CN102975196A - Double-rotational freedom parallel mechanism - Google Patents
Double-rotational freedom parallel mechanism Download PDFInfo
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- CN102975196A CN102975196A CN2012105131575A CN201210513157A CN102975196A CN 102975196 A CN102975196 A CN 102975196A CN 2012105131575 A CN2012105131575 A CN 2012105131575A CN 201210513157 A CN201210513157 A CN 201210513157A CN 102975196 A CN102975196 A CN 102975196A
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Abstract
The invention discloses a double-rotational freedom parallel mechanism. The double-rotational freedom parallel mechanism comprises a fixed platform, a movable platform and a first branch and a second branch which are connected between the fixed platform and the movable platform; the movable platform comprises a main platform and a sub platform which are connected with each other through a revolute pair; planar parallelogram structures which are crossed with each other are respectively arranged in the first branch and second branch and respectively limit the translational motion of the main platform along two directions; under the limitation of the planar parallelogram structures in the first branch and second branch, a connecting line between two hinged centers on the sub platform and the connecting line between the two hinged centers on the main platform are intersected with each other at a point, through the rotation of a first drive arm in the first branch and a second drive arm in the second branch, the sub platform and the main platform are rotated, and furthermore, the two-dimensional rotation of the movable platform is realized. The movable platform of the mechanism adopts a double-platform structure, the planar parallelogram structures in the two branches are connected together to limit the translational motion freedom degree of the movable platform, and the centering rotation of the movable platform can be realized.
Description
Technical field
The invention belongs to mechanical field, particularly a kind of double rotation freedom degrees parallel institution without associated movement that can be applicable to joint of robot or machine tool accessories.
Background technology
At present, joint of robot particularly wrist joint adopts gear drive, series-mode frame to realize more, its complex structure, be difficult to install, manufacturing cost is high.
Two degrees of freedom rotary head as machine tool accessories also mostly is the series connection form, and its moving-mass is large, and rigidity is relatively poor.Patent CN100464946C proposes a kind of parallel A/B shaft mainshaft head structure, overcome the deficiency of tandem rotary head, but its structure is asymmetric, and the required installing space of mechanism is larger.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of simple structure, compact conformation, without the parallel institution of the double rotation freedom degrees of associated movement, simple structure of the present invention, compact conformation, moving-mass is little, is convenient to assembling, be easy to control, can be used for joint of robot or machine tool accessories.
In order to solve the problems of the technologies described above, the technical scheme that double rotation freedom degrees parallel institution of the present invention is achieved is: comprise fixed platform, moving platform and connect the first branch and the second branch between described fixed platform and the moving platform; Described moving platform comprises main platform and time platform, and described main platform is connected by revolute pair with described platform; Described the first branch comprises the first master arm and two the first isometric slave arms; Described the first master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the first slave arms is connected by revolute pair with the first master arm respectively, and between two the first slave arms and the first master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm and the fixed platform; The other end of two the first slave arms is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described platform; In described the first branch, described the first master arm, two the first slave arms and described platform consist of the plane parallel quadrilateral structure, thereby limit described platform along the revolute pair axis direction translational on described the first master arm; Described the second branch comprises the second master arm and two the second isometric slave arms; Described the second master arm is connected by revolute pair with described fixed platform, and provides power as driving pair for mechanism; One end of two the second slave arms is connected by revolute pair with the second master arm respectively, and between two the second slave arms and the second master arm axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm and the fixed platform; The other end of two the second slave arms is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described main platform; In described the second branch, described the second master arm, two the second slave arms and described main platform consist of the plane parallel quadrilateral structure, thereby limit described main platform along the revolute pair axis direction translational on described the second master arm; Be to intersect between the plane at the plane at described the first branch inner plane parallelogram sturcutre place and described the second branch inner plane parallelogram sturcutre place; Four hinge centers on described main platform and described the platform are coplanar, and the intersection point of the two hinge lines of centres on described platform and the two hinge lines of centres on the described main platform is by the axis of rotation of the revolute pair between described main platform and the inferior platform; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch and the second branch, on described platform on the two hinge lines of centres and the main platform position of intersecting point of the two hinge lines of centres fix, rotation by the second master arm in the first master arm in the first branch and the second branch, can realize the rotation of time platform and main platform, and then realize the two-dimensional rotary of moving platform.
Compared with prior art, the invention has the beneficial effects as follows:
Moving platform among the present invention adopts two platform structures, and the plane parallel quadrilateral structure in two branches is coupled together, and has limited the translational degree of freedom of moving platform, and can realize the centering rotation of moving platform.
Description of drawings
Fig. 1 is the overall structure schematic diagram of the parallel institution of double rotation freedom degrees of the present invention;
Fig. 2 is moving platform structural representation among the present invention;
Fig. 3 is the first branched structure schematic diagram among the present invention;
Fig. 4 is the second branched structure schematic diagram among the present invention.
Among the figure:
The 1-fixed platform, 2-moving platform, 2a-master's platform, 2b-platform, 3-the first branch, 3a-the first master arm, 3b, 3c-the first slave arm, 4-the second branch, 4a-the second master arm, 4b, 4c-the second slave arm.
