CN103862462A - Two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism - Google Patents
Two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism Download PDFInfo
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- CN103862462A CN103862462A CN201410054855.2A CN201410054855A CN103862462A CN 103862462 A CN103862462 A CN 103862462A CN 201410054855 A CN201410054855 A CN 201410054855A CN 103862462 A CN103862462 A CN 103862462A
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Abstract
一种两移一转三自由度完全解耦空间并联机构，其包括定平台、动平台以及连接定平台和动平台的三个分支，所述定平台为长方形底面，定平台的底面两边安装滑轨，所述滑轨的中心线与定平台底面平行，动平台为三角形结构，分支一由一个移动副和三个转动副以及连接它们的三个连杆组成；分支二由四个转动副和连接它们的三个连杆组成；分支三由一个移动副和四个转动副以及连接它们的四个连杆组成。本发明结构简单，制造成本低，能够实现动平台沿平行于定平台方向的两个移动和绕平行于定平台轴线的一个转动，各运动完全解耦，易于控制，承载力强。
A two-moving-one-rotating three-degree-of-freedom completely decoupled space parallel mechanism, which includes a fixed platform, a moving platform, and three branches connecting the fixed platform and the moving platform, the fixed platform has a rectangular bottom surface, and slides are installed on both sides of the bottom surface of the fixed platform. The center line of the slide rail is parallel to the bottom surface of the fixed platform. The moving platform is a triangular structure. The first branch is composed of a moving pair, three rotating pairs and three connecting rods connecting them; the second branch is composed of four rotating pairs and It is composed of three connecting rods connecting them; branch three is composed of a moving pair and four rotating pairs and four connecting rods connecting them. The invention has simple structure and low manufacturing cost, and can realize two movements of the movable platform along the direction parallel to the fixed platform and one rotation around the axis of the fixed platform, each movement is completely decoupled, easy to control, and has strong bearing capacity.
Description
Technical field
The invention belongs to robot field, particularly a kind of space parallel mechanism.
Background technology
Parallel institution has the advantages such as bearing capacity is large, rigidity is high, movement velocity is fast, accumulated error is little, dynamic performance is good, therefore it is widely applied in motion simulator, power sensor, satellite antenna, medicine equipment and packaging for foodstuff.
Due to the restriction of structure, strong this problem of parallel institution sports coupling does not have fine solution.The existence of parallel institution close coupling makes mechanism exist problems at aspects such as mechanism design, computational analysis and motion controls.Therefore,, for simplifying the control procedure of parallel institution, the decoupling that improves parallel institution has become the hot issue of theory of mechanisms research field.
In 3-freedom parallel mechanism research, move a decoupling research that turns 3-freedom parallel mechanism for two and obtain some progress, for example, Chinese patent literature CN102688853A has proposed a kind of 3-freedom parallel mechanism tea finishing machine, three Vibration Chains of this mechanism are non-interference, full decoupled, improve the screening efficiency of tealeaves; China Patent Publication No. is that CN102431027A proposes a kind of two and moves one and turn three freedom decoupling space parallel mechanism, the three degree of freedom motion of this mechanism is full decoupled, and the direction of two one-movement-freedom-degrees and fixed platform plane parallel, and the axis of rotational freedom is vertical with fixed platform plane.In addition, Chinese patent literature CN102922310A has also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Although mechanism of foregoing invention mechanism moving platform can realize two, to move a transhipment moving, and such mechanism is very rare, and the decoupling of most of mechanism does not have fine solution.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, be easy to control, input and output are full decoupled two moves one and turn the full decoupled space parallel mechanism of Three Degree Of Freedom.
The present invention includes fixed platform, moving platform and connect three branches of these two platforms, wherein fixed platform is rectangle structure, the adjacent both sides of this fixed platform are provided with slide rail, and the center line of two slide rails is mutually vertical and all parallel with fixed platform bottom surface, and moving platform is triangular structure; Branch one is made up of a moving sets and three revolute pairs and three connecting rods being connected them; Branch two is made up of with three connecting rods that are connected them four revolute pairs; Branch three is made up of a moving sets and four revolute pairs and four connecting rods being connected them.
Wherein, one end of first connecting rod in branch one is connected with fixed platform by moving sets, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch two is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of the second connecting rod of L-type by revolute pair, the other end of this second connecting rod is connected with one end of the third connecting rod of L-type by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; One end of first connecting rod in branch three is connected with fixed platform by moving sets, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, the other end of this third connecting rod is connected with one end of the 4th connecting rod by revolute pair, and the other end of the 4th connecting rod is connected with moving platform by revolute pair.
In branch one, the moving direction of moving sets is parallel with the axis of three revolute pairs; In branch two, except the revolute pair being connected with fixed platform, the axis of other three revolute pairs is parallel, and vertical with the axis of the revolute pair being connected with fixed platform; In branch three, the moving direction of moving sets is parallel with the axis of three revolute pairs except being connected with moving platform, and vertical with the axis of the revolute pair being connected with moving platform.
Two moving sets and the input motion pair that revolute pair is each branch that in above-mentioned three branches, are connected with fixed platform respectively.The moving direction of two moving sets is vertical, and the moving direction of one of them moving sets is parallel with the axis of revolute pair, and the moving direction of another moving sets is vertical with the axis of revolute pair, and three input motion pairs are all parallel to fixed platform.The axis of the revolute pair that branch one is connected with moving platform with branch three, parallel with moving platform all the time, the axis of the revolute pair that branch two is connected with moving platform is perpendicular to moving platform.
In above-mentioned branch one, first connecting rod is moved under the driving of moving sets, and drives second connecting rod to be moved, and second connecting rod drives again third connecting rod to be moved, and is finally moved through the mobile moving platform that drives of third connecting rod; In branch two, first connecting rod rotates under the first revolute pair drives, and drives second connecting rod to rotate, and second connecting rod drives again third connecting rod to rotate, and finally drives moving platform to rotate through the rotation of third connecting rod; In branch three, first connecting rod is moved under the driving of moving sets, and drives second connecting rod to be moved, and second connecting rod drives again third connecting rod to be moved, and is finally moved through the mobile moving platform that drives of the 4th connecting rod; And two movements and a rotational motion of these three directions are decoupling zeros, non-interference.
The moving sets being connected with fixed platform in above-mentioned branch one and first nearest revolute pair can replace with the cylindrical pair of turns auxiliary shaft line parallel with one; In above-mentioned branch two, being connected two nearest revolute pairs can replace with a Hooke's hinge with fixed platform; The moving sets being connected with fixed platform in above-mentioned branch three and first nearest revolute pair can replace with the cylindrical pair of turns auxiliary shaft line parallel with one, and being connected two nearest revolute pairs can replace with a Hooke's hinge with moving platform.
The present invention compared with prior art tool has the following advantages:
1, simple in structure, kinematic pair is lower pair, can reduce manufacturing cost;
2, realized two, space one-movement-freedom-degree and a rotational freedom is full decoupled;
3, all input motion pairs are all connected with fixed platform, have reduced like this load of rod member, have good motility and higher reaction speed.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
Moving one in the one two shown in Fig. 1 turns in the full decoupled space parallel mechanism schematic diagram of Three Degree Of Freedom, fixed platform 11 is rectangle structure, the adjacent both sides of this fixed platform are provided with right angle slide rail 10, and the center line of right angle slide rail is parallel with fixed platform bottom surface, and moving platform 9 is triangular structure; One end of first connecting rod 3 in branch 1 is connected with fixed platform by moving sets 2, the other end of this first connecting rod is connected with one end of second connecting rod 5 by revolute pair 4, the other end of this second connecting rod is connected with one end of third connecting rod 7 by revolute pair 6, and the other end of this third connecting rod is connected with moving platform by revolute pair 8; First connecting rod 14 in branch 2 12 is connected with fixed platform by revolute pair 13, the other end of this first connecting rod is connected with one end of the second connecting rod 16 of L-type by revolute pair 15, the other end of this second connecting rod is connected with one end of the third connecting rod 18 of L-type by revolute pair 17, and the other end of this third connecting rod is connected with moving platform by revolute pair 19; One end of first connecting rod 22 in branch 3 20 is connected with fixed platform by moving sets 21, the other end of this first connecting rod is connected with one end of second connecting rod 24 by revolute pair 23, the other end of this second connecting rod is connected with one end of third connecting rod 26 by revolute pair 25, the other end of this third connecting rod is connected with one end of the 4th connecting rod 28 by revolute pair 27, and the other end of the 4th connecting rod is connected with moving platform by revolute pair 29.
The moving direction of the moving sets 2 in branch one is parallel with the axis direction of the revolute pair 13 in branch two, and vertical with the moving direction of the moving sets 21 in branch three, all parallel with moving platform 9 all the time.
Branch one is parallel with the axis of revolute pair 29 with the revolute pair 8 being connected with moving platform in branch three, all parallel with moving platform all the time, the axis of the revolute pair 19 being connected with moving platform in branch two is vertical with the axis of revolute pair 29 with another two revolute pairs that are connected with moving platform 8, and vertical with moving platform all the time.
In branch one, the moving direction of moving sets 2 is parallel with the axis of the first revolute pair 4, the second revolute pair 6, the 3rd revolute pair 8, and vertical with the axis of third connecting rod 7 with first connecting rod 3, second connecting rod 5; In branch two, the second revolute pair 15, the 3rd revolute pair 17 are parallel with the axis of the 4th revolute pair 19, and vertical with the axis of the first revolute pair 13.Axis one end of first connecting rod 14 is vertical with the axis of the first revolute pair 13, the dead in line of the other end and the second revolute pair 15.Second connecting rod 16 and third connecting rod 18 are all L-type right angle connecting rod, and one end of their connecting rod axis is vertical with the axis of the 3rd revolute pair 17 with the second revolute pair 15 respectively, the other end respectively with the dead in line of the 3rd revolute pair 17 and the 4th revolute pair 19; In branch three, the moving direction of moving sets 21 is parallel, all vertical with the axis of the 4th revolute pair 29 with the axis of the first revolute pair 23, the second revolute pair 25, the 3rd revolute pair 27.The axis of first connecting rod 22, second connecting rod 24, third connecting rod 26 and the 4th connecting rod 28 is vertical with the axis of revolute pair in this branch in addition.
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| CN201410054855.2A CN103862462B (en) | 2014-02-18 | 2014-02-18 | A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom |
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| CN201410054855.2A CN103862462B (en) | 2014-02-18 | 2014-02-18 | A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom |
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| CN103862462B CN103862462B (en) | 2016-01-27 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104526687A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism |
| CN104626117A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN104690714A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105563461A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN106090166A (en) * | 2016-06-14 | 2016-11-09 | 北京工业大学 | A kind of movement transforming device based on spatial linkage |
| CN106763127A (en) * | 2017-01-09 | 2017-05-31 | 魏铃杰 | A kind of bindiny mechanism |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
| CN109290189A (en) * | 2018-10-30 | 2019-02-01 | 江苏大学 | A feed grading parallel vibrating screen |
| CN109848970A (en) * | 2019-03-15 | 2019-06-07 | 上海工程技术大学 | A kind of spatially decoupled mechanism of three-rotational-freedom for virtual axis machine and robot |
| CN110977938A (en) * | 2019-11-18 | 2020-04-10 | 江苏大学 | Zero-coupling three-degree-of-freedom parallel robot |
| CN112571404A (en) * | 2020-12-11 | 2021-03-30 | 南京信息工程大学滨江学院 | Six-degree-of-freedom decoupling series-parallel mechanism |
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| CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotating pair combined unit and its composed kinematic decoupling parallel mechanism |
| GB2454721A (en) * | 2007-11-19 | 2009-05-20 | Dafydd Roberts | Controlling the translation and orientation of a moveable platform with six-degrees-of--freedom |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105563461A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
| CN104526687A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism |
| CN104626117A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN104690714A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN106090166A (en) * | 2016-06-14 | 2016-11-09 | 北京工业大学 | A kind of movement transforming device based on spatial linkage |
| CN106763127A (en) * | 2017-01-09 | 2017-05-31 | 魏铃杰 | A kind of bindiny mechanism |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
| CN109290189A (en) * | 2018-10-30 | 2019-02-01 | 江苏大学 | A feed grading parallel vibrating screen |
| CN109848970A (en) * | 2019-03-15 | 2019-06-07 | 上海工程技术大学 | A kind of spatially decoupled mechanism of three-rotational-freedom for virtual axis machine and robot |
| CN109848970B (en) * | 2019-03-15 | 2021-09-10 | 上海工程技术大学 | Three-rotational-freedom-degree spatial decoupling mechanism for virtual-axis machine tool and robot |
| CN110977938A (en) * | 2019-11-18 | 2020-04-10 | 江苏大学 | Zero-coupling three-degree-of-freedom parallel robot |
| CN112571404A (en) * | 2020-12-11 | 2021-03-30 | 南京信息工程大学滨江学院 | Six-degree-of-freedom decoupling series-parallel mechanism |
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