CN104827462A - Three-degree-of-freedom spherical parallel mechanism with driven branched chain - Google Patents
Three-degree-of-freedom spherical parallel mechanism with driven branched chain Download PDFInfo
- Publication number
- CN104827462A CN104827462A CN201510230820.4A CN201510230820A CN104827462A CN 104827462 A CN104827462 A CN 104827462A CN 201510230820 A CN201510230820 A CN 201510230820A CN 104827462 A CN104827462 A CN 104827462A
- Authority
- CN
- China
- Prior art keywords
- branched chain
- degree
- side chain
- parallel mechanism
- movable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Pivots And Pivotal Connections (AREA)
Abstract
The invention provides a three-degree-of-freedom spherical parallel mechanism with a driven branched chain. The three-degree-of-freedom spherical parallel mechanism comprises a movable platform, a static platform, three movable branched chains with the same structure and a rotary branched chain, wherein the two ends of the movable branched chains are connected with the movable platform and the static platform by spherical pairs respectively; one end of the rotary branched chain is connected with the static platform by a rotary pair; the other end of the rotary branched chain is fixedly connected with the movable platform. The movable branched chains are uniformly distributed along the peripheral direction and the rotary branched chain is located among the three movable branched chains. With the adoption of the device, the movable platform does spherical three-dimensional rotation around a fixed point, and the device has the characteristics of high rigidity, large working space, easiness for installation and the like. The mechanism has a simple structure; all the movable branched chains have symmetrical structures and can be applied to application occasions of space posture positioning of robot shoulder joints, satellite positioning devices and the like.
Description
Technical field
What the present invention relates to is the technology that a kind of Robot Design manufactures field, specifically a kind of three-degree-of-freedom spherical parallel mechanism with passive side chain.
Background technology
Parallel institution usually to be connect by many side chains by moving platform and fixed platform and forms, comparatively serial mechanism, the advantage such as have compact conformation, rigidity, bearing capacity is strong, accumulated error is little, therefore obtains widely in practical implementation.Three-degree-of-freedom spherical parallel mechanism, its moving platform can realize three rotations around fixing point, therefore, can be used for the reparation of flexible eye, waist joint, wrist joint, shoulder joint and ankle-joint, also can be used for the location of lathe base in the rotary table of machining, machine tooling and work, also can be used for satellite positioning device etc.
Through finding the retrieval of prior art, Chinese patent literature CN101306534, open (bulletin) day 2008.11.19, disclose a kind of biased output three-degree-of-freedom spherical parallel mechanism with center Spherical hinge, it is made up of three-degree-of-freedom spherical parallel mechanism, center Spherical hinge and biased take-off lever unit, lower support bar 3 lower end and the fixed platform 1 of its astrosphere face hinge are fixed, and the axis of lower support bar 3 passes through the central point of fixed platform 1; The straight take-off lever 8 of cylinder passes moving platform 7 center and fixes with it or be connected with prism moving sets; Straight take-off lever 8 upper end and biased take-off lever 9 connect firmly at center line intersection point A, and the axis angle α h of the straight take-off lever of cylinder 8 and biased take-off lever 9, α h span is 0 ° ~ 100 °, and biased direction is arbitrary.But this technology has three makes the range of movement of mechanism be subject to certain restrictions containing the side chain of three rotational freedoms, and manufacture inconvenience is installed at Spherical hinge place, center.
Chinese patent literature CN102962840A, open (bulletin) day 2013.03.13, disclose and a kind ofly there is symmetrical structure and without the parallel institution of associated movement, it has fixed, dynamic two platforms and three the identical active branch of structure being connected this two platform, the fixed platform moving sets that every bar active branch is connected with fixed platform by one, a moving platform moving sets be connected with moving platform and the three-degree-of-freedom spherical subchain being connected fixed platform moving sets and moving platform moving sets are formed, this sphere subchain comprises the revolute pair that three axis intersect at a bit, its intersection point is branch hub point, the central point of above-mentioned three branches forms a mid-plane, and above-mentioned fixed and moving two platforms are symmetrical about this mid-plane, and above-mentioned fixed platform moving sets and moving platform moving sets are arranged with fixed and moving two platform inclinations respectively.But in every bar side chain, all there are two moving sets in this technology, and bearing capacity is not high.
