CN102990655A

CN102990655A - Parallel mechanism containing prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain

Info

Publication number: CN102990655A
Application number: CN2012105782896A
Authority: CN
Inventors: 蔡敢为; 胥刚; 王小纯; 潘宇晨; 高德中; 于腾; 吕姗姗; 丁侃
Original assignee: Guangxi University
Current assignee: Guangxi University
Priority date: 2012-12-27
Filing date: 2012-12-27
Publication date: 2013-03-27

Abstract

A parallel mechanism including a prr motion pair open-loop sub-chain and a pprrr motion pair closed-loop sub-chain, including an actuator sub-chain and a five-bar mechanism closed-loop sub-chain. The closed-loop sub-chain of the five-bar mechanism can control the movement in the plane of the closed-loop sub-chain of the five-bar mechanism where the third link is located, and the movement of the first link and the third link can realize the spatial movement of the movable platform. The present invention is realized through the control of a closed-loop sub-chain, and the spatial movement of a closed-loop sub-chain, the first connecting rod and the third connecting rod, thereby realizing the spatial movement of the moving platform, has the advantages of compact structure and simple control, and all the connecting rods are Connected to the frame, the rod can be made into a light rod, the mechanism has a small moment of inertia and good dynamic performance.

Description

The parallel institution that contains prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain

Technical field

The present invention relates to the robot field, particularly contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair 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, yet 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 the parallel institution that contains prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, solve a plurality of drivings of side chain of traditional parallel institution and can not be connected to simultaneously shortcoming on the frame.

The present invention achieves the above object by the following technical programs: contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:

Described executing agency subchain is by first connecting rod 11, second connecting rod 15, the first slide block 13, the first Hooke's hinge 7, moving platform 4 and frame 1 are formed by connecting, first connecting rod 11 1 ends are connected on the frame 1 by the first revolute pair 2, first connecting rod 11 other ends are connected with the first slide block 13 by the first moving sets 12, the first slide block 13 other ends are connected with second connecting rod 15 1 ends by the second revolute pair 14, second connecting rod 15 other ends are connected with the lower topmast 9 of the first Hooke's hinge by the 3rd revolute pair 10, the upper topmast 8 of the first Hooke's hinge 7 is connected with moving platform 4 one ends by the 4th revolute pair 5

Described five-rod closed loop subchain is by third connecting rod 22, the 4th connecting rod 18, the 5th connecting rod 16, the 6th connecting rod 27, seven-link assembly 25, the second slide block 20, the first bearing 23, the second Hooke's hinge 28, moving platform 4 and frame 1 are formed by connecting, third connecting rod 22 1 ends are connected on the frame by the 5th revolute pair 3, third connecting rod 22 other ends are connected with the second slide block 20 by the second moving sets 21, the second slide block 20 other ends are connected with the 4th connecting rod 18 by the 6th revolute pair 19, the 4th connecting rod 18 other ends are connected with the 5th connecting rod 16 by three moving sets 17, the 5th connecting rod 16 other ends are connected with the lower topmast 30 of the second Hooke's hinge 28 by the 7th revolute pair 31 with the 6th connecting rod 27 1 ends, the upper topmast 29 of the second Hooke's hinge 28 is connected with moving platform 4 other ends by the 8th revolute pair 6, the 6th connecting rod 27 other ends are connected with the 8th connecting rod 25 by the 9th revolute pair 26, the 8th connecting rod 25 other ends are connected with the first bearing 23 on being fixed on third connecting rod 22 by the tenth revolute pair 24

Described the first moving sets, the second moving sets, the first revolute pair, the 5th revolute pair rotation are parallel to each other, and the 4th revolute pair and the 8th revolute pair rotation are parallel to each other.

Outstanding advantages of the present invention is:

1, by the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of connecting rods to be connected on the frame;

2, all connecting rods all are connected on the frame, 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.

Description of drawings

Fig. 1 is the first structural representation that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 2 is the second structural representation that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 3 is the bearing schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 4 is the moving platform schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 5 is the first Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain of the present invention.

Fig. 6 is the second Hooke's hinge schematic diagram that contains the parallel institution of prr kinematic pair open loop subchain and pprrr 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. 3, Fig. 4, Fig. 5 and Fig. 6, contain the parallel institution of prr kinematic pair open loop subchain and pprrr kinematic pair closed loop subchain, comprise executing agency's subchain and a five-rod closed loop subchain, its structure and connected mode are:

Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the first driving lever motion planar can realize the spatial movement of moving platform 4.

Claims

1. The parallel mechanism including the prr motion pair open-loop sub-chain and the pprrr motion pair closed-loop sub-chain, including an actuator sub-chain and a five-bar mechanism closed-loop sub-chain, its structure and connection method are:

The sub-chain of the actuator is connected by the first connecting rod, the second connecting rod, the first slider, the first Hooke hinge, the moving platform and the frame. On the frame, the other end of the first connecting rod is connected to the first slider through the first moving pair, the other end of the first sliding block is connected to one end of the second connecting rod through the second rotating pair, and the other end of the second connecting rod is connected through the third rotating pair. The pair is connected to the lower top branch of the first Hooke hinge, and the upper top branch of the first Hooke hinge is connected to one end of the moving platform through the fourth rotating pair.

The closed-loop sub-chain of the five-bar mechanism consists of a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, a second slider, a first support, a second Hooke hinge, One end of the third connecting rod is connected to the frame through the fifth rotating pair, the other end of the third connecting rod is connected to the second sliding block through the second moving pair, and the other end of the second sliding block is connected through The sixth rotating pair is connected to the fourth connecting rod, the other end of the fourth connecting rod is connected to the fifth connecting rod through the third moving pair, and the other end of the fifth connecting rod and one end of the sixth connecting rod are connected to the second connecting rod through the seventh rotating pair. The lower top branch of the Hooke hinge is connected, the upper top branch of the second Hooke hinge is connected with the other end of the moving platform through the eighth rotating pair, the other end of the sixth connecting rod is connected with the seventh connecting rod through the ninth rotating pair, and the seventh connecting rod The other end of the rod is connected with the first support fixed on the third connecting rod through the tenth rotating pair,

The rotation axes of the first moving pair, the second moving pair, the first turning pair and the fifth turning pair are parallel to each other, and the rotation axes of the fourth turning pair and the eighth turning pair are parallel to each other.