CN102126216A - Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom - Google Patents
Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom Download PDFInfo
- Publication number
- CN102126216A CN102126216A CN 201110089987 CN201110089987A CN102126216A CN 102126216 A CN102126216 A CN 102126216A CN 201110089987 CN201110089987 CN 201110089987 CN 201110089987 A CN201110089987 A CN 201110089987A CN 102126216 A CN102126216 A CN 102126216A
- Authority
- CN
- China
- Prior art keywords
- branch
- moving platform
- revolute pair
- universal hinge
- universal
- 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.)
- Pending
Links
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000088 lip Anatomy 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a parallel mechanism, which has the characteristics that concomitant motion does not exist and the mechanism is easy to control, simple in structure, high in rigidity and low in cost. The technical scheme is that: a symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom comprises a moving platform, a frame, and first, second and third branches connected in parallel between the moving platform and the frame, and is characterized in that: in the first, second and third branches, each branch is connected with a revolute pair, a kinematic pair and a universal hinge in turn from the frame to the moving platform, and the moving direction of the kinematic pair in each branch is vertical to the axis of the revolute pair; the axis of a revolute pair of the universal hinge connected with the moving platform in the first branch is collinear with the axis of a revolute pair of the universal hinge connected with the moving platform in the second branch, and passes through a central point of the universal hinge in the third branch; and the axis of a revolute pair of the universal hinge connected with the moving platform in the third branch is vertical or parallel to the axes of the revolute pairs of the two universal hinges connected with the moving platform in the first and second branches.
Description
Technical field
The present invention relates to a kind of robot mechanism, particularly a kind of parallel institution with two commentaries on classics, one shift three degrees of freedom.
Background technology
It is the focus that present international parallel robot academia and industrial quarters are paid close attention to that the institution freedom number of degrees are less than 6 lower-mobility parallel robot.Have the desired number of degrees of freedom, of a considerable amount of operation tasks to be less than 6 in actual applications, use suitable lower-mobility parallel robot this moment, and saving system effectively designs, makes, controls and safeguard the cost of aspect.
3DOF parallel institution with two rotational freedoms and one-movement-freedom-degree (being called for short 2 commentaries on classics 1 moves) is the very important class of lower-mobility parallel manipulator philtrum.3-PRS/RPS class parallel institution is that two typical cases that change a shift three degrees of freedom parallel institution represent, and the main shaft that is used as telescope focusing arrangement, motion simulator, microoperation manipulator, coordinate measuring machine, machining center is first-class.
Existing two change a shift three degrees of freedom parallel institution (US6431802, WO0025976, ZL 200610013608.3, EP1123175, CA2349579, DE59905578D, ES2198991T, ZL200710057179.4) all exist associated movement, cause kinematics model complexity, control in real time, demarcate difficulty.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of two improvement of changeing a shift three degrees of freedom parallel institution are provided, should there be associated movement in this mechanism, has the control of being easy to, and is simple in structure, rigidity is high, the characteristics of low cost of manufacture.
Technical scheme provided by the invention is:
Have the two symmetrical structure parallel institutions that change a shift three degrees of freedom, comprise moving platform, frame and be connected in moving platform in parallel and frame between first, second and the 3rd branch; It is characterized in that in described first branch, second branch and the 3rd branch, each branch is connected with revolute pair, moving sets and universal hinge in turn from the frame to the moving platform, and the direction of motion of moving sets and the axis normal of revolute pair in each branch; Universal in described first branch is hinged that universal in the revolute pair axis of moving platform and second branch is hinged the revolute pair axis conllinear of moving platform and through the central point of universal hinge in the 3rd branch; The universal revolute pair axis that is hinged moving platform is vertical or parallel to two universal revolute pair axis that are hinged moving platform in first branch, second branch in the 3rd branch.
Have at least one to be active moving sets or active rotation pair in moving sets in each branch or the revolute pair, initiatively the driving mechanism of moving sets is the screw mechanism of driven by motor, or servomotor, the driving mechanism of active rotation pair is the reductor of driven by motor.
But two rotational freedoms and an one-movement-freedom-degree of the present invention implementation space, and can not produce associated movement at the volley, its kinematics is described and is obtained simplifying, and is easy to control, demarcates; In addition because simple and reliable for structure, rigidity is high, manufacturing cost is minimized,, can be applicable to occasions such as parallel robot, parallel machine.
Description of drawings
Fig. 1 is the perspective view of the embodiment of the invention.
Among the figure: 11-frame, 21-frame, 31-frame, 4-moving platform;
In first branch: 111-connecting rod, 112-revolute pair, 113-moving sets, 114-connecting rod, the universal hinge of 110-, first rotating shaft of the universal hinge 110 of 110a-, second rotating shaft of the universal hinge 110 of 110b-;
In second branch: 211-connecting rod, 212-revolute pair, 213-moving sets, 214-connecting rod, the universal hinge of 210-, first rotating shaft of the universal hinge 210 of 210a-, second rotating shaft of the universal hinge 210 of 210b-;
In the 3rd branch: 311-connecting rod, 312-revolute pair, 313-moving sets, 314-connecting rod, 36-second revolute pair, 37-connecting rod, the universal hinge of 38-, first rotating shaft of the universal hinge 38 of 38a-, second rotating shaft of the universal hinge 38 of 38b-.
