CN102990647A - Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain - Google Patents
Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain Download PDFInfo
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- CN102990647A CN102990647A CN2012105767097A CN201210576709A CN102990647A CN 102990647 A CN102990647 A CN 102990647A CN 2012105767097 A CN2012105767097 A CN 2012105767097A CN 201210576709 A CN201210576709 A CN 201210576709A CN 102990647 A CN102990647 A CN 102990647A
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Abstract
含prrrp运动副闭环子链和rprpr运动副闭环子链的并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链以及执行机构子链。第一五杆机构闭环子链可控制第一虎克铰运动，第二五杆机构闭环子链可控制第二虎克铰运动，第一虎克铰、第二虎克铰的运动可实现动平台的空间运动。本发明通过两个五杆机构闭环子链来控制两个虎克铰在空间的运动，从而实现动平台在空间的运动，具有结构紧凑控制简单的优点，机构运动惯量小，动力学性能好。
A parallel mechanism including a prrrp motion pair closed-loop sub-chain and an rprpr motion pair closed-loop sub-chain, including a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain. The closed-loop sub-chain of the first five-bar mechanism can control the movement of the first Hooke hinge, the closed-loop sub-chain of the second five-bar mechanism can control the movement of the second Hooke hinge, and the movement of the first Hooke hinge and the second Hooke hinge can realize dynamic Space movement of the platform. The invention controls the movement of two Hookee hinges in space through two closed-loop sub-chains of five-bar mechanism, thereby realizing the movement of the movable platform in space, and has the advantages of compact structure and simple control, small moment of inertia of the mechanism, and good dynamic performance.
Description
Technical field
The present invention relates to the robot field, particularly a kind of parallel institution that contains the closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: without accumulated error, precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is lightweight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large.Because parallel institution itself is with regard to more complicated, if closed loop is contained again in branch, its mechanism will be more complicated, so in general, the parallel institution that symmetrical, branch does not contain closed loop just can have most typical character, appropriate but if closed loop is used, the performance of parallel institution will be more remarkable, such as famous delta mechanism.In addition, existing parallel institution, its side chain is subjected to the restriction of connected mode, generally only have a driving lever to be connected in the driving that is cemented on the frame, like this multiple freedom parallel mechanism moves with regard to the mode that needs many side chains or take a plurality of driving levers of series connection on the side chain for realizing it, and the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can affect the exercise performance of parallel institution on the side chain.
Summary of the invention
The object of the present invention is to provide a kind of parallel institution that contains the closed loop subchain, solve the shortcoming of the parallel institution complex structure control difficulty of many side chains.
The present invention achieves the above object by the following technical programs: contain the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by the first slide block, first connecting rod, second connecting rod, the second slide block and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, the first slide block is connected on the first column by the first moving sets, the first slide block other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with the second slide block by the 4th revolute pair, the second slide block is connected on the first column by the second moving sets
Described five-rod closed loop subchain is by third connecting rod, the first craspedodrome bar, the second craspedodrome bar, the 4th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 5th revolute pair, third connecting rod is connected on the second column by the 6th revolute pair, the third connecting rod other end is connected with the first craspedodrome bar by three moving sets, the first craspedodrome bar other end is connected with the second craspedodrome bar by the 7th revolute pair, the second craspedodrome bar other end is connected with the 4th connecting rod by the 4th moving sets, the 4th connecting rod other end is connected with the second column by the 8th revolute pair
Described executing agency subchain by the first Hooke's hinge, the second Hooke's hinge, and moving platform be formed by connecting, the first Hooke's hinge is connected with second connecting rod by the 3rd revolute pair, the first Hooke's hinge is connected with moving platform by the 9th revolute pair, the second Hooke's hinge is connected with the second craspedodrome bar by the 7th revolute pair, the second Hooke's hinge is connected with moving platform by the tenth revolute pair, and the first Hooke's hinge, the second Hooke's hinge can realize that in the motion of separately space moving platform is in the motion in space.
Outstanding advantages of the present invention is:
1, passes through the motion of closed loop subchain controlling organization;
2, syndeton is simple, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, by at moving platform the end effector of various different purposes being installed, this mechanism may be used in the work such as crawl, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 2 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 3 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
Fig. 4 is the first structural representation that contains the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, contain the parallel institution of prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain, comprise the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain.
Described the first five-rod closed loop subchain is by the first slide block 5, first connecting rod 7, second connecting rod 9, the second slide block 11 and the first column 3 are formed by connecting, the first column 3 links to each other with frame 1 by the first revolute pair 2, the first slide block 5 is connected on the first column 3 by the first moving sets 4, the first slide block 5 other ends are connected with first connecting rod 7 by the second revolute pair 6, first connecting rod 7 other ends are connected with second connecting rod 9 by the 3rd revolute pair 8, second connecting rod 9 other ends are connected with the second slide block 11 by the 4th revolute pair 10, the second slide block 11 is connected on the first column 3 by the second moving sets 12
Described five-rod closed loop subchain is by third connecting rod 16, the first craspedodrome bar 18, the second craspedodrome bar 20, the 4th connecting rod 22 and the second column 14 are formed by connecting, the second column 14 links to each other with frame 1 by the 5th revolute pair 13, third connecting rod 16 is connected on the second column 14 by the 6th revolute pair 15, third connecting rod 16 other ends are connected with the first craspedodrome bar 18 by three moving sets 17, the first craspedodrome bar 18 other ends are connected with the second craspedodrome bar 20 by the 7th revolute pair 19, the second craspedodrome bar 20 other ends are connected with the 4th connecting rod 22 by the 4th moving sets 21, the 4th connecting rod 22 other ends are connected with the second column 14 by the 8th revolute pair 23
Described executing agency subchain by the first Hooke's hinge 24, the second Hooke's hinge 26, and moving platform 28 be formed by connecting, the first Hooke's hinge 24 is connected with second connecting rod 9 by the 3rd revolute pair 8, the first Hooke's hinge 24 is connected with moving platform 28 by the 9th revolute pair 25, the second Hooke's hinge 26 is connected with the second craspedodrome bar 20 by the 7th revolute pair 19, the second Hooke's hinge 26 is connected with moving platform 28 by the tenth revolute pair 27, and the first Hooke's hinge 24, the second Hooke's hinge 26 can realize that in the motion of separately space moving platform 28 is in the motion in space.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the first Hooke's hinge 24, the second Hooke's hinge 26 can realize the motion in the space of moving platform 28 in the motion of separately space.
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| CN2012105767097A CN102990647A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain |
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| CN2012105767097A CN102990647A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing prrrp kinematic pair closed loop subchain and rprpr kinematic pair closed loop subchain |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
Citations (4)
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| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | A three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation |
| CN102756371A (en) * | 2011-04-28 | 2012-10-31 | 扬州迈极自动化设备有限公司 | Turnover manipulator for picking and placing work-piece by double arms |
| CN203003873U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain |
-
2012
- 2012-12-27 CN CN2012105767097A patent/CN102990647A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN2936617Y (en) * | 2006-07-31 | 2007-08-22 | 华南理工大学 | A three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation |
| CN102756371A (en) * | 2011-04-28 | 2012-10-31 | 扬州迈极自动化设备有限公司 | Turnover manipulator for picking and placing work-piece by double arms |
| CN203003873U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain |
Non-Patent Citations (1)
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| 杨廷力: "《机器人机构拓扑结构学》", 31 March 2004, 机械工业出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945019A (en) * | 2017-05-11 | 2017-07-14 | 重庆邮电大学 | It is a kind of that there is the five-freedom parallel structure for being hinged moving platform |
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Application publication date: 20130327 |