CN104985591B - Six degree of freedom rotates and mobile full decoupled parallel institution - Google Patents
Six degree of freedom rotates and mobile full decoupled parallel institution Download PDFInfo
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- CN104985591B CN104985591B CN201510387678.4A CN201510387678A CN104985591B CN 104985591 B CN104985591 B CN 104985591B CN 201510387678 A CN201510387678 A CN 201510387678A CN 104985591 B CN104985591 B CN 104985591B
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Abstract
A kind of six degree of freedom rotates and mobile full decoupled parallel institution, including：Moving platform, pedestal and three movement branched chain, wherein：One end of movement branched chain is all connected with base runner, and the other end is rotated with moving platform and is connected, and three described movement branched chain structures are identical, all include：One one-dimensional or two-dimensional motion mechanism and a rotating mechanism, described flexible connection refers to：Article three, movement branched chain is all one-dimensional with pedestal or two-dimensional active is connected, so that moving platform is made two-dimensional movement or made spherical three-degree-of-freedom rotation around fixing point O；The Three dimensional rotation feature of described moving platform is only relevant with arc moving sets driving, and unrelated with moving sets driving；The three-dimensional moving characteristic of point O is only relevant with moving sets driving, and unrelated with the driving of arc moving sets；The rotation feature of moving platform and moving characteristic have the advantages that to rotate and movement is full decoupled.
Description
Technical field
The present invention relates to a kind of technology of robot field, specifically a kind of six degree of freedom rotates and movement solves completely
Decoupling parallel mechanism.
Background technology
Parallel institution generally passes through a plurality of side chain connection by moving platform and fixed platform and forms, and compared with serial mechanism, has knot
The advantages of structure is compact, rigidity, bearing capacity are strong, cumulative error is little, therefore obtain in extensive practical implementation.
Existing most of six-degree-of-freedom parallel connection mechanism does not have decoupling feature, controls complex it is more difficult to meet engineering in fact
Border application requirement；Most of six-degree-of-freedom parallel connection mechanisms are respectively provided with 6 chains at present, and the work that this not only limit moving platform is empty
Between, and increase material, make structure increasingly complex.
Find through the retrieval to prior art, Chinese patent literature CN104626099A, open (bulletin) day
2015.05.20, a kind of full decoupled mobile six degree of freedom hybrid mechanism of three rotation three, its support and halfpace are disclosed
Connected by three structure identical branches between one, this branch is made up of four kinematic pairs, is linear drives moving sets respectively, turn
Dynamic pair, rectilinear movement is secondary or rotates secondary and universal hinge or rotates secondary.Rotated secondary between halfpace one and halfpace two by one
Connect, halfpace two is connected by RPS branch, PSPR branch, PS branch and SPS branch between moving platform.But the prior art
Side chain, moving link and kinematic pair more and there are three platforms, this makes complex structure.
Content of the invention
The present invention is directed to deficiencies of the prior art, proposes a kind of six degree of freedom rotation and movement is full decoupled simultaneously
Online structure, the rotation feature of its moving platform and moving characteristic have the characteristics that rotation movement is full decoupled, and the present invention has
Side chain is few, and, simply it is easy to assembling, mechanism performance height is it is easy to control for structure.
The present invention is achieved by the following technical solutions：
The present invention includes：Moving platform, pedestal and three movement branched chain, wherein：All lived with pedestal in one end of movement branched chain
It is dynamically connected, the other end is rotated with moving platform and is connected so that moving platform is made two-dimensional movement or turned as spherical three-degree-of-freedom around fixing point O
Dynamic.
Three described movement branched chain structures are identical, all include：One one-dimensional or two-dimensional motion mechanism and a rotation
Mechanism, wherein：The two ends of rotating mechanism are rotated with moving platform and one-dimensional or two-dimensional motion mechanism respectively and are connected and constitute two and turn
Dynamic pair, one-dimensional or two-dimensional motion mechanism the other end is connected with base runner.
Described rotating mechanism adopts arc moving sets or two bows rotating connection to realize, this rotating mechanism itself
Constitute moving sets or a rotation is secondary.
Described one-dimensional or two-dimensional motion mechanism is secondary or pure flat by the pair that moves linearly, straight connecting rod, parallelogram motion
Dynamic universal hinge is realized.
