CN103895006B - Planar three-freedom-degree parallel mechanism - Google Patents
Planar three-freedom-degree parallel mechanism Download PDFInfo
- Publication number
- CN103895006B CN103895006B CN201410149493.5A CN201410149493A CN103895006B CN 103895006 B CN103895006 B CN 103895006B CN 201410149493 A CN201410149493 A CN 201410149493A CN 103895006 B CN103895006 B CN 103895006B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- fixed length
- length connecting
- group
- slide block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 47
- 230000035807 sensation Effects 0.000 claims description 10
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
Landscapes
- Transmission Devices (AREA)
Abstract
本发明提出一种三自由度平面运动并联机构。该机构包括固定平台，设置在固定平台上的第一组平行导轨、第二组平行导轨和第三组平行导轨，设置在第一组平行导轨上的第一运动滑块、设置在第二组平行导轨上的第二运动滑块和设置在第三组平行导轨上的第三运动滑块，运动平台，以及并联连接在第一运动滑块、第二运动滑块和第三运动滑块与运动平台之间的定长连杆。定长连杆一端与第一运动滑块、第二运动滑块和第三运动滑块之间分别通过被动球铰连接，定长连杆另一端与运动平台均通过被动球铰连接。该平面运动机构为空间布置的结构且机构中的连杆为二力杆，因此该机构在垂直于运动平面的方向上具有良好的刚度。
The invention proposes a three-degree-of-freedom plane motion parallel mechanism. The mechanism includes a fixed platform, a first group of parallel guide rails, a second group of parallel guide rails and a third group of parallel guide rails arranged on the fixed platform, a first moving slider arranged on the first group of parallel guide rails, and a first moving slider arranged on the second group of parallel guide rails. The second motion slider on the parallel guide rails and the third motion slider arranged on the third group of parallel guide rails, the motion platform, and the first motion slider, the second motion slider and the third motion slider connected in parallel with the Fixed-length links between motion platforms. One end of the fixed-length connecting rod is connected with the first moving slider, the second moving slider and the third moving slider through passive spherical hinges, and the other end of the fixed-length connecting rod is connected with the moving platform through passive spherical hinges. The planar motion mechanism is a structure arranged in space and the connecting rod in the mechanism is a two-force rod, so the mechanism has good rigidity in the direction perpendicular to the motion plane.
Description
Technical field
The invention belongs to parallel robot field, be specifically related to a kind of planar three-freedom-degree parallel mechanism.
Background technology
Planar three-freedom-degree parallel mechanism can realize 2 translation freedoms in plane and 1 rotational freedom.Planar three-freedom-degree parallel mechanism adopts parallel-connection structure because of it, it has higher rigidity and better dynamic property compared with traditional planar three freedom serial mechanism, and therefore planar three-freedom-degree parallel mechanism is applied to the field that the load such as simulator, lathe, locating platform are comparatively large or dynamic performance requirements is higher.
At present, in existing planar three-freedom-degree parallel mechanism, Granted publication is that the patent of CN1106906C proposes for the revolute pair of three side chains in the planar three-freedom-degree parallel mechanism of virtual-shaft machine tool and moving sets all in a plane, and it can be equivalent to 3-RPR parallel institution; Granted publication is the patent of CN101966506B is planar three freedom redundancy parallel mechanism, but it has 4 side chains, and the structure of every bar side chain is also RPR; Application publication number is the patent application of CN103337217A is also 3-RPR parallel institution in essence; Application publication number is the solution lotus root planar three freedom parallel precise locating platform that the patent application of CN102878394A proposes, and its mechanism principle is a 3-PPR parallel institution.These planar three-freedom-degree parallel mechanisms have following characteristics: the kinematic pair of mechanism adopts revolute pair and moving sets, and these kinematic pair axis being parallel or coplanar; Mechanism has very high rigidity in plane of movement, but not high at the directional stiffness perpendicular to plane of movement.Cause these mechanisms to be its kinematic pair in the major reason that the directional stiffness perpendicular to plane of movement is not high to arrange in plane of movement or the plane of movement that is parallel to each other, when the load perpendicular to the direction of plane of movement is born by mechanism, component in mechanism will bear moment of flexure, and this greatly affects the rigidity in this direction.