The specific embodiment
Further specify below in conjunction with embodiment shown in the drawings.
Among the embodiment, the axis of two revolute pairs in the universal hinge of described each branch is vertical mutually and crossing; The central point of described universal hinge is the intersection point of two revolute pair axis in the universal hinge; First rotating shaft in described universal hinge 18, universal hinge 28 and the universal hinge 38 is respectively the revolute pair that universal hinge directly connects moving platform.In addition, have at least one to be active moving sets or active rotation pair in the single dof mobility pair in each branch, the driving mechanism of described active moving sets is the screw mechanism of driven by motor, or servomotor, and the driving mechanism of active rotation pair is the reductor of driven by motor.The above is the conventional design of general robot mechanism.
As shown in Figure 1, moving platform 4 is connected with 31 by three branches and frame 11,21, connecting rod 111,211,311 is connected (frame 11, frame 21 and frame 31 are connected to one) respectively with frame 11, frame 21 and frame 31, revolute pair 112,212,312 1 ends are connected with connecting rod 111,211,311 respectively, and the other end of revolute pair 112,212,312 is connected with moving sets 113,213,313 respectively; One end of connecting rod 114,214,314 is connected with moving sets 113,213,313 respectively, and the other end of connecting rod 114,214 is connected with second rotating shaft 110b of universal hinge 110, second rotating shaft 210b of universal hinge 210 respectively; The other end of connecting rod 314 is connected with second revolute pair 36, and an end of connecting rod 37 is connected with second revolute pair 36, and the other end of connecting rod 37 is connected with second rotating shaft 38b of universal hinge 38; Moving platform 4 is connected with first rotating shaft 110a of universal hinge 110, first rotating shaft 210a of universal hinge 210 and first rotating shaft 38a of universal hinge 38 respectively; The dead in line of the axis of first rotating shaft 110a of universal hinge 110 and first rotating shaft 210a of universal hinge 210, and be parallel to the plane of moving platform; Second rotating shaft 110b of universal hinge 110 and second rotating shaft 210b of universal hinge 210 are parallel, and are parallel to the axis of revolute pair 112,212; The axis of first rotating shaft 38a of universal hinge 38 is parallel to the plane of moving platform, and perpendicular to the axis of revolute pair 36, second rotating shaft 38b of universal hinge 38 is perpendicular to the plane of moving platform; The central point of universal hinge 110 (crossing point of axes of rotating shaft 110a and 110b), the central point (crossing point of axes of rotating shaft 38a and 38b) of central point of universal hinge 210 (crossing point of axes of rotating shaft 210a and 210b) and universal hinge 38 is on same straight line.
Claims (2)
1. have the two symmetrical structure parallel institutions that change a shift three degrees of freedom, comprise moving platform (4), frame and be connected in moving platform in parallel and frame between first, second and the 3rd branch; It is characterized in that in described first branch, second branch and the 3rd branch, each branch is connected with revolute pair, moving sets and universal hinge in turn from the frame to the moving platform, and the direction of motion of moving sets and the axis normal of revolute pair in each branch; Universal in described first branch is hinged that universal in revolute pair (110a) axis of moving platform and second branch is hinged revolute pair (210a) the axis conllinear of moving platform and through the central point of universal hinge (38) in the 3rd branch; (38 a) are vertical or parallel to two universal revolute pair axis that are hinged moving platform in first branch, second branch to the universal revolute pair axis that is hinged moving platform in the 3rd branch.
2. the symmetrical structure parallel institution with two commentaries on classics, one shift three degrees of freedom according to claim 1, it is characterized in that having at least in moving sets in each branch or the revolute pair one to be initiatively moving sets or active rotation pair, initiatively the driving mechanism of moving sets is the screw mechanism of driven by motor, or servomotor, the driving mechanism of active rotation pair is the reductor of driven by motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110089987 CN102126216A (en) | 2011-04-12 | 2011-04-12 | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110089987 CN102126216A (en) | 2011-04-12 | 2011-04-12 | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102126216A true CN102126216A (en) | 2011-07-20 |
Family
ID=44264631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110089987 Pending CN102126216A (en) | 2011-04-12 | 2011-04-12 | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102126216A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366896A (en) * | 2011-11-11 | 2012-03-07 | 浙江理工大学 | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts |
| CN102626921A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains |
| CN102962835A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetrical two-rotation one-movement parallel mechanism free from associated movement |
| CN104029195A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Double-rotating and one movement overconstrained parallel mechanism |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN107044839A (en) * | 2016-02-05 | 2017-08-15 | 赫克斯冈技术中心 | Measuring machine based on Delta robot assemblies |
| CN112103647A (en) * | 2020-08-13 | 2020-12-18 | 上海大学 | 3-RPRRR two-to-one shift type parallel connection mechanism antenna structure system |
| CN113664809A (en) * | 2021-09-10 | 2021-11-19 | 江南大学 | Novel UP type two-rotation one-movement parallel mechanism with arc guide rail |
| CN113681547A (en) * | 2021-09-27 | 2021-11-23 | 辽宁工程技术大学 | Two-rotation one-movement parallel mechanism |
| CN114431004A (en) * | 2021-12-23 | 2022-05-06 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1311083A (en) * | 2001-02-27 | 2001-09-05 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| CN2559457Y (en) * | 2002-08-09 | 2003-07-09 | 哈尔滨工程大学 | Parallel robot mechanism with less free-space |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201389855Y (en) * | 2009-04-09 | 2010-01-27 | 浙江理工大学 | Parallel mechanism with three freedom degree of two-rotation and one-shifting |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
-
2011
- 2011-04-12 CN CN 201110089987 patent/CN102126216A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1311083A (en) * | 2001-02-27 | 2001-09-05 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| CN2559457Y (en) * | 2002-08-09 | 2003-07-09 | 哈尔滨工程大学 | Parallel robot mechanism with less free-space |
| CN1827312A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201389855Y (en) * | 2009-04-09 | 2010-01-27 | 浙江理工大学 | Parallel mechanism with three freedom degree of two-rotation and one-shifting |
| CN101844350A (en) * | 2010-06-07 | 2010-09-29 | 浙江理工大学 | Three degree of freedom parallel robot mechanism |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102366896A (en) * | 2011-11-11 | 2012-03-07 | 浙江理工大学 | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts |
| CN102366896B (en) * | 2011-11-11 | 2013-10-30 | 浙江理工大学 | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts |
| CN102626921A (en) * | 2012-03-22 | 2012-08-08 | 燕山大学 | Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains |
| CN102962835A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetrical two-rotation one-movement parallel mechanism free from associated movement |
| CN104029195A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Double-rotating and one movement overconstrained parallel mechanism |
| CN107044839A (en) * | 2016-02-05 | 2017-08-15 | 赫克斯冈技术中心 | Measuring machine based on Delta robot assemblies |
| US10495455B2 (en) | 2016-02-05 | 2019-12-03 | Hexagon Technology Center Gmbh | Measuring machine based on a delta robot assembly |
| CN107044839B (en) * | 2016-02-05 | 2020-05-05 | 赫克斯冈技术中心 | Measuring machine based on Delta robot assembly |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN112103647A (en) * | 2020-08-13 | 2020-12-18 | 上海大学 | 3-RPRRR two-to-one shift type parallel connection mechanism antenna structure system |
| CN113664809A (en) * | 2021-09-10 | 2021-11-19 | 江南大学 | Novel UP type two-rotation one-movement parallel mechanism with arc guide rail |
| CN113664809B (en) * | 2021-09-10 | 2022-08-09 | 江南大学 | Novel UP type two-rotation one-movement parallel mechanism with arc guide rail |
| CN113681547A (en) * | 2021-09-27 | 2021-11-23 | 辽宁工程技术大学 | Two-rotation one-movement parallel mechanism |
| CN114431004A (en) * | 2021-12-23 | 2022-05-06 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101518898B (en) | Parallel mechanism with three freedom degrees of twice rotation and once motion | |
| CN102126216A (en) | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom | |
| CN102126217A (en) | Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom | |
| CN201389855Y (en) | Parallel mechanism with three freedom degree of two-rotation and one-shifting | |
| CN102380771B (en) | High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism | |
| CN203045724U (en) | Two-degree-freedom space parallel mechanism | |
| CN100546775C (en) | Dual drive four-freedom space parallel mechanism | |
| CN204450527U (en) | A kind of sphere parallel mechanism with 2 rotational freedoms | |
| US11331791B2 (en) | 3 degree-of-freedoms decoupling spherical parallel mechanism | |
| CN108656087A (en) | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN202317698U (en) | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism | |
| CN102626870B (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN203619682U (en) | Series-parallel minimally invasive surgery mechanical arm with five freedom degrees | |
| CN101642907B (en) | Two-degrees-of-freedom translation parallel robot mechanism | |
| CN107639649B (en) | Permanent magnet variable-rigidity flexible joint for robot | |
| CN102303313B (en) | Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism | |
| CN104875189A (en) | (3T1R)&R completely isotropic parallel serial robot mechanism | |
| CN101259618A (en) | Three-freedom mobile parallel connection mechanism without redundant bondage | |
| CN104875190A (en) | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism | |
| CN101116971A (en) | Movement decoupling spherical surface rotating paralleling mechanism can be used as the robot wrist joint | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN103072134A (en) | Two-degree-of-freedom decoupling parallel mechanism with mixed movement | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110720 |