CN104384941A - Overconstrained parallel mechanism with equivalent Tricept mechanical movement - Google Patents
Overconstrained parallel mechanism with equivalent Tricept mechanical movement Download PDFInfo
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Abstract
本发明公开一种具有等效Tricept机构运动的过约束并联机构。所述第一、三驱动分支结构相同，两驱动分支万向铰外侧转动副与固定平台连接，内侧转动副和移动副垂直，球副和动平台连接。第二驱动分支万向铰外侧转动副与固定平台连接，并指向固定平台中心，万向铰内侧转动副与分支上端转动副平行，且与分支移动副垂直，分支上端转动副与动平台连接，且平行于动平台对边。中间约束分支万向铰外侧转动副与固定平台相连，并指向第二分支下端点，万向铰内侧转动副平行于一、三分支上端点连线，且与移动副垂直，移动副与动平台垂直连接。本发明与Tricept机构具有等效的运动学，保留了Tricept机构优良的运动特性，且机构运动副数少于Tricept机构，具有很高的刚度和运动精度。
The invention discloses an over-constrained parallel mechanism with equivalent Tricept mechanism motion. The first and third driving branches have the same structure, the outer rotating pair of the universal joint of the two driving branches is connected to the fixed platform, the inner rotating pair is perpendicular to the moving pair, and the ball pair is connected to the moving platform. The outer rotating pair of the universal hinge of the second driving branch is connected with the fixed platform and points to the center of the fixed platform. The inner rotating pair of the universal hinge is parallel to the upper end rotating pair of the branch and perpendicular to the moving pair of the branch. The upper end rotating pair of the branch is connected with the moving platform. And parallel to the opposite side of the moving platform. The outer rotating pair of the universal hinge of the middle constraint branch is connected with the fixed platform and points to the lower end of the second branch. The inner rotating pair of the universal hinge is parallel to the line connecting the upper ends of the first and third branches and perpendicular to the moving pair. The moving pair is connected to the moving platform. Connect vertically. The present invention has equivalent kinematics to the Tricept mechanism, retains the excellent kinematic characteristics of the Tricept mechanism, has fewer kinematic pairs than the Tricept mechanism, and has high rigidity and motion precision.
Description
技术领域 technical field
本发明涉及并联机构领域，特别涉及到一种具有等效Tricept机构运动的过约束并联机构。 The invention relates to the field of parallel mechanisms, in particular to an over-constrained parallel mechanism with equivalent Tricept mechanism motion.
背景技术 Background technique
少自由度并联机构是近几十年来机构学的研究热点，其构型非常丰富，但成功应用于工业界的机构仍然非常少。Tricept机构(US4732525)是目前工业界推广最成功的并联机构之一。该机构发明人Neumann 博士指出关节的几何误差，间隙等问题是并联机床精度问题的主要根源，关节点数少、无效自由度少的并联机构是机床机械本体的首选。基于该理念，Neumann 博士又提出了关节数目较少的Exechon机构(WO2006054935)。实际上，Triccpt机构本身并未采用最少的关节数目，其关节数目仍有进一步减少的空间。 Parallel mechanisms with few degrees of freedom have been a research hotspot in mechanism science in recent decades, and their configurations are very rich, but there are still very few mechanisms successfully applied in the industry. The Tricept mechanism (US4732525) is one of the most successful parallel mechanisms promoted in the industry. Dr. Neumann, the inventor of the mechanism, pointed out that the geometric error of the joints, clearance and other problems are the main sources of the accuracy of the parallel machine tool, and the parallel mechanism with fewer joint points and less invalid degrees of freedom is the first choice for the mechanical body of the machine tool. Based on this concept, Dr. Neumann proposed the Exechon mechanism with fewer joints (WO2006054935). In fact, the Triccpt mechanism itself does not use the minimum number of joints, and there is still room for further reduction in the number of joints.