Summary of the invention
The present invention solves the existing planar three-freedom-degree parallel mechanism problem that rigidity is not high on the direction of plane that moves both vertically, and proposes a kind of three-freedom planar translation parallel connection mechanism.
The planar three-freedom-degree parallel mechanism that the present invention proposes, comprise fixed platform, first group of closed slide, second group of closed slide and the 3rd group of closed slide is on the stationary platform set, be arranged on the first moving slide block on first group of closed slide, be arranged on the second moving slide block on second group of closed slide, be arranged on the 3rd moving slide block on the 3rd group of closed slide, motion platform, the first moving slide block, the second moving slide block and the 3rd are connected in parallel at least six roots of sensation fixed length connecting rod between moving slide block and motion platform; One end of fixed length connecting rod is all connected with the first moving slide block, the second moving slide block and the 3rd moving slide block respectively by passive ball pivot, and the other end of fixed length connecting rod is all connected with motion platform by passive ball pivot; The dead in line of the axis of first group of closed slide, the axis of second group of closed slide and the 3rd group of closed slide or be parallel to each other;
First moving slide block, second moving slide block and the 3rd moving slide block are driving slide block, first group of closed slide, first moving slide block, the fixed length connecting rod be connected between the first moving slide block and motion platform forms the first side chain, second group of closed slide, second moving slide block, the fixed length connecting rod be connected between the second moving slide block and motion platform forms the second side chain, 3rd group of closed slide, 3rd moving slide block, be connected to the 3rd fixed length connecting rod between moving slide block and motion platform and form the 3rd side chain, first side chain, second side chain and the 3rd side chain are connected in parallel between fixed platform and motion platform,
The center of the passive ball pivot of fixed length connecting rod and motion platform is connected at first group of closed slide in first side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and motion platform is connected at first group of closed slide in second side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and motion platform is connected at first group of closed slide in 3rd side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit,
The center of the passive ball pivot of fixed length connecting rod and the first moving slide block is connected at first group of closed slide in first side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and the second moving slide block is connected at first group of closed slide in second side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and the 3rd moving slide block is connected at first group of closed slide in 3rd side chain, projection on second group of closed slide and the 3rd group of closed slide axis place vertical plane overlaps as a bit,
The axis of the fixed length connecting rod in the first side chain is perpendicular to first group of closed slide, projection line in the plane of second group of closed slide and the 3rd group of closed slide axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the second side chain is perpendicular to first group of closed slide, projection line in the plane of second group of closed slide and the 3rd group of closed slide axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the 3rd side chain is perpendicular to first group of closed slide, projection line in the plane of second group of closed slide and the 3rd group of closed slide axis does not overlap not parallel mutually yet.
The present invention compared with prior art, its remarkable advantage is, planar three-freedom-degree parallel mechanism of the present invention is the structure of space layout and relies on the constraint of mechanism originally in yardstick aspect to realize planar moving, and makes mechanism of the present invention have very high rigidity perpendicular on the direction of plane of movement; In addition, stressed fixed length connecting rod two ends main in planar three-freedom-degree parallel mechanism of the present invention are that passive ball pivot connects, therefore fixed length connecting rod does not bear the effect of moment of flexure or torque, and such fixed length connecting rod is two power bar components, and the mechanical property of link component material can be not fully exerted.
Accompanying drawing explanation
Fig. 1 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 1 of the present invention, and wherein, Fig. 1 (a) is the three-dimensional view of embodiment 1, and Fig. 1 (b) is the front view of embodiment 1, and Fig. 1 (c) is the side view of embodiment 1.
Fig. 2 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 2 of the present invention.
Fig. 3 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 3 of the present invention.
Fig. 4 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 4 of the present invention.
Fig. 5 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 5 of the present invention.
Fig. 6 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 6 of the present invention.
Fig. 7 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 7 of the present invention.
Fig. 8 is the structural representation of planar three-freedom-degree parallel mechanism embodiment 8 of the present invention.