Described flexible connection refers to：
A) three movement branched chain are all one-dimensional with pedestal is flexibly connected, or
B) three movement branched chain are all connected with pedestal two-dimensional active.
Described movement branched chain all by arc moving sets or rotates secondary driving.
Technique effect
Compared with prior art, the present invention is greatly reduced the quantity of side chain, simple and compact for structure, and assembling is easy, rigidity
Good, flexibly, the rotation feature of moving platform is full decoupled with moving characteristic for mechanism kinematic.
Brief description
Fig. 1 is embodiment 1 structure chart；
Fig. 2 is embodiment 2 structure chart；
Fig. 3 is embodiment 3 structure chart；
Fig. 4 is embodiment 4 structure chart；
In figure：1 be pedestal, 2,3,4 be straight connecting rod, 5 arc lower bars, 6 be upper bow, 7 be moving platform, L1～L3 be fortune
Dynamic side chain, PR are arc moving sets, P1～P3 is rectilinear movement pair, R11～R31 is to rotate secondary, the universal hinge of U* pure translational.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
Embodiment 1
As shown in figure 1, the present embodiment includes：Moving platform 7, pedestal 1 and three movement branched chain L1～L3, wherein：Motion
One end of side chain L1～L3 is all flexibly connected with pedestal 1, and the other end is rotated with moving platform 7 and is connected so that moving platform 7 makees two dimension shifting
Move or make spherical three-degree-of-freedom around fixing point O and rotate.
In the present embodiment, three movement branched chain are all connected with pedestal 1 two-dimensional active, and this three movement branched chain L1～L3 all wrap
Include：One one-dimensional or two-dimensional motion mechanism and a rotating mechanism, wherein：The two ends of rotating mechanism respectively with moving platform 7 and
One-dimensional or two-dimensional motion mechanism rotates and connects and constitute two and rotate secondary R1, R2, the other end of one-dimensional or two-dimensional motion mechanism and
Pedestal 1 is flexibly connected.
Rotating mechanism in the present embodiment adopts arc moving sets PR to realize, and described movement branched chain L1～L3 is all by arc
Shape moving sets or the secondary driving of rotation.
Described arc moving sets PR includes：The arc lower bar 5 being mutually flexibly connected and upper bow 6, wherein：Arc lower
One end of bar 5 is rotated with moving platform 7 and is connected, and one end of upper bow 6 is rotated with one-dimensional or two-dimensional motion mechanism and is connected.
In the present embodiment, one-dimensional or two-dimensional motion mechanism is realized by the secondary P3 that moves linearly.
Described pedestal 1 is provided with three to mobile secondary combination, and this moves one end phase of secondary combination and movement branched chain L1～L3
Even connect thus realizing two-dimensional active.
Described mobile secondary combination is made up of two moving sets being vertically connected.
Turns auxiliary shaft line in each movement branched chain all intersects at a point O, i.e. 6 on three movement branched chain L1～L3
Rotate secondary axis to converge at a bit.
In this device, the Three dimensional rotation feature of described moving platform is only relevant with arc moving sets PR driving, and with movement
Secondary P1 drives unrelated；The three-dimensional moving characteristic of point O is only relevant with moving sets P1 driving, and unrelated with arc moving sets PR driving；
The rotation feature of moving platform and moving characteristic have the advantages that to rotate and movement is full decoupled.
Embodiment 2
As shown in Fig. 2 the present embodiment is compared with Example 1, described rotating mechanism adopts two to rotate the arc connecting
Bar 5,6 is realized, and this rotation connection itself constitutes a rotation secondary R2, and it is secondary that rotating mechanism and moving platform 7 rotation connect and compose rotation
R3, rotating mechanism is rotated with rectilinear movement secondary P3 and connects and composes rotation secondary R1.
The technique effect that the present embodiment has compares embodiment 1：Its rigidity is more greatly it is easier to control.
Embodiment 3
One-dimensional or two-dimensional motion mechanism as shown in figure 3, the present embodiment is compared with Example 2, in described movement branched chain
Realized by parallelogram motion secondary Pa.
The technique effect that the present embodiment has compares embodiment 2：Because P pair is realized using parallelogram motion secondary Pa
Motion, this makes, and its structure is more stable, and rigidity is bigger.
Embodiment 4
One-dimensional or two-dimensional motion mechanism as shown in figure 4, the present embodiment is compared with Example 3, in described movement branched chain
Realized by pure translational universal hinge U*, and described movement branched chain is one-dimensional flexible connection with pedestal 1.
Described one-dimensional flexible connection, by the moving sets realization, this moving sets and the institute that are vertically installed on pedestal 1
State movement branched chain to be connected.
The technique effect that the present embodiment has compares embodiment 3：Because two-dimensional movement is realized using pure translational universal hinge U*
Motion, this makes, and its structure is more stable, and rigidity is bigger.
Claims (2)
1. a kind of six degree of freedom rotates and mobile full decoupled parallel institution is it is characterised in that include：Moving platform, pedestal and
Article three, movement branched chain, wherein：One end of movement branched chain is all connected with base runner, and the other end is rotated with moving platform and is connected, described
Three movement branched chain structures identical, all include：One one-dimensional or two-dimensional motion mechanism and a rotating mechanism, described work
It is dynamically connected and refer to：Article three, movement branched chain is all one-dimensional with pedestal or two-dimensional active is connected so that moving platform make two-dimensional movement or
Make spherical three-degree-of-freedom around fixing point O to rotate, the turns auxiliary shaft line in each movement branched chain all intersects at a point, i.e. three fortune
6 secondary axis of rotation on dynamic side chain converge at a bit；
The two ends of described rotating mechanism are rotated with moving platform and one-dimensional or two-dimensional motion mechanism respectively and are connected and constitute two and turn
Dynamic pair, one-dimensional or two-dimensional motion mechanism the other end is connected with base runner；
Described rotating mechanism adopts arc moving sets or two bows rotating connection to realize, and this rotating mechanism itself is constituted
One moving sets or a rotation are secondary；
Described one-dimensional or two-dimensional motion mechanism passes through move linearly pair, straight connecting rod, parallelogram motion pair or pure translational ten thousand
Realize to hinge；
Described two-dimensional active connects, and is connected with one end of movement branched chain by the mobile secondary combination being arranged on pedestal and is able to reality
Existing；Described mobile secondary combination is made up of two moving sets being vertically connected；
Described one-dimensional flexible connection, is connected with one end of movement branched chain by the moving sets being vertically installed on pedestal and is able to reality
Existing.
2. six degree of freedom according to claim 1 rotates and mobile full decoupled parallel institution, it is characterized in that, described fortune
Dynamic side chain all by arc moving sets or rotates secondary driving.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510387678.4A CN104985591B (en) | 2015-07-02 | 2015-07-02 | Six degree of freedom rotates and mobile full decoupled parallel institution |
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| CN201510387678.4A CN104985591B (en) | 2015-07-02 | 2015-07-02 | Six degree of freedom rotates and mobile full decoupled parallel institution |
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| CN104985591A CN104985591A (en) | 2015-10-21 |
| CN104985591B true CN104985591B (en) | 2017-03-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105291094B (en) * | 2015-11-27 | 2017-02-01 | 中国地质大学（武汉） | Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism |
| CN107351059A (en) * | 2017-06-09 | 2017-11-17 | 深圳先进技术研究院 | A kind of parallel institution of two-free-degree decoupling |
| CN111502213B (en) * | 2020-04-28 | 2021-07-13 | 清华大学 | Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same |
| CN116783036A (en) * | 2021-03-25 | 2023-09-19 | 苏州迈澜医疗科技有限公司 | Six-degree-of-freedom motion mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5279176A (en) * | 1992-07-20 | 1994-01-18 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs |
| CN100363151C (en) * | 2005-01-04 | 2008-01-23 | 浙江理工大学 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
| EP2602068A4 (en) * | 2010-08-02 | 2014-06-04 | Yaskawa Denki Seisakusho Kk | Parallel mechanism |
| CN103586862B (en) * | 2013-10-22 | 2015-08-26 | 上海交通大学 | Three-branched-chainsix-degree-of-freedorobot six-degree-of-freedorobot robot |
| CN104029197B (en) * | 2014-06-26 | 2016-01-20 | 山东大学（威海） | A kind of vector propulsion mechanism of underwater robot |
| CN104308835A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Plane-symmetry three-rotating parallel connection mechanism |
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