Chinese patent literature CN101924266A, open (bulletin) day 2010.12.22, discloses a kind of spherical three-degree-of-freedom parallel mechanism antenna structure system.It connects an antenna mount by an antenna reflector and forms, and antenna mount is consisted of three branch road mechanisms connections that structure is identical upper and lower two platforms.Every bar branch road is all connect by 3 revolute pairs by upper mounting plate, upper garden arc support, lower garden arc support and lower platform and forms, and one of them revolute pair connects a motor.Upper mounting plate is fixedly connected with antenna reflector, and lower platform is connected with ground frame or antenna carrier frame, motor direct-drive or drive lower garden arc support, upper garden arc support and upper mounting plate and antenna reflector to make spherical three-degree-of-freedom by speed changer to rotate.This technology can satisfactorily resolve the remote sensing telemetered signal and data that obtain the aircraft such as satellite, carrier rocket, realizes antenna spatial domain Continuous Tracking of " crossing top ", reaches more than hemisphere work spatial domain or hemisphere and to work spatial domain.But the every bar side chain in this technology is by 3R pair composition, and 9 revolute pairs in mechanism need meet at a bit, which increase the installation difficulty of mechanism, and range of movement are restricted.
Summary of the invention
The present invention is directed to prior art above shortcomings, propose a kind of three-degree-of-freedom spherical parallel mechanism with passive side chain, have rigidity high, working space is large, installs the features such as easy.
The present invention is achieved by the following technical solutions:
The present invention includes: the movement branched chain that moving platform, silent flatform, three root architectures are identical and one rotate side chain, wherein: the two ends of movement branched chain are connected with silent flatform with moving platform respectively by ball pair, the one end of rotating side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform.
Described movement branched chain is two-part rectilinear movement auxiliary structure, comprising: outer bar and the interior bar be socketed with it.
Described rotation side chain comprises: the 4th straight-bar that the ears support be connected with silent flatform and one end are fixedly connected with moving platform, wherein: four ends of the ears support of intersection superposition are connected with silent flatform respectively by four revolute pairs, 4th straight-bar, is connected with superposition place that intersects of ears support by the 5th revolute pair.
Described movement branched chain adopts ball screw to drive, and described rotation side chain is passive side chain.
Technique effect
Compared with prior art, the present invention by the middle pole of particular design with three containing two balls secondary and and the side chain of a moving sets combine, make mechanism's larger range of movement of acquisition and bearing capacity.In addition, the present invention is simple and compact for structure, and assembling easily, good rigidity, working space is large, and mechanism kinematic is flexible, can be applicable to the eye of robot, waist joint, wrist joint, shoulder joint and ankle-joint, range of movement is comparatively large and can be used for the occasion that satellite positioning device etc. needs three-degree-of-freedom spherical to rotate.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of middle pole;
In figure: moving platform, silent flatform, movement branched chain P
1, rotate side chain, outer bar L
11, interior bar L
12, the 4th straight-bar L
4, ears support.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: moving platform, silent flatform, the movement branched chain P that three root architectures are identical
1side chain is rotated, wherein: movement branched chain is connected with silent flatform respectively at moving platform with the two ends of rotating side chain with one.
Described movement branched chain P
1for circumference is uniformly distributed, the diameter angle namely from the circumference center of circle to pin joint is 120 degree; Described rotation side chain is positioned at the centre of three movement branched chain.
Described movement branched chain P
1two ends respectively by ball secondary S
1, S
2be connected with silent flatform with moving platform.
Described movement branched chain P
1for two-part rectilinear movement auxiliary structure, comprising: outer bar L
11bar L in being socketed with it
12.
One end of described rotation side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform.
Described rotation side chain comprises: the 4th straight-bar L that the ears support be connected with silent flatform and one end are fixedly connected with moving platform
4, wherein: four ends of the ears support of intersection superposition are respectively by four revolute pair R
1~ R
4be connected with silent flatform, the 4th straight-bar L
4, by the 5th revolute pair R
5be connected with superposition place that intersects of ears support.
The rotational motion secondary R that in the 4th described side chain, ears support is connected with silent flatform
1, R
2with the R of intersection
3intersect at O point, fulcrum when this point is exactly moving platform motion.
Described movement branched chain P
1employing ball screw drives, and described rotation side chain is passive side chain.
This device can realize based on said structure moving platform to make sphere three-dimensional rotation around fixing point.