Detailed description of the invention
Planar three-freedom-degree parallel mechanism of the present invention, comprise fixed platform 1, be arranged on first group of closed slide, 21, the second group of closed slide 22 in fixed platform 1 and the 3rd group of closed slide 23, be arranged on the first moving slide block 31 on first group of closed slide 21, be arranged on the second moving slide block 32 on second group of closed slide 22, be arranged on the second moving slide block 33 on the 3rd group of closed slide 23, motion platform 7, the first moving slide block 31, second moving slide block 32 and be connected in parallel at least six roots of sensation fixed length connecting rod between the 3rd moving slide block 33 and motion platform 7; One end of fixed length connecting rod is connected with the first moving slide block 31, second moving slide block 32 and the 3rd moving slide block 33 respectively by passive ball pivot, and the other end of fixed length connecting rod is all connected with motion platform 7 by passive ball pivot; The dead in line of the axis of first group of closed slide 21, the axis of second group of closed slide 22 and the 3rd group of closed slide 23 or be parallel to each other;
First moving slide block 31, second moving slide block 32 and the 3rd moving slide block 33 are driving slide block, first group of closed slide 21, first moving slide block 31, the fixed length connecting rod be connected between the first moving slide block 31 and motion platform 7 forms the first side chain, second group of closed slide 22, second moving slide block 32, the fixed length connecting rod be connected between the second moving slide block 32 and motion platform 7 forms the second side chain, 3rd group of closed slide 23, 3rd moving slide block 33, the fixed length connecting rod be connected between the 3rd moving slide block and motion platform 7 forms the 3rd side chain, first side chain, second side chain and the 3rd side chain are connected in parallel between fixed platform 1 and motion platform 7,
The center of the passive ball pivot of fixed length connecting rod and motion platform 7 is connected at first group of closed slide 21 in first side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and motion platform 7 is connected at first group of closed slide 21 in second side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and motion platform 7 is connected at first group of closed slide 21 in 3rd side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit,
The center of the passive ball pivot of fixed length connecting rod and the first moving slide block 31 is connected at first group of closed slide 21 in first side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and the second moving slide block 32 is connected at first group of closed slide 21 in second side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the passive ball pivot of fixed length connecting rod and the 3rd moving slide block 33 is connected at first group of closed slide 21 in 3rd side chain, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit,
The axis of the fixed length connecting rod in the first side chain is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the second side chain is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the 3rd side chain is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet.
Embodiment 1
Composition graphs 1 (a), the structure of the present embodiment comprises fixed platform 1, be arranged on first group of closed slide 21 in fixed platform 1, second group of closed slide 22 and the 3rd group of closed slide 23, be arranged on the first moving slide block 31 on first group of closed slide 21, be arranged on the second moving slide block 32 on second group of closed slide 22, be arranged on the second moving slide block 33 on the 3rd group of closed slide 23, motion platform 7, and be connected in the first moving slide block 31 in parallel, second moving slide block 32 and the six roots of sensation fixed length connecting rod between the 3rd moving slide block 33 and motion platform 7: the first fixed length connecting rod 51, second fixed length connecting rod 52, 3rd fixed length connecting rod 53, 4th fixed length connecting rod 54, 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56,
As shown in Fig. 1 (a), first fixed length connecting rod 51 and the second fixed length connecting rod 52 are connected in parallel between the first moving slide block 31 and motion platform 7, first fixed length connecting rod 51 and being connected respectively by passive ball pivot 41,42 between the second fixed length connecting rod 52 with the first moving slide block 31, the first fixed length connecting rod 51 and the second fixed length connecting rod 52 are connected respectively by passive ball pivot 61,62 with between motion platform 7;
As shown in Fig. 1 (a), 3rd fixed length connecting rod 53 and the 4th fixed length connecting rod 54 are connected in parallel between the second moving slide block 32 and motion platform 7,3rd fixed length connecting rod 53 and being connected respectively by passive ball pivot 43,44 between the 4th fixed length connecting rod 54 with the second moving slide block 32, the 3rd fixed length connecting rod 53 and the 4th fixed length connecting rod 54 are connected respectively by passive ball pivot 63,64 with between motion platform 7;
As shown in Fig. 1 (a), 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected in parallel between the 3rd moving slide block 33 and motion platform 7,5th fixed length connecting rod 55 and being connected respectively by passive ball pivot 45,46 between the 6th fixed length connecting rod 56 with the second moving slide block 33, the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected respectively by passive ball pivot 65,66 with between motion platform 7;
As shown in Fig. 1 (a), first group of closed slide 21, first moving slide block 31, be connected to the first fixed length connecting rod 51 between the first moving slide block 31 and motion platform 7 and the second fixed length connecting rod 52 forms the first side chain, second group of closed slide 22, second moving slide block 32, be connected to the 3rd fixed length connecting rod 53 between the second moving slide block 32 and motion platform 7 and the 4th fixed length connecting rod 54 forms the second side chain, 3rd group of closed slide 23, 3rd moving slide block 33, be connected to the 5th fixed length connecting rod 55 between the 3rd moving slide block and motion platform 7 and the 6th fixed length connecting rod 56 forms the 3rd side chain, first side chain, second side chain and the 3rd side chain are connected in parallel between fixed platform 1 and motion platform 7,
As shown in Fig. 1 (b), the center of the center connecting the first fixed length connecting rod 51 and the passive ball pivot 61 of motion platform 7 in the first side chain and the passive ball pivot 62 being connected the second fixed length connecting rod 52 and motion platform 7 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the center connecting the first fixed length connecting rod 51 and the passive ball pivot 41 of the first moving slide block 31 and the passive ball pivot 42 being connected the second fixed length connecting rod 52 and the first moving slide block 31 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit,
As shown in Fig. 1 (b), the center of the center connecting the 3rd fixed length connecting rod 53 and the passive ball pivot 63 of motion platform 7 in the second side chain and the passive ball pivot 64 being connected the 4th fixed length connecting rod 54 and motion platform 7 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the center connecting the 3rd fixed length connecting rod 53 and the passive ball pivot 43 of the second moving slide block 32 and the passive ball pivot 44 being connected the 4th fixed length connecting rod 54 and the second moving slide block 32 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit,
As shown in Fig. 1 (b), the center of the center connecting the 5th fixed length connecting rod 55 and the passive ball pivot 65 of motion platform 7 in the 3rd side chain and the passive ball pivot 66 being connected the 6th fixed length connecting rod 56 and motion platform 7 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit, the center of the center connecting the 5th fixed length connecting rod 55 and the passive ball pivot 45 of the 3rd moving slide block 33 and the passive ball pivot 46 being connected the 6th fixed length connecting rod 56 and the 3rd moving slide block 33 is at first group of closed slide 21, projection on second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps as a bit,
As shown in Fig. 1 (c), in first side chain, the axis of the first fixed length connecting rod 51 and the second fixed length connecting rod 52 is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet, in second side chain, the axis of the 3rd fixed length connecting rod 53 and the 4th fixed length connecting rod 54 is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet, in 3rd side chain, the axis of the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 is perpendicular to first group of closed slide 21, projection line in the plane of second group of closed slide 22 and the 3rd group of closed slide 23 axis does not overlap not parallel mutually yet.
Embodiment 2
The structure of the present embodiment as shown in Figure 2, the difference of the present embodiment and embodiment 1 is, the first fixed length connecting rod 51 is only had to be connected between the first moving slide block 31 and motion platform 7 in first side chain, be connected by passive ball pivot 41 between first fixed length connecting rod 51 with the first moving slide block 31, the first fixed length connecting rod 51 is connected by passive ball pivot 61 with between motion platform 7; In second side chain, the second fixed length connecting rod 52, the 3rd fixed length connecting rod 53 and the 4th fixed length connecting rod 54 are connected in parallel between the second moving slide block 32 and motion platform 7, second fixed length connecting rod 52, the 3rd fixed length connecting rod 53 and be connected with 44 respectively by passive ball pivot 42,43 between the 4th fixed length connecting rod 54 with the second moving slide block 32, the second fixed length connecting rod 52, the 3rd fixed length connecting rod 53 and the 4th fixed length connecting rod 54 are connected with 64 respectively by passive ball pivot 62,63 with between motion platform 7.
In second side chain, the projection of the center of passive ball pivot 42,43 and 44 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 62,63 and 64 overlaps.
Embodiment 3
The structure of the present embodiment as shown in Figure 3, the difference of the present embodiment and embodiment 1 is, the first fixed length connecting rod 51 is only had to be connected between the first moving slide block 31 and motion platform 7 in first side chain, be connected by passive ball pivot 41 between first fixed length connecting rod 51 with the first moving slide block 31, the first fixed length connecting rod 51 is connected by passive ball pivot 61 with between motion platform 7; In 3rd side chain, the second fixed length connecting rod 52, the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected in parallel between the 3rd moving slide block 33 and motion platform 7, second fixed length connecting rod 52, the 5th fixed length connecting rod 55 and be connected with 46 respectively by passive ball pivot 42,45 between the 6th fixed length connecting rod 56 with the 3rd moving slide block 33, the second fixed length connecting rod 52, the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected with 66 respectively by passive ball pivot 62,65 with between motion platform 7.
In 3rd side chain, the projection of the center of passive ball pivot 42,45 and 46 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 62,65 and 66 overlaps.
Embodiment 4
The structure of the present embodiment as shown in Figure 4, the difference of the present embodiment and embodiment 1 is, the 3rd fixed length connecting rod 53 is only had to be connected between the second moving slide block 32 and motion platform 7 in second side chain, be connected by passive ball pivot 43 between 3rd fixed length connecting rod 53 with the second moving slide block 32, the 3rd fixed length connecting rod 53 is connected by passive ball pivot 63 with between motion platform 7; In 3rd side chain, the 4th fixed length connecting rod 54, the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected in parallel between the 3rd moving slide block 33 and motion platform 7,4th fixed length connecting rod 54, the 5th fixed length connecting rod 55 and be connected with 46 respectively by passive ball pivot 44,45 between the 6th fixed length connecting rod 56 with the 3rd moving slide block 33, the 4th fixed length connecting rod 54, the 5th fixed length connecting rod 55 and the 6th fixed length connecting rod 56 are connected with 66 respectively by passive ball pivot 64,65 with between motion platform 7.
In 3rd side chain, the projection of the center of passive ball pivot 44,45 and 46 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 64,65 and 66 overlaps.
Embodiment 5
The structure of the present embodiment as shown in Figure 5, the difference of the present embodiment and embodiment 2 is, second fixed length connecting rod 52 in second side chain, 3rd fixed length connecting rod 53, 4th fixed length connecting rod 54 and the 6th fixed length connecting rod 56 are connected in parallel between the second moving slide block 32 and motion platform 7, second fixed length connecting rod 52, 3rd fixed length connecting rod 53, 4th fixed length connecting rod 54 and between the 6th fixed length connecting rod 56 and the second moving slide block 32 respectively by passive ball pivot 42, 43, 44 are connected with 46, second fixed length connecting rod 52, 3rd fixed length connecting rod 53, 4th fixed length connecting rod 54 and between the 6th fixed length connecting rod 56 and motion platform 7 respectively by passive ball pivot 62, 63, 64 are connected with 66, the 5th fixed length connecting rod 55 is only had to be connected in parallel between the 3rd moving slide block 33 and motion platform 7 in 3rd side chain, be connected respectively by passive ball pivot 45 between 5th fixed length connecting rod 55 with the 3rd moving slide block 33, the 5th fixed length connecting rod 55 is connected respectively by passive ball pivot 65 with between motion platform 7.
In the present embodiment, in second side chain, the projection of the center of passive ball pivot 42,43,44 and 46 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 62,63,64 and 66 overlaps.
Embodiment 6
The structure of the present embodiment as shown in Figure 6, the difference of the present embodiment and embodiment 1 is, first fixed length connecting rod 51 in first side chain, second fixed length connecting rod 52, 4th fixed length connecting rod 54 and the 6th fixed length connecting rod 56 are connected in parallel between the first moving slide block 31 and motion platform 7, first fixed length connecting rod 51, second fixed length connecting rod 52, 4th fixed length connecting rod 54 and between the 6th fixed length connecting rod 56 and the first moving slide block 31 respectively by passive ball pivot 41, 42, 44 are connected with 46, first fixed length connecting rod 51, second fixed length connecting rod 52, 4th fixed length connecting rod 54 and between the 6th fixed length connecting rod 56 and motion platform 7 respectively by passive ball pivot 61, 62, 64 are connected with 66, the 3rd fixed length connecting rod 53 is only had to be connected between the second moving slide block 32 and motion platform 7 in second side chain, be connected respectively by passive ball pivot 43 between 3rd fixed length connecting rod 53 with the second moving slide block 32, the 3rd fixed length connecting rod 53 is connected respectively by passive ball pivot 63 with between motion platform 7, the 5th fixed length connecting rod 55 is only had to be connected between the 3rd moving slide block 33 and motion platform 7 in 3rd side chain, be connected respectively by passive ball pivot 45 between 5th fixed length connecting rod 55 with the 3rd moving slide block 33, the 5th fixed length connecting rod 55 is connected respectively by passive ball pivot 65 with between motion platform 7.
