CN102990652A - Parallel mechanism containing two symmetrical closed-loop sub-chains - Google Patents
Parallel mechanism containing two symmetrical closed-loop sub-chains Download PDFInfo
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- CN102990652A CN102990652A CN2012105769637A CN201210576963A CN102990652A CN 102990652 A CN102990652 A CN 102990652A CN 2012105769637 A CN2012105769637 A CN 2012105769637A CN 201210576963 A CN201210576963 A CN 201210576963A CN 102990652 A CN102990652 A CN 102990652A
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- connecting rod
- revolute pair
- hooke
- hinge
- closed loop
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Abstract
本发明涉及一种包含两个对称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，从而实现动平台的空间多自由度运动，具有结构紧凑、灵活自由、控制简单的优点，机构运动惯量小，动力学性能好。
The invention relates to a parallel mechanism comprising two symmetrical closed-loop sub-chains, including a first five-bar mechanism closed-loop sub-chain, a second five-bar 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 Hooke hinges in space through two closed-loop sub-chains, thereby realizing the space multi-degree-of-freedom movement of the moving platform, and has the advantages of compact structure, flexibility and freedom, and simple control. Good performance.
Description
Technical field
The present invention relates to the robot field, particularly a kind of space multiple freedom parallel mechanism 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; Symmetrical parallel institution has preferably isotropism.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 comprises two symmetrical closed loop subchains, 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: a kind of parallel institution that comprises two symmetrical closed loop subchains comprises 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 first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair, and the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge in spatial movement.
Described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the 5th connecting rod one end is connected on the second column by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the second moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 8th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 9th revolute pair, the 8th connecting rod other end is connected with the second column by the tenth revolute pair, and the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge in spatial movement.
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 11 revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 12 revolute pair.The first Hooke's hinge, the second Hooke's hinge can be realized the space multifreedom motion of moving platform in the motion of separately space.
Outstanding advantages of the present invention is:
1, by the motion of closed loop subchain controlling organization, mechanism's side chain is connected on the frame by rotatable column;
2, rod connection structure 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 a kind of the first structural representation that comprises the parallel institution of two symmetrical closed loop subchains of the present invention.
Fig. 2 is a kind of the second structural representation that comprises the parallel institution of two symmetrical closed loop subchains of the present invention.
Fig. 3 is a kind of the 3rd structural representation that comprises the parallel institution of two symmetrical closed loop subchains of the present invention.
Fig. 4 is a kind of the first work schematic diagram that comprises the parallel institution of two symmetrical closed loop subchains of the present invention.
Fig. 5 is a kind of the second work schematic diagram that comprises the parallel institution of two symmetrical closed loop subchains 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, Fig. 4 and Fig. 5, a kind of parallel institution that comprises two symmetrical closed loop subchains comprises 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 first connecting rod (4), second connecting rod (7), third connecting rod (8), the 4th connecting rod (10) 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), first connecting rod (4) one ends are connected on the first column (3) by the second revolute pair (5), first connecting rod (4) other end is connected with second connecting rod (7) by the first moving sets (6), second connecting rod (7) other end is connected with third connecting rod (8) by the 3rd revolute pair (27), third connecting rod (8) other end is connected with the 4th connecting rod (10) by the 4th revolute pair (9), the 4th connecting rod (10) other end is connected with the first column (3) by the 5th revolute pair (11), and the motion of the first five-rod closed loop subchain can be controlled the first Hooke's hinge (24) in spatial movement.
Described the second five-rod closed loop subchain is by the 5th connecting rod (15), the 6th connecting rod (13), seven-link assembly (22), the 8th connecting rod (18) and the second column (19) are formed by connecting, the second column (19) links to each other with frame (1) by the 6th revolute pair (20), the 5th connecting rod (15) one ends are connected on the second column (19) by the 7th revolute pair (16), the 5th connecting rod (15) other end is connected with the 6th connecting rod (13) by the second moving sets (14), the 6th connecting rod (13) other end is connected with seven-link assembly (22) by the 8th revolute pair (26), seven-link assembly (22) other end is connected with the 8th connecting rod (18) by the 9th revolute pair (21), the 8th connecting rod (18) other end is connected with the second column (19) by the tenth revolute pair (17), and the motion of the second five-rod closed loop subchain can be controlled the second Hooke's hinge (23) in spatial movement.
Described executing agency subchain is by the first Hooke's hinge (24), the second Hooke's hinge (23), and moving platform (12) is formed by connecting, the first Hooke's hinge (24) is connected with second connecting rod (7) by the 3rd revolute pair (27), the first Hooke's hinge (24) is connected with moving platform (12) by the 11 revolute pair (28), the second Hooke's hinge (23) is connected with the 6th connecting rod (13) by the 8th revolute pair (26), and the second Hooke's hinge (23) is connected with moving platform (12) by the 12 revolute pair (25).
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 by the motion of the first five-rod closed loop subchain itself and the rotation of the first column integral body, thereby drive the first Hooke's hinge (24) in spatial movement; By the motion of the second five-rod closed loop subchain itself and the rotation of the second column integral body, thereby drive the second Hooke's hinge (23) in spatial movement; The first Hooke's hinge (24), the second Hooke's hinge (23) can be realized the space multifreedom motion of moving platform (12) in the motion of separately space.
Claims (1)
1. a parallel institution that comprises two symmetrical closed loop subchains comprises the first five-rod closed loop subchain, the second five-rod closed loop subchain and executing agency's subchain, it is characterized in that:
Described the first five-rod closed loop subchain is by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and the first column are formed by connecting, the first column links to each other with frame by the first revolute pair, first connecting rod one end is connected on the first column by the second revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the 4th revolute pair, the 4th connecting rod other end is connected with the first column by the 5th revolute pair
Described the second five-rod closed loop subchain is by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the second column are formed by connecting, the second column links to each other with frame by the 6th revolute pair, the 5th connecting rod one end is connected on the second column by the 7th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the second moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 8th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 9th revolute pair, the 8th connecting rod other end is connected with the second column by the tenth 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 11 revolute pair, the second Hooke's hinge is connected with the 6th connecting rod by the 8th revolute pair, and the second Hooke's hinge is connected with moving platform by the 12 revolute pair.
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| CN2012105769637A CN102990652A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing two symmetrical closed-loop sub-chains |
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| CN2012105769637A CN102990652A (en) | 2012-12-27 | 2012-12-27 | Parallel mechanism containing two symmetrical closed-loop sub-chains |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1381338A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
| CN102601790A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-degree-of-freedom parallel mechanism with RRR closed-loop subchain |
| CN203003880U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism comprising two symmetrical closed-loop subchains |
-
2012
- 2012-12-27 CN CN2012105769637A patent/CN102990652A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1381338A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
| US20080295637A1 (en) * | 2007-06-01 | 2008-12-04 | Lessard Simon | Parallel manipulator |
| CN102350697A (en) * | 2011-09-22 | 2012-02-15 | 广西大学 | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism |
| CN102601790A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Three-degree-of-freedom parallel mechanism with RRR closed-loop subchain |
| CN203003880U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism comprising two symmetrical closed-loop subchains |
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Application publication date: 20130327 |