Claims (6)
1. one kind has the three-degree-of-freedom spherical parallel mechanism of passive side chain, it is characterized in that, comprise: the movement branched chain that moving platform, silent flatform, three root architectures are identical and one rotate side chain, wherein: the two ends of movement branched chain are connected with silent flatform with moving platform respectively by ball pair, the one end of rotating side chain is connected by revolute pair with silent flatform, and the other end is fixedly connected with moving platform.
2. three-degree-of-freedom spherical parallel mechanism according to claim 1, is characterized in that, described movement branched chain is that circumference is uniformly distributed; Described rotation side chain is positioned at the centre of three movement branched chain.
3. three-degree-of-freedom spherical parallel mechanism according to claim 1, is characterized in that, described movement branched chain is two-part rectilinear movement auxiliary structure, comprising: outer bar and the interior bar be socketed with it.
4. three-degree-of-freedom spherical parallel mechanism according to claim 1, it is characterized in that, described rotation side chain comprises: the 4th straight-bar that the ears support be connected with silent flatform and one end are fixedly connected with moving platform, wherein: four ends of the ears support of intersection superposition are connected with silent flatform respectively by four revolute pairs, 4th straight-bar, is connected with superposition place that intersects of ears support by the 5th revolute pair.
5. three-degree-of-freedom spherical parallel mechanism according to claim 4, is characterized in that, the secondary intersection of the rotational motion that in the 4th described side chain, ears support is connected with silent flatform intersects at a point, fulcrum when this point is exactly moving platform motion.
6. the three-degree-of-freedom spherical parallel mechanism according to above-mentioned arbitrary claim, is characterized in that, described movement branched chain adopts ball screw to drive, and described rotation side chain is passive side chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510230820.4A CN104827462B (en) | 2015-05-07 | 2015-05-07 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510230820.4A CN104827462B (en) | 2015-05-07 | 2015-05-07 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104827462A true CN104827462A (en) | 2015-08-12 |
| CN104827462B CN104827462B (en) | 2016-05-25 |
Family
ID=53805837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510230820.4A Expired - Fee Related CN104827462B (en) | 2015-05-07 | 2015-05-07 | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104827462B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN105406199A (en) * | 2015-12-21 | 2016-03-16 | 哈尔滨工业大学 | Antenna array plane automatic docking and adjusting platform |
| CN105459086A (en) * | 2015-12-21 | 2016-04-06 | 哈尔滨工业大学 | Horizontal direction and yaw-adjustable three-degree-of-freedom parallel posture adjusting platform |
| CN106003154A (en) * | 2016-06-08 | 2016-10-12 | 边绍康 | Bionic eye device, bionic eye equipment and image construction method |
| CN108444632A (en) * | 2018-02-08 | 2018-08-24 | 上海交通大学 | Parallel-connection structure 6 DOF force measuring sensors based on SPS branches |
| CN108646382A (en) * | 2018-03-30 | 2018-10-12 | 中国科学院上海光学精密机械研究所 | Flexible parallel connection Three dimensional rotation support under heavy load and adjustment structure |
| CN108836582A (en) * | 2018-04-16 | 2018-11-20 | 北京工业大学 | A kind of Three Degree Of Freedom serial-parallel mirror artificial hand wrist joint |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN114750893A (en) * | 2021-04-02 | 2022-07-15 | 中国海洋大学 | Deck support combination device for floating and supporting installation of ocean engineering upper module |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN203449323U (en) * | 2013-07-29 | 2014-02-26 | 燕山大学 | Large work space spherical parallel bionic shoulder joint with center spherical pair |
-
2015
- 2015-05-07 CN CN201510230820.4A patent/CN104827462B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN101292935A (en) * | 2008-02-02 | 2008-10-29 | 河北工业大学 | Robot for rehabilitation of anklebone |
| CN101444892A (en) * | 2008-10-17 | 2009-06-03 | 电子科技大学 | Reconstructable hybrid machine tool of mechanical system and fault tolerance correcting method |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN203449323U (en) * | 2013-07-29 | 2014-02-26 | 燕山大学 | Large work space spherical parallel bionic shoulder joint with center spherical pair |
Non-Patent Citations (1)
| Title |
|---|