The specific embodiment
Below in conjunction with the specific embodiment the present invention is described in further detail.
As shown in Figure 1, double rotation freedom degrees parallel institution of the present invention comprises fixed platform 1, moving platform 2 and connects the first branch 3 and the second branch 4 between described fixed platform and the moving platform; As shown in Figure 2, described moving platform 2 comprises main platform 2a and time platform 2b, and described main platform 2a is connected by revolute pair with described platform 2b.
As shown in Figure 3, described the first branch 3 comprises the first master arm 3a and two isometric the first slave arm 3b, 3c; Described the first master arm 3a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the first slave arm 3b, 3c is connected by revolute pair with the first master arm 3a respectively, and between two the first slave arm 3b, 3c and the first master arm 3a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm 3a and the fixed platform 1; The other end of two the first slave arm 3b, 3c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described platform 2b; If adopt respectively the two degrees of freedom hook hinge to be connected between two the first slave arm 3b, 3c and described the platform 2b, the axis (being the nearly platform axis of described two degrees of freedom hook hinge) that one of them two degrees of freedom hook hinge links to each other with described platform 2b is by the center of described upper another two degrees of freedom hook hinge of platform 2b; Simultaneously, the connection axis of each two degrees of freedom hook hinge and the first slave arm that is connected (being the platform axis far away of described two degrees of freedom hook hinge) is parallel to the revolute pair axis of this first slave arm one end.In described the first branch 3, described the first master arm 3a, two the first slave arm 3b, 3c and described platform 2b consist of the plane parallel quadrilateral structure, thereby limit described platform 2b along the revolute pair axis direction translational on described the first master arm 3a;
As shown in Figure 4, described the second branch 4 comprises the second master arm 4a and two isometric the second slave arm 4b, 4c; Described the second master arm 4a and described fixed platform 1 are connected by revolute pair, and provide power as driving pair for mechanism; The end of two the second slave arm 4b, 4c is connected by revolute pair with the second master arm 4a respectively, and between two the second slave arm 4b, 4c and the second master arm 4a axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm 4a and the fixed platform 1; The other end of two the second slave arm 4b, 4c is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described main platform 2a; If adopt respectively the two degrees of freedom hook hinge to be connected between two the second slave arm 4b, 4c and the described main platform 2a, the axis that one of them two degrees of freedom hook hinge links to each other with described main platform 2a (being the nearly frame axis of described two degrees of freedom hook hinge) is by the center of upper another two degrees of freedom hook hinge of described main platform 2a, simultaneously, the connection axis of each two degrees of freedom hook hinge and the second slave arm that is connected (being the frame axis far away of described two degrees of freedom hook hinge) is parallel to the revolute pair axis of this second slave arm one end.In described the second branch 4, described the second master arm 4a, two the second slave arm 4b, 4c and described main platform 2a consist of the plane parallel quadrilateral structure, thereby limit described main platform 2a along the revolute pair axis direction translational on described the second master arm 4a;
The Plane intersects at the plane at described the first branch 3 inner plane parallelogram sturcutre places and described the second branch 4 inner plane parallelogram sturcutre places; Four hinges (Three Degree Of Freedom or two degrees of freedom hinge) center on described main platform 2a and described the platform 2b is coplanar, and the intersection point of the two hinge lines of centres on described platform 2b and the two hinge lines of centres on the described main platform 2a is by the axis of rotation of the revolute pair between described main platform 2a and the inferior platform 2b; Be subject to the restriction of the plane parallel quadrilateral structure in the first branch 3 and the second branch 4, the position of intersecting point of described upper two hinge line of centres of platform 2b and the upper two hinge lines of centres of main platform 2a is fixed, rotation by the second master arm 4a in the first master arm 3a in the first branch 3 and the second branch 4, can realize the rotation of time platform 2b and main platform 2a, and then realize the two-dimensional rotary of moving platform 2.
The present invention compared with prior art, its difference is:
Moving platform adopts two platform structures, and the plane parallel quadrilateral structure in two branches is coupled together, and has limited the translational degree of freedom of moving platform.By the transmission of two groups of plane parallel quadrilateral structures, realize that the centering of moving platform is rotated.The present invention can be arranged symmetrically with two branches, simple structure, and compact conformation, moving-mass is little, is convenient to assembling, is easy to control.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (2)
1. double rotation freedom degrees parallel institution, comprise fixed platform (1), moving platform (2) and connect described fixed platform (1) and moving platform (2) between the first branch (3) and the second branch (4); It is characterized in that:
Described moving platform (2) comprises main platform (2a) and time platform (2b), and described main platform (2a) is connected by revolute pair with described platform (2b);
Described the first branch (3) comprises the first master arm (3a) and two the first isometric slave arms (3b, 3c); Described the first master arm (3a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the first slave arms (3b, 3c) is connected by revolute pair with the first master arm (3a) respectively, and between two the first slave arms (3b, 3c) and the first master arm (3a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the first master arm (3a) and the fixed platform (1); The other end of two the first slave arms (3b, 3c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described platform (2b); In described the first branch (3), described the first master arm (3a), two the first slave arms (3b, 3c) and described platform (2b) consist of the plane parallel quadrilateral structure, thereby limit described platform (2b) along the revolute pair axis direction translational on described the first master arm (3a);
Described the second branch (4) comprises the second master arm (4a) and two the second isometric slave arms (4b, 4c); Described the second master arm (4a) is connected by revolute pair with described fixed platform (1), and provides power as driving pair for mechanism; One end of two the second slave arms (4b, 4c) is connected by revolute pair with the second master arm (4a) respectively, and between two the second slave arms (4b, 4c) and the second master arm (4a) axis of rotation of revolute pair with the axis of rotation coplanar of revolute pair between described the second master arm (4a) and the fixed platform (1); The other end of two the second slave arms (4b, 4c) is connected by Three Degree Of Freedom spherical hinge or two degrees of freedom hook hinge with described main platform (2a); In described the second branch (4), described the second master arm (4a), two the second slave arms (4b, 4c) and described main platform (2a) consist of the plane parallel quadrilateral structure, thereby limit described main platform (2a) along the revolute pair axis direction translational on described the second master arm (4a);
Be to intersect between the plane at the plane at described the first branch (3) inner plane parallelogram sturcutre place and described the second branch (4) inner plane parallelogram sturcutre place; Four hinge centers on described main platform (2a) and described the platform (2b) are coplanar, and the intersection point of the two hinge lines of centres on described the platform (2b) and the two hinge lines of centres on the described main platform (2a) is by the axis of rotation of the revolute pair between described main platform (2a) and time platform (2b); Be subject to the restriction of the plane parallel quadrilateral structure in the first branch (3) and the second branch (4), the position of intersecting point of the upper two hinge lines of centres of described platform (2b) and the upper two hinge lines of centres of main platform (2a) is fixed, rotation by the second master arm (4a) in the first master arm (3a) in the first branch (3) and the second branch (4), can realize the rotation of time platform (2b) and main platform (2a), and then realize the two-dimensional rotary of moving platform (2).
2. described double rotation freedom degrees parallel institution according to claim 1 when adopting hook hinge to connect slave arm and moving platform, is characterized in that:
Adopt respectively the two degrees of freedom hook hinge to be connected between two the first slave arms (3b, 3c) and described the platform (2b), the axis that one of them two degrees of freedom hook hinge links to each other with described platform (2b) is by the center of upper another two degrees of freedom hook hinge of described platform (2b), simultaneously, the connecting axle line parallel of each two degrees of freedom hook hinge and the first slave arm of being attached thereto is in the revolute pair axis of this first slave arm one end;
Adopt respectively the two degrees of freedom hook hinge to be connected between two the second slave arms (4b, 4c) and the described main platform (2a), the axis that one of them two degrees of freedom hook hinge links to each other with described main platform (2a) is by the center of upper another two degrees of freedom hook hinge of described main platform (2a), simultaneously, the connecting axle line parallel of each two degrees of freedom hook hinge and the second slave arm of being attached thereto is in the revolute pair axis of this second slave arm one end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210513157.5A CN102975196B (en) | 2012-12-04 | 2012-12-04 | Double-rotational freedom parallel mechanism |
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| CN201210513157.5A CN102975196B (en) | 2012-12-04 | 2012-12-04 | Double-rotational freedom parallel mechanism |
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| CN102975196B CN102975196B (en) | 2015-04-01 |
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Cited By (5)
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| CN103753522A (en) * | 2014-02-21 | 2014-04-30 | 上海交通大学 | Two-degree-of-freedom rotary manipulator |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN105291092A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Self-centering three-rotation parallel robot with plane pair |
| CN105773145A (en) * | 2016-05-18 | 2016-07-20 | 鹰领航空高端装备技术秦皇岛有限公司 | Assembling platform with three degrees of freedom |
| CN110509309A (en) * | 2019-09-18 | 2019-11-29 | 浙江大学宁波理工学院 | A kind of wrist joint of polishing robot |
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| CN2564840Y (en) * | 2002-03-28 | 2003-08-06 | 天津大学 | Console with three-freedom spheric parallel mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103753522A (en) * | 2014-02-21 | 2014-04-30 | 上海交通大学 | Two-degree-of-freedom rotary manipulator |
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| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN105291092A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Self-centering three-rotation parallel robot with plane pair |
| CN105773145A (en) * | 2016-05-18 | 2016-07-20 | 鹰领航空高端装备技术秦皇岛有限公司 | Assembling platform with three degrees of freedom |
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| CN110509309A (en) * | 2019-09-18 | 2019-11-29 | 浙江大学宁波理工学院 | A kind of wrist joint of polishing robot |
| CN110509309B (en) * | 2019-09-18 | 2022-07-29 | 浙江大学宁波理工学院 | Wrist joint of grinding and polishing robot |
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| CN102975196B (en) | 2015-04-01 |
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