发明内容 Contents of the invention
本发明为克服上述背景技术存在的不足，提供一种关节数少、具有等效Tricept机构运动的过约束并联机构。本发明与Tricept机构具有等效的运动学，保留了Tricept机构的优良运动特性，且关节数少于Tricept机构，具有结构简单、精度高、刚度大等特点。 In order to overcome the shortcomings of the above-mentioned background technology, the present invention provides an over-constrained parallel mechanism with a small number of joints and equivalent Tricept mechanism motion. The invention has equivalent kinematics to the Tricept mechanism, retains the excellent kinematic characteristics of the Tricept mechanism, has fewer joints than the Tricept mechanism, and has the characteristics of simple structure, high precision, and high rigidity.
本发明解决其技术问题所采用的技术方案是：一种具有等效Tricept机构运动的过约束并联机构，包括固定平台、动平台、连接固定平台与动平台的三个驱动分支和一个约束分支，固定平台和动平台均为正三角形，三个驱动分支两端分别与固定平台、动平台各端点连接，约束分支连接固定平台和动平台中心。所述第一、三分驱动支依次串接万向铰、移动副和球副，所述万向铰外侧转动副与固定平台相连，其轴线与固定平台底边重合，万向铰内侧转动副与移动副垂直，所述球副与动平台相连；所述第二分支依次串接万向铰、移动副和转动副，所述万向铰外侧转动副与固定平台相连，其轴线指向固定平台中心，万向铰内侧转动副与分支中的移动副垂直，且和分支上端转动副平行，分支上端转动副与动平台相连，其轴线平行于对应的动平台对边，其中，外侧转动副为U副与平台连接的转动副，内侧转动副为对应U副的另一转动副；所述约束分支依次串接万向铰和移动副，约束分支中万向铰外侧转动副与固定平台中心相连，其轴线指向第二分支的下端点，且与第二分支中万向铰外侧转动副共线；万向铰内侧转动副平行于一、三分支上端点连线，且和移动副垂直。 The technical solution adopted by the present invention to solve the technical problem is: an over-constrained parallel mechanism with equivalent Tricept mechanism motion, including a fixed platform, a moving platform, three drive branches connecting the fixed platform and the moving platform and a constraint branch, Both the fixed platform and the moving platform are equilateral triangles, the two ends of the three drive branches are respectively connected with the ends of the fixed platform and the moving platform, and the restraining branches are connected with the center of the fixed platform and the moving platform. The first and third drive branches are sequentially connected to the universal joint, the moving joint and the ball joint. The outer rotating joint of the universal joint is connected with the fixed platform, and its axis coincides with the bottom edge of the fixed platform. The inner rotating joint of the universal joint Vertical to the moving pair, the ball pair is connected to the moving platform; the second branch is sequentially connected to the universal joint, the moving pair and the rotating pair, and the outer rotating pair of the universal hinge is connected to the fixed platform, and its axis points to the fixed platform In the center, the inner rotating pair of the universal joint is perpendicular to the moving pair in the branch, and parallel to the upper end rotating pair of the branch. The upper end rotating pair of the branch is connected with the moving platform, and its axis is parallel to the opposite side of the corresponding moving platform. The revolving pair connected between the U pair and the platform, the inner revolving pair is another revolving pair corresponding to the U pair; the constrained branches are connected in series with the universal hinge and the moving pair, and the outer revolving pair of the universal hinge in the constrained branch is connected to the center of the fixed platform , its axis points to the lower endpoint of the second branch, and is in line with the outer rotation pair of the universal hinge in the second branch; the inner rotation pair of the universal hinge is parallel to the line connecting the upper endpoints of the first and third branches, and perpendicular to the moving pair. the
进一步，所述约束分支依次串接万向铰、移动副和转动副，所述万向铰外侧转动副与固定平 台中心相连，其轴线指向第二分支下端点，且与第二分支中万向铰外侧转动副共线，万向铰内侧转动副垂直于该分支中移动副，且和分支上端转动副垂直，分支上端转动副与动平台相连，其轴线指向第二分支上端点。 Further, the constraining branch is sequentially connected with a universal hinge, a moving pair and a rotating pair, and the outer rotating pair of the universal hinge is connected to the center of the fixed platform, and its axis points to the lower end of the second branch, and is connected to the center of the second branch. The turning pairs to the outside of the hinge are collinear, and the turning pairs inside the universal hinge are perpendicular to the moving pair in the branch and perpendicular to the turning pair at the upper end of the branch. The turning pair at the upper end of the branch is connected to the moving platform, and its axis points to the upper end of the second branch.
进一步，所述第二分支依次串接球副、移动副和转动副，其中，所述球副与固定平台相连，所述转动副与动平台相连，其轴线平行于动平台对边，且和移动副垂直。 Further, the second branch is sequentially connected with a ball pair, a moving pair and a rotating pair, wherein the ball pair is connected to the fixed platform, and the rotating pair is connected to the moving platform, and its axis is parallel to the opposite side of the moving platform, and Move vice vertically.
进一步，所述约束分支依次串接有球副和移动副，所述球副与固定平台中心相连，所述移动副与动平台固连，且和动平台垂直。 Further, the constraining branch is sequentially connected with a ball pair and a moving pair, the ball pair is connected to the center of the fixed platform, and the moving pair is fixedly connected to the moving platform and is perpendicular to the moving platform.
本发明与现有技术相比具有如下优点：该发明与Tricept机构具有等效的运动学，保留了Tricept机构的优良运动特性，且关节数少于Tricept机构。本发明结构简单，运动副关节数目少，刚度大，运动精度高，可作为高精度并联机床并联本体。 Compared with the prior art, the present invention has the following advantages: the invention has equivalent kinematics to the Tricept mechanism, retains the excellent motion characteristics of the Tricept mechanism, and has fewer joints than the Tricept mechanism. The invention has the advantages of simple structure, few kinematic auxiliary joints, high rigidity and high kinematic precision, and can be used as a parallel body of a high-precision parallel machine tool.
附图说明 Description of drawings
图1是具有等效Tricept机构运动的过约束并联机构结构示意简图； Figure 1 is a schematic diagram of the structure of an overconstrained parallel mechanism with equivalent Tricept mechanism motion;
图2是本发明实施例2的结构示意简图； Fig. 2 is a schematic structural diagram of Embodiment 2 of the present invention;
图3是本发明实施例3的结构示意简图； Fig. 3 is a schematic structural diagram of Embodiment 3 of the present invention;
图4是本发明实施例4的结构示意简图。 Fig. 4 is a schematic structural diagram of Embodiment 4 of the present invention.
上述附图中，1-固定平台，2-动平台，3-第一驱动分支，4-第二驱动分支，5-第三驱动分支，6-约束分支。 In the above drawings, 1-fixed platform, 2-moving platform, 3-first drive branch, 4-second drive branch, 5-third drive branch, 6-constraint branch.
具体实施方式 Detailed ways
实施例1 Example 1
下面结合附图具体描述本发明的具体实施方式。 Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
实施例1 Example 1
图1是本发明公开的第一个实施例。本发明所述的一种具有等效Tricept机构运动的过约束并联机构，包括固定平台1、动平台2、连接它们的三个驱动分支（3，4，5）和一个中间约束分支6。其中，固定平台1和动平台2均为正三角形，三个驱动分支（3，4，5）两端分别连接固定平台1和动平台的3个顶点，中间的约束分支6连接固定平台1和动平台2的中心。 Fig. 1 is the first embodiment disclosed by the present invention. An over-constrained parallel mechanism with equivalent Tricept mechanism movement described in the present invention includes a fixed platform 1 , a moving platform 2 , three drive branches ( 3 , 4 , 5 ) connecting them and an intermediate constraint branch 6 . Among them, the fixed platform 1 and the moving platform 2 are equilateral triangles, the two ends of the three driving branches (3, 4, 5) are respectively connected to the three vertices of the fixed platform 1 and the moving platform, and the constraint branch 6 in the middle is connected to the fixed platform 1 and center of moving platform 2.
第一分支3中依次串接有万向铰(R 11，R 12)、移动副(P 1)和球副(S1)，万向铰外侧转动副(R 11)与固定平台1相连，其轴线与固定平台1底边重合；万向铰内侧转动副(R 12)与移动副(P 1)垂直，球副(S1)与动平台2相连。第二分支4中依次串接有万向铰(R 21，R 22)、移动副(P 2)和转动副(R 23)，万向铰外侧转动副(R 21)与固定平台1相连，其轴线指向固定平台1中心，万向铰内侧转动副(R 22)和转动副(R 23)相互平行，且和移动副(P 2)相互垂直，转动副(R 23)与动平台2相连，其轴线平行于动平台2的对边。第三分支5中依次串接有万向铰(R 31，R 32)、移动副(P 3)和球副(S3)，万向铰外侧转动副(R 31)与固定平台1相连，其轴线与固定平台1底边重合；万向铰内侧转动副(R 32)与移动副(P 3)垂直，球副(S3)与动平台2相连。中间的约束分支6中依次串接有万向铰(R 01，R 02)和移动副(P 0)，万向铰外侧转动副(R 01)与固定平台1中心相连，其轴线指向第二分支4的下端点，且与第二分支4中万向铰外侧转动副(R 21)共线；万向铰内侧转动副(R 02)平行于一、三分支（3，5）上端点连线，且和该分支中移动副(P 0)垂直，移动副(P 0)垂直固连于动平台2的中心。 The first branch 3 is connected in series with the universal hinge ( R 11 , R 12 ), the moving pair ( P 1 ) and the ball pair ( S 1 ), the outer rotating pair of the universal hinge ( R 11 ) is connected with the fixed platform 1, Its axis coincides with the bottom of the fixed platform 1; the inner rotary joint ( R 12 ) of the universal joint is perpendicular to the moving joint ( P 1 ), and the ball joint (S 1 ) is connected to the moving platform 2. The second branch 4 is connected in series with the universal hinge ( R 21 , R 22 ), the moving pair ( P 2 ) and the rotating pair ( R 23 ), the outer rotating pair of the universal hinge ( R 21 ) is connected with the fixed platform 1, Its axis points to the center of the fixed platform 1, the inner rotating pair ( R 22 ) and the rotating pair ( R 23 ) of the universal joint are parallel to each other, and are perpendicular to the moving pair ( P 2 ), and the rotating pair ( R 23 ) is connected to the moving platform 2 , whose axis is parallel to the opposite side of the moving platform 2. The third branch 5 is connected in series with the universal hinge ( R 31 , R 32 ), the moving pair ( P 3 ) and the ball pair ( S 3 ), the outer rotating pair of the universal hinge ( R 31 ) is connected with the fixed platform 1, Its axis coincides with the bottom of the fixed platform 1; the inner revolving pair ( R 32 ) of the universal joint is perpendicular to the moving pair ( P 3 ), and the ball pair ( S 3 ) is connected to the moving platform 2 . The middle constraint branch 6 is connected in series with the universal hinge ( R 01 , R 02 ) and the moving pair ( P 0 ), the outer rotating pair of the universal hinge ( R 01 ) is connected to the center of the fixed platform 1, and its axis points to the second The lower end point of branch 4, and is in line with the outer turning pair ( R 21 ) of the universal hinge in the second branch 4; the inner turning pair ( R 02 ) of the universal hinge is connected parallel to the upper end points of the first and third branches line, and is perpendicular to the moving pair ( P 0 ) in this branch, and the moving pair ( P 0 ) is vertically fixed to the center of the moving platform 2.
实施例2 Example 2
图2是本发明公开的第二个实施例。图2中，中间的约束分支6为UPR分支，约束分支6中依次串接有万向铰(R 01，R 02)、移动副(P 0)和转动副(R 03)。万向铰外侧转动副(R 01)与固定平台1中心相连，其轴线指向第二分支4的下端点，并与第二分支4万向铰外侧转动副(R 21)共线，万向铰内侧转动副(R 02)垂直于分支中的转动副(R 03)，且和分支中的移动副(P 0)垂直，转动副(R 03)与动平台2相连，其轴线指向第二分支4上端点。其它部分连接方式与实施例1相同。 Fig. 2 is the second embodiment disclosed by the present invention. In Fig. 2, the constraint branch 6 in the middle is the UPR branch, and the universal hinge ( R 01 , R 02 ), the moving pair ( P 0 ) and the rotating pair ( R 03 ) are sequentially connected in series in the constraint branch 6 . The outer swivel joint ( R 01 ) of the universal hinge is connected to the center of the fixed platform 1, and its axis points to the lower end point of the second branch 4, and is collinear with the outer swivel joint ( R 21 ) of the second branch 4 universal hinge. The inner rotating pair ( R 02 ) is perpendicular to the rotating pair ( R 03 ) in the branch, and is perpendicular to the moving pair ( P 0 ) in the branch. The rotating pair ( R 03 ) is connected to the moving platform 2, and its axis points to the second branch 4 upper endpoints. The other parts are connected in the same manner as in Example 1.