| 王南: "并联机构3-SPS/S的静、动态刚度性能分析", 《机械设计与制造》 * |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216999B (en) * | 2015-10-16 | 2017-07-04 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and the underwater robot with the device |
| CN105216999A (en) * | 2015-10-16 | 2016-01-06 | 山东大学（威海） | Freedom degree parallel connection type vector propulsion device and there is the under-water robot of this device |
| CN105406199A (en) * | 2015-12-21 | 2016-03-16 | 哈尔滨工业大学 | Antenna array plane automatic docking and adjusting platform |
| CN105459086A (en) * | 2015-12-21 | 2016-04-06 | 哈尔滨工业大学 | Horizontal direction and yaw-adjustable three-degree-of-freedom parallel posture adjusting platform |
| CN105459086B (en) * | 2015-12-21 | 2017-09-12 | 哈尔滨工业大学 | A kind of freedom degree parallel connection posture adjustment platform of horizontal direction and yaw steering |
| CN105406199B (en) * | 2015-12-21 | 2017-12-15 | 哈尔滨工业大学 | A kind of antenna array automatic butt adjusts platform |
| CN106003154A (en) * | 2016-06-08 | 2016-10-12 | 边绍康 | Bionic eye device, bionic eye equipment and image construction method |
| CN108444632A (en) * | 2018-02-08 | 2018-08-24 | 上海交通大学 | Parallel-connection structure 6 DOF force measuring sensors based on SPS branches |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN108646382A (en) * | 2018-03-30 | 2018-10-12 | 中国科学院上海光学精密机械研究所 | Flexible parallel connection Three dimensional rotation support under heavy load and adjustment structure |
| CN108646382B (en) * | 2018-03-30 | 2020-06-30 | 中国科学院上海光学精密机械研究所 | Flexible parallel three-dimensional rotation supporting and adjusting structure under heavy load |
| CN108836582A (en) * | 2018-04-16 | 2018-11-20 | 北京工业大学 | A kind of Three Degree Of Freedom serial-parallel mirror artificial hand wrist joint |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
| CN114750893A (en) * | 2021-04-02 | 2022-07-15 | 中国海洋大学 | Deck support combination device for floating and supporting installation of ocean engineering upper module |
| CN113001525A (en) * | 2021-04-25 | 2021-06-22 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
| CN113001525B (en) * | 2021-04-25 | 2022-03-29 | 西安科技大学 | Parallel mechanism with rotatable axis mechanical arm and movement method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104827462B (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104827462A (en) | Three-degree-of-freedom spherical parallel mechanism with driven branched chain | |
| CN104827463A (en) | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair | |
| CN100363151C (en) | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide | |
| CN2936617Y (en) | One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism | |
| CN103639712B (en) | A kind of three rotation spherical parallel institutions | |
| US8516917B2 (en) | Translational branch joint and parallel robot utilizing the same | |
| US11203112B2 (en) | Three-degree-of-freedom parallel mechanism | |
| CN103231254B (en) | Redundant drive three-freedom-degree parallel mechanism with double motion platforms | |
| CN104889976B (en) | A kind of three rotate decoupling sphere parallel robot mechanism | |
| CN103317498B (en) | Folding type five-degree-of-freedom parallel connected attitude adjustment platform | |
| CN103302659B (en) | Single-degree-of-freedom metamorphic mechanism | |
| WO2018223363A1 (en) | Three-degrees-of-freedom decoupled spherical parallel mechanism | |
| CN102632394B (en) | Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts | |
| US10994410B2 (en) | Three-degree-of-freedom parallel mechanism with curved sliding pairs | |
| CN103895009A (en) | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism | |
| CN205614648U (en) | Redundant driven two -degree -of -freedom spherical surface parallel mechanism of high rigidity | |
| CN104942796A (en) | Three-translation two-rotation five-freedom rotation and translation complete decoupling parallel mechanism | |
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| CN106903678B (en) | A kind of 3-freedom parallel mechanism with arc prismatic pair | |
| CN2762940Y (en) | Spherical surface three-freedom parallel mechanism | |
| CN105380749A (en) | Steel wire rope transmission universal mechanism used for surgical driller | |
| CN111037538A (en) | Underwater three-degree-of-freedom attitude adjustment parallel device | |
| CN202539952U (en) | Three-freedom-degree parallel mechanism with two vertical interested rotating shafts | |
| CN104942795A (en) | One-translation two-rotation three-freedom-degree translation-movement complete-decoupling parallel mechanism | |
| CN106625591A (en) | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20190507 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |