CN102962836B - Symmetric two-rotation one-movement parallel mechanism - Google Patents
Symmetric two-rotation one-movement parallel mechanism Download PDFInfo
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- CN102962836B CN102962836B CN201210445042.7A CN201210445042A CN102962836B CN 102962836 B CN102962836 B CN 102962836B CN 201210445042 A CN201210445042 A CN 201210445042A CN 102962836 B CN102962836 B CN 102962836B
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Abstract
The invention provides a symmetric two-rotation one-movement parallel mechanism, consisting of two platforms, i.e. a fixed platform and a moving platform, and three active branches, wherein the three active branches are connected with the two platforms and have a completely same structure respectively; each active branch consists of a fixed platform rotation pair, a lower side movement pair, a middle rotation pair, an upper side movement pair, a moving platform rotation pair and connecting rods; through the connecting rods, the fixed platform rotation pairs, the lower side movement pairs, the middle rotation pairs, the upper side movement pairs and the moving platform rotation pair are connected respectively; the axes of each fixed platform rotation pair, each moving platform rotation pair and each middle rotation pair are intersected at one point in the space, i.e. a branch center point; the branch center points of the three active branches form a middle plane; the fixed platforms and the moving platforms are congruent triangles, and further are symmetric about the middle plane; and the fixed platform rotation pair and the moving platform rotation pair in each branch are also symmetric about the middle plane as well. The symmetric two-rotation one-movement parallel mechanism adopts a symmetric structure and further can continuously rotate around any one axis or any one point within the middle symmetric plane, so that the occurrence of associated movement can be effectively prevented; and therefore, the movement control on the mechanism is facilitated greatly.
Description
technical fieldthe present invention relates to robot field, particularly a kind of parallel institution.
background technologythe parallel institution with two rotational freedoms and an one-movement-freedom-degree has a wide range of applications in mechanical industry field.Two turn one is moved is can be interactional between the rotation of parallel institution and movement.Move in parallel institution at some two turn one, the moving platform of mechanism does not have the one-movement-freedom-degree in certain direction, but the movement in this direction can occur the central point of moving platform.This movement on non-free degree direction in mechanism is called " associated movement " by scholars.The existence of associated movement can be demarcated the track of mechanism and trajectory planning is made troubles, and increases the complexity controlled.Therefore, by reasonably designing the problem that the associated movement reducing or eliminating mechanism is the needs solution when carrying out mechanism design.
The associated movement problem that a lot of scholar once moved in parallel institution for two turn one carried out particular study, and have devised the mechanism (CN101518898A, CN101497167A) that some do not have associated movement.But what these mechanisms all adopted is non-symmetrical structure form, and mechanism does not have isotropism, and manufacture and maintenance cost higher.
summary of the inventionthe object of the present invention is to provide that a kind of cost is low, isotropism preferably symmetrical two turn one move parallel institution.The present invention is primarily of fixed, dynamic two platforms are formed with the identical active branch of three structures being connected this two platform, above-mentioned three active branch are by fixed platform revolute pair, downside moving sets, central rotational is secondary, upside moving sets, moving platform revolute pair and connect they connecting rod form, wherein fixed platform revolute pair is connected with fixed platform, and be in tilted layout with fixed platform, downside moving sets is connected with above-mentioned fixed platform revolute pair by connecting rod, and the axis of above-mentioned downside moving sets and fixed platform revolute pair is parallel to each other, central rotational pair is connected by connecting rod with above-mentioned downside moving sets, upside moving sets is connected by connecting rod with above-mentioned central rotational pair, moving platform revolute pair is connected with above-mentioned upside moving sets by connecting rod, and the axis of above-mentioned moving platform revolute pair and upside moving sets are parallel to each other, moving platform revolute pair is connected with moving platform, and be in tilted layout with moving platform, above-mentioned fixed platform revolute pair, the axes intersect of moving platform revolute pair and central rotational pair in space a bit, and this point is branch hub point, the branch hub point of above-mentioned three active branch constitutes a mid-plane, above-mentioned fixed, dynamic two platforms are the triangle of congruence, and it is symmetrical about above-mentioned mid-plane, fixed platform revolute pair in each branch and moving platform revolute pair are also symmetrical about this mid-plane.
Fixed platform revolute pair in above-mentioned active branch and downside moving sets can replace with a cylindrical pair, and moving platform revolute pair and upside moving sets can replace with a cylindrical pair.
The present invention compared with prior art tool has the following advantages:
1, three branches of the present invention are identical, are a kind of 3-freedom parallel mechanisms of symmetry, have good isotropism in motion process, and manufacture and maintenance cost lower;
2, moving platform of the present invention can realize the continuous rotation of any axis in the intermediate symmetry plane of fixed and moving two platforms or any point, effectively can avoid the generation of associated movement, bring great convenience to the motion control of mechanism, have broad application prospects.
accompanying drawing illustrates:
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2.
detailed description of the invention:
Embodiment 1
Move in the schematic perspective view of parallel institution the symmetry shown in Fig. 1 two turn, article three, the identical active branch of structure connects fixed platform 1 and moving platform 6, above-mentioned three active branch are by fixed platform revolute pair R1, downside moving sets P2, central rotational secondary R3, upside moving sets P4, moving platform revolute pair R5 and connect they connecting rod form, wherein fixed platform revolute pair R1 is connected with fixed platform 1 and for being in tilted layout, downside moving sets P2 is connected with fixed platform revolute pair R1 by connecting rod 2, and axis of moving sets P2 and fixed platform revolute pair R1 is parallel to each other on the downside of this, central rotational secondary R3 is connected by connecting rod 3 with downside moving sets P2, upside moving sets P4 is connected by connecting rod 4 with central rotational secondary R3, moving platform revolute pair R5 is connected with upside moving sets P4 by connecting rod 5, and the axis of moving platform revolute pair R5 and upside moving sets P4 are parallel to each other, moving platform revolute pair R5 is connected with moving platform 6 and for being in tilted layout, the axis of the axis of above-mentioned fixed platform revolute pair R1 and the axis of moving platform revolute pair R5 and central rotational secondary R3 meets at 1, space O1, this point is the branch hub point of this branch, the branch hub point O1 of above-mentioned three active branch, O2, O3 constitutes a mid-plane, above-mentioned fixed, dynamic two platforms are the triangle of congruence, and it is symmetrical about above-mentioned mid-plane, fixed platform revolute pair R1 in each branch and moving platform revolute pair R5 is also symmetrical about this mid-plane.
Embodiment 2
Move in the schematic perspective view of parallel institution the symmetry shown in Fig. 2 two turn, article three, the identical active branch of structure connects fixed platform 1 and moving platform 6, above-mentioned three active branch are by fixed platform cylindrical pair C1, moving platform cylindrical pair C3 and central rotational secondary R2 is formed, wherein fixed platform cylindrical pair C1 is connected with fixed platform 1 and for being in tilted layout, this fixed platform cylindrical pair C1 is connected with central rotational secondary R2 by connecting rod 2, above-mentioned central rotational secondary R2 is connected with moving platform cylindrical pair C3 by connecting rod 3, above-mentioned moving platform cylindrical pair C3 is connected with moving platform 6 and for being in tilted layout, the axis of above-mentioned fixed platform cylindrical pair C1 and the above-mentioned axis of moving platform cylindrical pair C3 and the axes intersect of central rotational secondary R2 be 1 O1 in space, this point is the branch hub point of this branch, the branch hub point O1 of above-mentioned three active branch, O2, O3 constitutes a mid-plane, above-mentioned fixed, dynamic two platforms are the triangle of congruence, and it is symmetrical about above-mentioned mid-plane, fixed platform cylindrical pair C1 in Mei Tiao branch and moving platform cylindrical pair C3 is also symmetrical about this mid-plane.
Claims (2)
1. a symmetry two turn moves parallel institution, it has fixed, dynamic two platforms and three the identical active branch of structure being connected this two platform, it is characterized in that: above-mentioned three active branch are by fixed platform revolute pair, downside moving sets, central rotational is secondary, upside moving sets, moving platform revolute pair and connect they connecting rod form, wherein fixed platform revolute pair is connected with fixed platform, and be in tilted layout with fixed platform, downside moving sets is connected with above-mentioned fixed platform revolute pair by connecting rod, and the axis of above-mentioned downside moving sets and fixed platform revolute pair is parallel to each other, central rotational pair is connected by connecting rod with above-mentioned downside moving sets, upside moving sets is connected by connecting rod with above-mentioned central rotational pair, moving platform revolute pair is connected with above-mentioned upside moving sets by connecting rod, and the axis of above-mentioned moving platform revolute pair and upside moving sets are parallel to each other, moving platform revolute pair is connected with moving platform, and be in tilted layout with moving platform, the axes intersect of the axis of above-mentioned fixed platform revolute pair and the axis of moving platform revolute pair and central rotational pair in space a bit, and this point is branch hub point, the branch hub point of above-mentioned three active branch constitutes a mid-plane, above-mentioned fixed, dynamic two platforms are the triangle of congruence, and it is symmetrical about above-mentioned mid-plane, fixed platform revolute pair in each branch and moving platform revolute pair are also symmetrical about above-mentioned mid-plane.
2. symmetrical two turn one according to claim 1 is moved parallel institution, and it is characterized in that: above-mentioned fixed platform revolute pair and downside moving sets replace with a cylindrical pair, above-mentioned moving platform revolute pair and upside moving sets replace with a cylindrical pair.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445042.7A CN102962836B (en) | 2012-11-09 | 2012-11-09 | Symmetric two-rotation one-movement parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210445042.7A CN102962836B (en) | 2012-11-09 | 2012-11-09 | Symmetric two-rotation one-movement parallel mechanism |
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| Publication Number | Publication Date |
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| CN102962836A CN102962836A (en) | 2013-03-13 |
| CN102962836B true CN102962836B (en) | 2015-01-07 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105945917B (en) * | 2016-06-02 | 2020-07-28 | 燕山大学 | Multi-rotation center type two-rotation one-movement parallel mechanism |
| CN106112976A (en) * | 2016-07-18 | 2016-11-16 | 燕山大学 | A kind of have continuous rotating shaft and easily controllable symmetry two turn shifting parallel institution |
| CN106181967B (en) * | 2016-07-18 | 2019-02-01 | 燕山大学 | No associated movement has symmetrical two turn of one shifting parallel institution of more continuous shafts |
| CN106493717B (en) * | 2016-12-30 | 2019-04-12 | 北京工业大学 | The icosahedral single movement of one kind can open up symmetrical coupled mechanism |
| CN112405499B (en) * | 2020-10-27 | 2023-07-28 | 北京工业大学 | Three-degree-of-freedom symmetrical parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2124180B (en) * | 1982-07-24 | 1985-09-11 | Marconi Co Ltd | Hand-like mechanisms |
| CN1189288C (en) * | 2002-12-04 | 2005-02-16 | 北京交通大学 | Parallel robot mechanism with three-freedom rotating platform |
| CN101055221A (en) * | 2007-05-25 | 2007-10-17 | 江苏大学 | Parallel device multiple-dimensional vibration platform |
| JP2009023056A (en) * | 2007-07-20 | 2009-02-05 | Jtekt Corp | Machine tool with parallel mechanism |
| CN102626921B (en) * | 2012-03-22 | 2015-01-07 | 燕山大学 | Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains |
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