in that: described the first side chain and the joining kinematic pair of described stationary platform are Hooke's hinges, with the joining kinematic pair of described moving platform be spherical pair; Kinematic pair in the middle of described the first side chain is moving sets; Described the second side chain and the joining kinematic pair of described stationary platform are revolute pairs, with the joining kinematic pair of described moving platform be spherical pair; Kinematic pair in the middle of described the second side chain is moving sets; Described the 3rd side chain is identical with the structure of described the second side chain; Moving sets in three side chains of two translations two rotation output dependence drivings of described moving platform and the revolute pair in described the second side chain are controlled.
2. the four-freedom parallel mechanism containing series connection input side chain according to claim 1, is characterized in that: in described the second side chain and described the 3rd side chain, the axis of revolute pair is parallel to each other.
3. the four-freedom parallel mechanism containing series connection input side chain according to claim 1, is characterized in that: described stationary platform and described moving platform are equilateral triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410289947.9A CN104102170A (en) | 2014-06-26 | 2014-06-26 | Four freedom degree parallel mechanism with series input branch chains |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410289947.9A CN104102170A (en) | 2014-06-26 | 2014-06-26 | Four freedom degree parallel mechanism with series input branch chains |
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| Publication Number | Publication Date |
|---|---|
| CN104102170A true CN104102170A (en) | 2014-10-15 |
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ID=51670396
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| CN201410289947.9A Pending CN104102170A (en) | 2014-06-26 | 2014-06-26 | Four freedom degree parallel mechanism with series input branch chains |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678885A (en) * | 2014-12-30 | 2015-06-03 | 中国矿业大学 | Six-freedom-degree parallel platform in driving orthogonal arrangement |
| CN105149671A (en) * | 2015-10-27 | 2015-12-16 | 北华航天工业学院 | Novel two-freedom-degree controllable main movement mechanism of mechanical shaper |
| CN105459092A (en) * | 2016-01-08 | 2016-04-06 | 天津大学 | Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340A (en) * | 2016-01-08 | 2016-04-20 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN114019031A (en) * | 2021-09-13 | 2022-02-08 | 上海工程技术大学 | Main end operating device of force touch system and force touch nuclear power equipment operation and maintenance device |
-
2014
- 2014-06-26 CN CN201410289947.9A patent/CN104102170A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104678885A (en) * | 2014-12-30 | 2015-06-03 | 中国矿业大学 | Six-freedom-degree parallel platform in driving orthogonal arrangement |
| CN105149671A (en) * | 2015-10-27 | 2015-12-16 | 北华航天工业学院 | Novel two-freedom-degree controllable main movement mechanism of mechanical shaper |
| CN105459092A (en) * | 2016-01-08 | 2016-04-06 | 天津大学 | Novel multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340A (en) * | 2016-01-08 | 2016-04-20 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN105459092B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop two-degree-of-freedom rotation catching and releasing mechanism |
| CN105500340B (en) * | 2016-01-08 | 2017-04-12 | 天津大学 | Multi-closed-loop three-rotation fetching and releasing mechanism with reconfigurable platform |
| CN114019031A (en) * | 2021-09-13 | 2022-02-08 | 上海工程技术大学 | Main end operating device of force touch system and force touch nuclear power equipment operation and maintenance device |
| CN114019031B (en) * | 2021-09-13 | 2023-10-13 | 上海工程技术大学 | Main end operating mechanism of force touch system and operation and maintenance device of force touch nuclear power equipment |
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Application publication date: 20141015 |