In the present embodiment, in first side chain, the projection of the center of passive ball pivot 41,42,44 and 46 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 61,62,64 and 66 overlaps.
Embodiment 7
The structure of the present embodiment as shown in Figure 7, the difference of the present embodiment and embodiment 1 is, also comprise the 7th fixed length connecting rod 57,7th fixed length connecting rod 57 is arranged between the second moving slide block 32 of the second side chain and motion platform 7,7th fixed length connecting rod 57 is connected by passive ball pivot 47 with between the second moving slide block 32, is connected between fixed length connecting rod 57 with motion platform 7 by passive ball pivot 67.
In the present embodiment, in second side chain, the projection of the center of passive ball pivot 43,44 and 47 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 63,64 and 67 overlaps.
Embodiment 8
The structure of the present embodiment as shown in Figure 8, the difference of the present embodiment and embodiment 1 is, also comprise the 7th fixed length connecting rod 57, first fixed length connecting rod 51 in first side chain, second fixed length connecting rod 52, 6th fixed length connecting rod 56 and the 7th fixed length connecting rod 57 are connected in parallel between the first moving slide block 31 and motion platform 7, first fixed length connecting rod 51, second fixed length connecting rod 52, 6th fixed length connecting rod 56 and between the 7th fixed length connecting rod 57 and the first moving slide block 31 respectively by passive ball pivot 41, 42, 46 are connected with 47, first fixed length connecting rod 51, second fixed length connecting rod 52, 6th fixed length connecting rod 56 and between the 7th fixed length connecting rod 57 and motion platform 7 respectively by passive ball pivot 61, 62, 66 are connected with 67, the 5th fixed length connecting rod 55 is only had to be connected between the 3rd moving slide block 33 and motion platform 7 in 3rd side chain, be connected by passive ball pivot 45 between 5th fixed length connecting rod 55 with the 3rd moving slide block 33, the 5th fixed length connecting rod 55 is connected by passive ball pivot 65 with between motion platform 7.
In the present embodiment, in first side chain, the projection of the center of passive ball pivot 41,42,46 and 47 on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane overlaps is a bit, and it is a bit that the projection of center on first group of closed slide, 21, second group of closed slide 22 and the 3rd group of closed slide 23 axis place vertical plane of passive ball pivot 61,62,66 and 67 overlaps.
Claims (9)
1. planar three-freedom-degree parallel mechanism, it is characterized in that, comprise fixed platform (1), be arranged on first group of closed slide (21) in fixed platform (1), second group of closed slide (22) and the 3rd group of closed slide (23), be arranged on the first moving slide block (31) on first group of closed slide (21), be arranged on the second moving slide block (32) on second group of closed slide (22), be arranged on the 3rd moving slide block (33) on the 3rd group of closed slide (23), motion platform (7), first moving slide block (31), second moving slide block (32) and be connected in parallel at least six roots of sensation fixed length connecting rod between the 3rd moving slide block (33) and motion platform (7), one end of fixed length connecting rod is all connected with the first moving slide block (31), the second moving slide block (32) and the 3rd moving slide block (33) respectively by passive ball pivot, and the other end of fixed length connecting rod is all connected with motion platform (7) by passive ball pivot, the dead in line of the axis of first group of closed slide (21), the axis of second group of closed slide (22) and the 3rd group of closed slide (23) or be parallel to each other,
First moving slide block (31), second moving slide block (32) and the 3rd moving slide block (33) are driving slide block, first group of closed slide (21), first moving slide block (31), the fixed length connecting rod be connected between the first moving slide block (31) and motion platform (7) forms the first side chain, second group of closed slide (22), second moving slide block (32), the fixed length connecting rod be connected between the second moving slide block (32) and motion platform (7) forms the second side chain, 3rd group of closed slide (23), 3rd moving slide block (33), the fixed length connecting rod be connected between the 3rd moving slide block and motion platform (7) forms the 3rd side chain, first side chain, second side chain and the 3rd side chain are connected in parallel between fixed platform (1) and motion platform (7),
The passive ball pivot center of fixed length connecting rod and motion platform (7) is connected first group of closed slide (21) in first side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit, the passive ball pivot center of fixed length connecting rod and motion platform (7) is connected first group of closed slide (21) in second side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit, the passive ball pivot center of fixed length connecting rod and motion platform (7) is connected first group of closed slide (21) in 3rd side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit,
The passive ball pivot center of fixed length connecting rod and the first moving slide block (31) is connected first group of closed slide (21) in first side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit, the passive ball pivot center of fixed length connecting rod and the second moving slide block (32) is connected first group of closed slide (21) in second side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit, the passive ball pivot center of fixed length connecting rod and the 3rd moving slide block (33) is connected first group of closed slide (21) in 3rd side chain, projection on second group of closed slide (22) and the 3rd group of closed slide (23) axis place vertical plane overlaps as a bit,
The axis of the fixed length connecting rod in the first side chain is perpendicular to first group of closed slide (21), projection line in the plane of second group of closed slide (22) and the 3rd group of closed slide (23) axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the second side chain is perpendicular to first group of closed slide (21), projection line in the plane of second group of closed slide (22) and the 3rd group of closed slide (23) axis does not overlap not parallel mutually yet, the axis of the fixed length connecting rod in the 3rd side chain is perpendicular to first group of closed slide (21), projection line in the plane of second group of closed slide (22) and the 3rd group of closed slide (23) axis does not overlap not parallel mutually yet.
2. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51) and the second fixed length connecting rod (52) are connected in parallel between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53) and the 4th fixed length connecting rod (54) are connected in parallel between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56) are connected in parallel between the 3rd moving slide block (33) and motion platform (7).
3. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51) is connected between the first moving slide block (31) and motion platform (7); Second fixed length connecting rod (52), the 3rd fixed length connecting rod (53) and the 4th fixed length connecting rod (54) are connected in parallel between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56) are connected in parallel between the 3rd moving slide block (33) and motion platform (7).
4. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51) is connected between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53) and the 4th fixed length connecting rod (54) are connected in parallel between the second moving slide block (32) and motion platform (7); Second fixed length connecting rod (52), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56) are connected in parallel between the 3rd moving slide block (33) and motion platform (7).
5. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51) and the second fixed length connecting rod (52) are connected in parallel between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53) is connected between the second moving slide block (32) and motion platform (7); 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56) are connected in parallel between the 3rd moving slide block (33) and motion platform (7).
6. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51) is connected between the first moving slide block (31) and motion platform (7); Second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54) and the 6th fixed length connecting rod (56) are connected in parallel between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) is connected in parallel between the 3rd moving slide block (33) and motion platform (7).
7. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise six roots of sensation fixed length connecting rod, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56); First fixed length connecting rod (51), the second fixed length connecting rod (52), the 4th fixed length connecting rod (54) and the 6th fixed length connecting rod (56) are connected in parallel between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53) is connected between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) is connected between the 3rd moving slide block (33) and motion platform (7).
8. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise seven fixed length connecting rods, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55), the 6th fixed length connecting rod (56) and the 7th fixed length connecting rod (57); First fixed length connecting rod (51) and the second fixed length connecting rod (52) are connected in parallel between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54) and the 7th fixed length connecting rod (57) are connected in parallel between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) and the 6th fixed length connecting rod (56) are connected in parallel between the 3rd moving slide block (33) and motion platform (7).
9. planar three-freedom-degree parallel mechanism as claimed in claim 1, it is characterized in that, comprise seven fixed length connecting rods, be respectively the first fixed length connecting rod (51), the second fixed length connecting rod (52), the 3rd fixed length connecting rod (53), the 4th fixed length connecting rod (54), the 5th fixed length connecting rod (55), the 6th fixed length connecting rod (56) and the 7th fixed length connecting rod (57); First fixed length connecting rod (51), the second fixed length connecting rod (52), the 6th fixed length connecting rod (56) and the 7th fixed length connecting rod (57) are connected in parallel between the first moving slide block (31) and motion platform (7); 3rd fixed length connecting rod (53) and the 4th fixed length connecting rod (54) are connected in parallel between the second moving slide block (32) and motion platform (7); 5th fixed length connecting rod (55) is connected between the 3rd moving slide block (33) and motion platform (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149493.5A CN103895006B (en) | 2014-04-14 | 2014-04-14 | Planar three-freedom-degree parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410149493.5A CN103895006B (en) | 2014-04-14 | 2014-04-14 | Planar three-freedom-degree parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103895006A CN103895006A (en) | 2014-07-02 |
| CN103895006B true CN103895006B (en) | 2015-12-30 |
Family
ID=50986742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410149493.5A Active CN103895006B (en) | 2014-04-14 | 2014-04-14 | Planar three-freedom-degree parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103895006B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109052257B (en) * | 2018-09-21 | 2020-07-07 | 南京理工大学 | Lifting mechanism with three-dimensional spatial layout |
| CN111421524B (en) * | 2020-04-10 | 2021-05-18 | 燕山大学 | Five degrees of freedom industrial robotic arm |
| CN112338569A (en) * | 2020-11-18 | 2021-02-09 | 苏州小工匠机器人有限公司 | Single-shaft guide rail system and automatic production device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002011680A (en) * | 2000-06-29 | 2002-01-15 | Fukui Prefecture | Parallel mechanism robot arm |
| CN1498149A (en) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | Kinematic device for support and programmable displacement of trerminal elementin machine or instrument |
| EP1561550A1 (en) * | 2004-01-28 | 2005-08-10 | Guido Kübler GmbH | Device for spatially positioning and supporting a working element in connection with a base element and use of such a device |
| CN101224578A (en) * | 2008-02-01 | 2008-07-23 | 南京理工大学 | Two degrees of freedom translation parallel mechanism |
| CN102615645A (en) * | 2012-04-12 | 2012-08-01 | 重庆大学 | Six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot |
| CN103308338A (en) * | 2013-05-31 | 2013-09-18 | 北京航空航天大学 | Machine tool loading device and machine tool loading test method based on three-freedom-degree parallel mechanism |
-
2014
- 2014-04-14 CN CN201410149493.5A patent/CN103895006B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002011680A (en) * | 2000-06-29 | 2002-01-15 | Fukui Prefecture | Parallel mechanism robot arm |
| CN1498149A (en) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | Kinematic device for support and programmable displacement of trerminal elementin machine or instrument |
| EP1561550A1 (en) * | 2004-01-28 | 2005-08-10 | Guido Kübler GmbH | Device for spatially positioning and supporting a working element in connection with a base element and use of such a device |
| CN101224578A (en) * | 2008-02-01 | 2008-07-23 | 南京理工大学 | Two degrees of freedom translation parallel mechanism |
| CN102615645A (en) * | 2012-04-12 | 2012-08-01 | 重庆大学 | Six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot |
| CN103308338A (en) * | 2013-05-31 | 2013-09-18 | 北京航空航天大学 | Machine tool loading device and machine tool loading test method based on three-freedom-degree parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103895006A (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102825595B (en) | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN103286777B (en) | A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism | |
| CN106346444B (en) | A kind of four-freedom parallel connection robot mechanism of three translations, one rotation | |
| CN100522506C (en) | Two degrees of freedom translation parallel mechanism | |
| CN105904441B (en) | The movement of one kind two two rotates four-degree-of-freedom holohedral symmetry parallel institution | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN102699899A (en) | Highly over-constrained high-rigidity multi-coordinate hybrid robot | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN103895006B (en) | Planar three-freedom-degree parallel mechanism | |
| CN103286771A (en) | Spatial three-rotational-freedom parallel connecting mechanism | |
| CN104526684A (en) | High-rigidity hybrid robot capable of achieving gravity self balancing | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN102848376B (en) | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints | |
| CN100411826C (en) | A four-degree-of-freedom parallel robot mechanism with two-dimensional translation and two-dimensional rotation | |
| CN107175654A (en) | A kind of structural redundancy parallel institution that there are two rotations two to move | |
| CN102689304A (en) | Three-freedom-degree mobile parallel robot mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN103465252A (en) | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism | |
| CN102398264A (en) | A four-degree-of-freedom parallel robot mechanism with two-dimensional translation and two-dimensional rotation | |
| CN101733753B (en) | Redundant parallel mechanism containing composite spherical hinge | |
| CN105345809A (en) | Six-degree-of-freedom serial-parallel mechanism | |
| CN107263454A (en) | Become born of the same parents' parallel institution | |
| CN101708609A (en) | Space three degree-of-freedom pure-translation parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |