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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- CN104384941A CN104384941A CN201410468846.8A CN201410468846A CN104384941A CN 104384941 A CN104384941 A CN 104384941A CN 201410468846 A CN201410468846 A CN 201410468846A CN 104384941 A CN104384941 A CN 104384941A
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- branch
- revolute pair
- platform
- moving
- universal hinge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an overconstrained parallel mechanism with equivalent Tricept mechanical movement. First and third driving branches are the same in structure; rotating pairs at the outer sides of universal hinges of the two driving branches are connected with a fixed platform; rotating pairs at the inner sides of the universal hinges are perpendicular to movement pairs; and spherical pairs are connected with a movable platform. The rotating pair at the outer side of the universal hinge of the second driving branch is connected with the fixed platform, and is pointed to the center of the fixed platform; the rotating pair at the inner side of the universal hinge is parallel to rotating pairs at the upper ends of the branches, and is perpendicular to movement pairs of the branches; and the rotating pairs at the upper ends of the branches are connected with the movable platform, and are parallel to opposite edges of the movable platform. A rotating pair at the outer side of a universal hinge of a middle constrained branch is connected with the fixed platform, and is pointed to the lower end point of the second branch; a rotating pair at the inner side of the universal hinge is parallel to the connecting line of upper end points of the first and third branches, and is perpendicular to the movement pairs; and the movement pairs are vertically connected with the movable platform. The overconstrained parallel mechanism has equivalent kinematics with the Tricept mechanism, remains excellent movement characteristics of the Tricept mechanism, has smaller movement pairs compared with the Tricept mechanism, and has higher rigidity and movement precision.
Description
Technical field
The present invention relates to parallel institution field, be related specifically to a kind of Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic.
Background technology
Minority carrier generation lifetime is the study hotspot of theory of mechanisms in recent decades, and its configuration is very abundant, but the mechanism being successfully applied to industrial quarters is still considerably less.Tricept mechanism (US4732525) is that current industrial quarters promotes one of the most successful parallel institution.This mechanism inventor doctor Neumann points out the geometric error in joint, and the problems such as gap are the main contributors of parallel machine precision problem, and the parallel institution that count less in joint, the invalid free degree is few is the first-selection of machine tool mechanical body.Based on this theory, doctor Neumann also been proposed the less Exechon mechanism (WO2006054935) of joint number.In fact, Triccpt mechanism itself does not adopt minimum joint number, and its joint number still has the space of reducing further.
Summary of the invention
The present invention is the deficiency overcoming the existence of above-mentioned background technology, provides a kind of and closes the Planar Mechanisms parallel institution that joint number is few, have equivalent Tricept mechanism kinematic.The present invention and Tricept mechanism have the kinematics of equivalence, remain the excellent kinetic characteristic of Tricept mechanism, and pass joint number is less than Tricept mechanism, has the features such as structure is simple, precision is high, rigidity is large.
The technical solution adopted for the present invention to solve the technical problems is: a kind of Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic, comprise fixed platform, moving platform, be connected and fixed platform and moving platform three and drive branch and a bound branch, fixed platform and moving platform are equilateral triangle, three drive branch two ends to be connected with fixed platform, each end points of moving platform respectively, and bound branch is connected and fixed platform and moving platform center.Described first and third point drives Zhi Yici to be connected in series universal hinge, moving sets and ball pair, described universal hinge outside revolute pair is connected with fixed platform, its axis and fixed platform base coincident, inside universal hinge, revolute pair is vertical with moving sets, and described ball pair is connected with moving platform; Described second branch is connected in series universal hinge, moving sets and revolute pair successively, described universal hinge outside revolute pair is connected with fixed platform, its orientation of its axis fixed platform center, universal hinge inner side revolute pair is vertical with the moving sets in branch, and parallel with branch upper end revolute pair, and branch's upper end revolute pair is connected with moving platform, its axis being parallel is in the moving platform opposite side of correspondence, wherein, outside revolute pair is the revolute pair that U pair is connected with platform, and inner side revolute pair is another revolute pair of corresponding U pair; Described bound branch is connected in series universal hinge and moving sets successively, and in bound branch, universal hinge outside revolute pair is connected with fixed platform center, the lower extreme point of its orientation of its axis second branch, and with the second branch in universal cut with scissors outside revolute pair conllinear; Universal hinge inner side revolute pair is parallel to one, three branch's upper extreme point lines, and vertical with moving sets.
Further, described bound branch is connected in series universal hinge, moving sets and revolute pair successively, described universal hinge outside revolute pair is connected with fixed platform center, its orientation of its axis second branch lower extreme point, and with the second branch in universally cut with scissors outside revolute pair conllinear, inside universal hinge, revolute pair is perpendicular to moving sets in this branch, and vertical with branch upper end revolute pair, branch's upper end revolute pair is connected with moving platform, its orientation of its axis second branch upper extreme point.
Further, described second branch is connected in series ball pair, moving sets and revolute pair successively, and wherein, described ball pair is connected with fixed platform, and described revolute pair is connected with moving platform, and its axis being parallel is in moving platform opposite side, and vertical with moving sets.
Further, described bound branch is serially connected with ball pair and moving sets successively, and described ball pair is connected with fixed platform center, and described moving sets and moving platform are connected, and vertical with moving platform.
The present invention compared with prior art tool has the following advantages: this invention and Tricept mechanism have the kinematics of equivalence, remain the excellent kinetic characteristic of Tricept mechanism, and pass joint number is less than Tricept mechanism.Structure of the present invention is simple, and kinematic pair joint number is few, and rigidity is large, and kinematic accuracy is high, can be used as high accuracy parallel machine body in parallel.
Accompanying drawing explanation
Fig. 1 is the Planar Mechanisms parallel institution structural representation sketch with equivalent Tricept mechanism kinematic;
Fig. 2 is the structural representation sketch of the embodiment of the present invention 2;
Fig. 3 is the structural representation sketch of the embodiment of the present invention 3;
Fig. 4 is the structural representation sketch of the embodiment of the present invention 4.
In above-mentioned accompanying drawing, 1-fixed platform, 2-moving platform, 3-first drives branch, and 4-second drives branch, and 5-the 3rd drives branch, 6-bound branch.
Detailed description of the invention
Embodiment 1
The specific embodiment of the present invention is specifically described below in conjunction with accompanying drawing.
Embodiment 1
Fig. 1 is first embodiment disclosed by the invention.A kind of Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic of the present invention, comprises fixed platform 1, moving platform 2, three drivings branch (3,4,5) connecting them and an intermediate restraint branch 6.Wherein, fixed platform 1 and moving platform 2 are equilateral triangle, and three 3 summits driving branch (3,4,5) two ends to be connected and fixed platform 1 and moving platform respectively, middle bound branch 6 is connected and fixed the center of platform 1 and moving platform 2.
Be serially connected with successively in first branch 3 universal hinge (
r 11,
r 12), moving sets (
p 1) and ball pair (S
1), universal hinge outside revolute pair (
r 11) be connected with fixed platform 1, its axis and fixed platform 1 base coincident; Universal hinge inner side revolute pair (
r 12) and moving sets (
p 1) vertical, ball pair (S
1) be connected with moving platform 2.Be serially connected with successively in second branch 4 universal hinge (
r 21,
r 22), moving sets (
p 2) and revolute pair (
r 23), universal hinge outside revolute pair (
r 21) be connected with fixed platform 1, its orientation of its axis fixed platform 1 center, revolute pair inside universal hinge (
r 22) and revolute pair (
r 23) be parallel to each other, and and moving sets (
p 2) mutually vertical, revolute pair (
r 23) be connected with moving platform 2, its axis being parallel is in the opposite side of moving platform 2.Be serially connected with successively in 3rd branch 5 universal hinge (
r 31,
r 32), moving sets (
p 3) and ball pair (S
3), universal hinge outside revolute pair (
r 31) be connected with fixed platform 1, its axis and fixed platform 1 base coincident; Universal hinge inner side revolute pair (
r 32) and moving sets (
p 3) vertical, ball pair (S
3) be connected with moving platform 2.Be serially connected with successively in middle bound branch 6 universal hinge (
r 01,
r 02) and moving sets (
p 0), universal hinge outside revolute pair (
r 01) be connected with fixed platform 1 center, the lower extreme point of its orientation of its axis second branch 4, and with the second branch 4 in universal cut with scissors outside revolute pair (
r 21) conllinear; Universal hinge inner side revolute pair (
r 02) be parallel to one, three branches (3,5) upper extreme point line, and and this branch in moving sets (
p 0) vertical, moving sets (
p 0) be vertically fixed on the center of moving platform 2.
Embodiment 2
Fig. 2 is second embodiment disclosed by the invention.In Fig. 2, middle bound branch 6 is UPR branch, be serially connected with successively in bound branch 6 universal hinge (
r 01,
r 02), moving sets (
p 0) and revolute pair (
r 03).Universal hinge outside revolute pair (
r 01) be connected with fixed platform 1 center, the lower extreme point of its orientation of its axis second branch 4, and with the second branch 4 universal cut with scissors outside revolute pair (
r 21) conllinear, revolute pair inside universal hinge (
r 02) perpendicular in branch revolute pair (
r 03), and and branch in moving sets (
p 0) vertical, revolute pair (
r 03) be connected with moving platform 2, its orientation of its axis second branch 4 upper extreme point.Other parts connected mode is identical with embodiment 1.
Embodiment 3
Fig. 3 is the 3rd embodiment disclosed by the invention.In Fig. 3, the second branch 4 is SPR branch, is serially connected with ball pair (S in the second branch 4 successively
2), moving sets (
p 2) and revolute pair (
r 21).Wherein, ball pair (S
2) be connected with fixed platform 1, revolute pair (
r 21) be connected with moving platform 2, its axis being parallel is in moving platform 2 opposite side, and and moving sets
p 2vertically.Other parts connected mode is identical with embodiment 1.
Embodiment 4
Fig. 4 is the 4th embodiment disclosed by the invention.In Fig. 4, intermediate restraint branch 6 is SP branch, be serially connected with successively ball pair (
s 0) and moving sets (
p 0).Ball pair (
s 0) be connected with fixed platform 1 center, moving sets
p 0be vertically connected at moving platform 2 center.Other parts connected mode is identical with embodiment 1.
Claims (4)
1. one kind has the Planar Mechanisms parallel institution of equivalent Tricept mechanism kinematic, comprise fixed platform, moving platform, be connected and fixed platform and moving platform three and drive branch and a bound branch, fixed platform and moving platform are equilateral triangle, three drive branch two ends to be connected with fixed platform, each end points of moving platform respectively, bound branch is connected and fixed platform and moving platform center, it is characterized in that:
Described first and third point drives Zhi Yici to be connected in series universal hinge, moving sets and ball pair, described universal hinge outside revolute pair is connected with fixed platform, its axis and fixed platform base coincident, inside universal hinge, revolute pair is vertical with moving sets, and described ball pair is connected with moving platform; Described second branch is connected in series universal hinge, moving sets and revolute pair successively, described universal hinge outside revolute pair is connected with fixed platform, its orientation of its axis fixed platform center, universal hinge inner side revolute pair is vertical with the moving sets in branch, and parallel with branch upper end revolute pair, and branch's upper end revolute pair is connected with moving platform, its axis being parallel is in the moving platform opposite side of correspondence, wherein, outside revolute pair is the revolute pair that universal hinge is connected with platform, and inner side revolute pair is another revolute pair of corresponding universal hinge; Described bound branch is connected in series universal hinge and moving sets successively, and in bound branch, universal hinge outside revolute pair is connected with fixed platform center, the lower extreme point of its orientation of its axis second branch, and with the second branch in universal cut with scissors outside revolute pair conllinear; Universal hinge inner side revolute pair is parallel to one, three branch's upper extreme point lines, and vertical with moving sets.
2. the Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic according to claim 1, it is characterized in that: described bound branch is connected in series universal hinge, moving sets and revolute pair successively, described universal hinge outside revolute pair is connected with fixed platform center, its orientation of its axis second branch lower extreme point, and with the second branch in universally cut with scissors outside revolute pair conllinear, universal hinge inner side revolute pair is perpendicular to moving sets in this branch, and it is vertical with branch upper end revolute pair, branch's upper end revolute pair is connected with moving platform, its orientation of its axis second branch upper extreme point.
3. the Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic according to claim 1, it is characterized in that: described second branch is connected in series ball pair, moving sets and revolute pair successively, wherein, described ball pair is connected with fixed platform, described revolute pair is connected with moving platform, its axis being parallel is in moving platform opposite side, and vertical with moving sets.
4. the Planar Mechanisms parallel institution with equivalent Tricept mechanism kinematic according to claim 1, it is characterized in that: described bound branch is serially connected with ball pair and moving sets successively, described ball pair is connected with fixed platform center, and described moving sets and moving platform are connected, and vertical with moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410468846.8A CN104384941B (en) | 2014-09-16 | 2014-09-16 | There is the Planar Mechanisms parallel institution of equivalent Tricept mechanism kinematic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410468846.8A CN104384941B (en) | 2014-09-16 | 2014-09-16 | There is the Planar Mechanisms parallel institution of equivalent Tricept mechanism kinematic |
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|---|---|
| CN104384941A true CN104384941A (en) | 2015-03-04 |
| CN104384941B CN104384941B (en) | 2016-08-17 |
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| CN201410468846.8A Expired - Fee Related CN104384941B (en) | 2014-09-16 | 2014-09-16 | There is the Planar Mechanisms parallel institution of equivalent Tricept mechanism kinematic |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN111085987A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | Two-rotation one-shift parallel mechanism with motion equivalent characteristic and containing middle constraint branch |
| CN111085986A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | Over-constrained two-rotation parallel mechanism with same kinematics |
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Patent Citations (6)
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 of 1R1T and 3T |
| CN111085987A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | Two-rotation one-shift parallel mechanism with motion equivalent characteristic and containing middle constraint branch |
| CN111085986A (en) * | 2020-01-16 | 2020-05-01 | 燕山大学 | Over-constrained two-rotation parallel mechanism with same kinematics |
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| CN104384941B (en) | 2016-08-17 |
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