实施例3 Example 3
图3是本发明公开的第三个实施例。图3中，第二分支4为SPR分支，第二分支4中依次串接有球副(S2)、移动副(P 2)和转动副(R 21)。其中，球副(S2)与固定平台1相连，转动副(R 21)与动平台2相连，其轴线平行于动平台2对边，且和移动副P 2垂直。其它部分连接方式与实施例1相同。 Fig. 3 is the third embodiment disclosed by the present invention. In Fig. 3, the second branch 4 is an SPR branch, and the second branch 4 is sequentially connected with a ball pair (S 2 ), a moving pair ( P 2 ) and a rotating pair ( R 21 ). Among them, the ball pair (S 2 ) is connected to the fixed platform 1, and the rotating pair ( R 21 ) is connected to the moving platform 2, and its axis is parallel to the opposite side of the moving platform 2 and perpendicular to the moving pair P 2 . The other parts are connected in the same manner as in Example 1.
实施例4 Example 4
图4是本发明公开的第四个实施例。图4中，中间约束分支6为SP分支，依次串接有球副(S 0)和移动副(P 0)。球副(S 0)与固定平台1中心相连，移动副P 0垂直连接于动平台2中心。其它部分连接方式与实施例1相同。 Fig. 4 is the fourth embodiment disclosed by the present invention. In Fig. 4, the middle constraining branch 6 is the SP branch, which is sequentially connected with the ball pair ( S 0 ) and the moving pair ( P 0 ). The ball pair ( S 0 ) is connected to the center of the fixed platform 1, and the moving pair P 0 is vertically connected to the center of the moving platform 2. The other parts are connected in the same manner as in Example 1.
Claims (4)
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| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
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| CN111085986A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | A Class of Overconstrained Two-Rotation Parallel Mechanisms with Same Kinematics |
| CN111085987A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | A Class of Two-Transfer-One-Transfer Parallel Mechanisms with Intermediate Constrained Branches with Kinematic Equivalent Characteristics |
| WO2025026971A1 (en) * | 2023-08-01 | 2025-02-06 | Commissariat à l'énergie atomique et aux énergies alternatives | Parallel robot with improved torsional stiffness |
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Cited By (12)
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| CN106041921A (en) * | 2016-07-04 | 2016-10-26 | 安徽海思达机器人有限公司 | Six-degree-of-freedom hybrid robot |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN106426105A (en) * | 2016-11-10 | 2017-02-22 | 中国地质大学（武汉） | 2R two-degree-of-freedom parallel mechanism for improving load capacity |
| CN106426105B (en) * | 2016-11-10 | 2019-09-17 | 中国地质大学（武汉） | A kind of 2R two-degree-of-freedom parallel mechanism promoting load capacity |
| CN106737593A (en) * | 2016-12-31 | 2017-05-31 | 中国工程物理研究院激光聚变研究中心 | The Three Degree Of Freedom device that the even list side chain of the adjustable solution of dynamic characteristic drives |
| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
| CN110355740A (en) * | 2019-06-13 | 2019-10-22 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 1R1T and 3T |
| CN110355740B (en) * | 2019-06-13 | 2021-05-14 | 西安工程大学 | Parallel mechanism with two motion modes 1R1T and 3T |
| CN111085986A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | A Class of Overconstrained Two-Rotation Parallel Mechanisms with Same Kinematics |
| CN111085987A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | A Class of Two-Transfer-One-Transfer Parallel Mechanisms with Intermediate Constrained Branches with Kinematic Equivalent Characteristics |
| WO2025026971A1 (en) * | 2023-08-01 | 2025-02-06 | Commissariat à l'énergie atomique et aux énergies alternatives | Parallel robot with improved torsional stiffness |
| FR3151776A1 (en) * | 2023-08-01 | 2025-02-07 | Commissariat à l'énergie atomique et aux énergies alternatives | Parallel robot |
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