CN104608130A - 3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism - Google Patents
3-SPS, 2-SPR and R type five-degree-of-freedom parallel mechanism Download PDFInfo
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- CN104608130A CN104608130A CN201410717437.7A CN201410717437A CN104608130A CN 104608130 A CN104608130 A CN 104608130A CN 201410717437 A CN201410717437 A CN 201410717437A CN 104608130 A CN104608130 A CN 104608130A
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Abstract
一种3SPS+2SPR+R型五自由度并联机构，主要包括机座，动平台，横轴，三个SPS型直线驱动分支,两个SPR型直线驱动分支。横轴与动平台转动副联接；三个SPS型直线驱动分支和两个SPR型直线驱动分支在机座与动平台之间呈圆周均布，每个SPS型直线驱动分支的两端分别通过球副与动平台和机座联接；两个SPR型直线驱动分支的一端分别通过转动副与横轴两端联接，两个转动副相互平行，且与横轴垂直，两个SPR型直线驱动分支的另一端通过球副与机座联接。本发明具有结构简单、工作空间大、刚度高、各向平动特性好的优点。动平台与不同工具联接，可构造多种五自由度并联机器人和装备。
A 3SPS+2SPR+R five-degree-of-freedom parallel mechanism mainly includes a machine base, a moving platform, a transverse axis, three SPS linear drive branches, and two SPR linear drive branches. The horizontal axis is connected with the rotating pair of the moving platform; three SPS linear drive branches and two SPR linear drive branches are evenly distributed on the circumference between the machine base and the moving platform, and the two ends of each SPS linear drive branch are passed through balls respectively. The pair is connected with the moving platform and the machine base; one end of the two SPR type linear drive branches is respectively connected with the two ends of the horizontal axis through the rotary pair, the two rotary pairs are parallel to each other and perpendicular to the horizontal axis, the two SPR type linear drive branches are The other end is connected with the base through a ball pair. The invention has the advantages of simple structure, large working space, high rigidity and good translation properties in all directions. The moving platform is connected with different tools, and a variety of five-degree-of-freedom parallel robots and equipment can be constructed.
Description
Technical field
The invention belongs to robot field, particularly a kind of parallel institution.
Background technology
It is large that parallel robot has mechanism's rigidity relatively, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as not to accumulate at the feature, and application is mutual supplement with each other's advantages relation with serial manipulator.For ease of illustrating, represent a point number with (n, n=1,2,3,4,6), represent respectively with (S, U, P, R) (ball is secondary, universal pair, moving sets, revolute pair) in sub-chain, their combination represents sub-chain structure.
In recent years, formed based on Stewart six degree of freedom 6-SPS parallel institution the principal organ constructing multiple parallel machine.Compared with six-degree-of-freedom parallel robot, mechanism and the structure of five-freedom parallel device people more simply, more easily control, and meet Free-Form Surface Machining requirement, play an important role in national economy and national security.Guaranteeing under five-freedom parallel device people advantage prerequisite, brainstrust unremitting effort is always studied, and simplifies the internal structure of an organization further and structure, increases moving platform position and locus orientation-workspace.Progressively from experimental study, practical application is transferred to its research, becomes the hot-point and frontier direction of robot and high-end equipment manufacturing area research in recent years.
Relevant 5-DOF (degree of freedom) parallel robot mechanism has a variety of in recent years, as: CN1258585 announces a kind of orthogonal five-freedom five-shaft parallel virtual-shaft machine tool, a kind of parallel decoupling mechanism with 5 degree of freedom of CN1462672 patent disclosure, CN1371786 patent disclosure one moves two turns of five-axle linkage parallel machine mechanisms containing UPRP type bound branch three; CN101049692 patent disclosure is by the series parallel robot in five degrees of freedom of a 3-freedom parallel mechanism and the series-parallel connection of two degrees of freedom knife rest; A kind of space five-freedom parallel robot mechanism of CN1546287 patent disclosure and a kind of redundant drive five-freedom parallel machine tool; Within 2002, Tsai LW and Fang Yuefa designs a kind of Planar Mechanisms five-freedom parallel structure, and within 2005, CN100427276C patent disclosure one three moves two turns of five-freedom parallel structures, provides five mobile drivings to support with three closed slides on support.Huang Zhen in 2007 etc. propose symmetrical 3 turn 2 an of class and move five-freedom parallel structure; Lu Yi in 2008 etc. propose and research five leg 4SPS+SPR types, three leg 2SPS+PRRPR types and containing middle UPU bound branch 5SPS+UPU type four kinds of five-freedom parallel structures; A kind of five-freedom dual-driving parallel mechanism of CN101623866B patent disclosure in 2009, it has five side chains, and each side chain has two to connect mobilely to drive secondary, and there are ten drivings in this mechanism in essence, realizes the grand and micro-move device of five-freedom dual.A kind of five-freedom parallel structure of CN101693366A patent disclosure in 2010, CN101623866B patent disclosure one drives branch's five-freedom dual-driving parallel mechanism containing series connection; Gosselin in 2011 etc. propose a kind of holohedral symmetry and move 5-RPUR type five-freedom parallel structure for 3 turn 2.
In sum, above-mentioned five-freedom parallel structure differs from one another, and its configuration can be divided into: moving platform and support are all five secondary bars, drive the mechanism that branched structure is different, (as CN1258585 patent, CN1462672 patent, CN101693366A patent, CN100427276C patent, CN103085059A patent, CN101491899 patent, CN103042520A patent, 5-RPUR type mechanism, 4SPS+SPR type mechanism); Containing middle passive bound branch, moving platform and support are all mechanism'ss (as CN1371786 patent, CN101850519A patent, 5SPS+UPU type mechanism) of six secondary bars; With mechanism's (as CN101049692 patent) of 3-freedom parallel mechanism and the series-parallel connection of two-freedom serial mechanism; Containing composite flooding leg mechanism, as CN102248535A patent, CN103465252A patent, 2SPS+PRRPR type mechanism.
So far, make moving platform with fourth officer bar, there is not been reported to make support structure five-freedom parallel structure with five secondary bars.How to improve five-freedom parallel structure working space, have good exercise performance, moving platform has each to the translation same sex, and can bear large live load, is the target that people strive for always.
Summary of the invention:
The object of the invention is to provide that a kind of structure is simple, translation is good, and working space is large, to any direction translation performance same sex, bears the 3SPS+2SPR+R type five-freedom parallel structure that large live load ability is strong.Moving platform of the present invention connects from different instrument, can construct multiple five-freedom parallel device people and equipment, is especially applicable to structure five-freedom parallel machine tool.
The present invention includes support, moving platform, transverse axis, SPS (ball pair-moving sets-ball is secondary) the type linear drives branch that three structures are identical, SPR (ball pair-moving sets-revolute pair) the type linear drives branch that two structures are identical.Moving platform while be provided with horizontal through hole in parallel, transverse axis is through through hole, and connect with moving platform revolute pair, transverse axis two ends are respectively provided with a through hole, and the axis of these two through holes is parallel to each other, and perpendicular to transverse axis; One end of Liang GeSPRXing branch connects with transverse axis two ends respectively by the through hole at revolute pair and transverse axis two ends, and these two revolute pairs are parallel to each other, and vertical with transverse axis, and the other end of Liang GeSPRXing branch connects with support respectively by ball pair; Each SPS type branch two ends connect with moving platform and support respectively by ball pair; Three SPS type linear drives branches and Liang GeSPRXing linear drives branch circumferentially uniform between support and moving platform.
The present invention compared with prior art tool has the following advantages:
1. moving platform of the present invention is fourth officer bar, and support is five secondary bars, and overall structure is symmetrical, and moving platform has each advantage to the translation same sex.
2. three SPS type linear drives branches and Liang GeSPRXing linear drives branch circumferentially uniform between support and moving platform, such that overall structure is simple, bearing capacity is large, rigidity is high, flexibility is good, working space is large.
3. each separation structure of the present invention is identical, and interchangeability is good, easily installs and manufactures.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
In figure: 1-support, 2-moving platform, 3-transverse axis, 4-SPS type linear drives branch, 4-1-ball pair, 4-2-moving sets electric cylinder, 4-3-ball pair, 5-SPR type linear drives branch, 5-1-ball pair, 5-2-moving sets electric cylinder, 5-3-revolute pair.
Detailed description of the invention
In a kind of 3SPS+2SPR+R type five-freedom parallel structure schematic diagram shown in Fig. 1, support 1 is that five secondary bars are dull and stereotyped, moving platform 2 is that fourth officer bar is dull and stereotyped, moving platform while be provided with horizontal through hole in parallel, transverse axis 3 is through through hole, and connect with moving platform revolute pair, transverse axis two ends are respectively provided with a through hole, the axis of these two through holes is parallel to each other, and perpendicular to transverse axis; The one end of moving sets electric cylinder 5-2 in Liang GeSPRXing branch 5 connects with transverse axis two ends respectively by the through hole at revolute pair 5-3 and transverse axis two ends, these two revolute pairs are parallel to each other, and vertical with transverse axis, this moving sets electric cylinder other end connects with support respectively by ball secondary 5-1; The one end of moving sets electric cylinder 4-2 in three SPS type branches is connected with support by ball secondary 4-1, and the other end of this moving sets electric cylinder is connected with moving platform by ball secondary 4-3; Three SPS type linear drives branches and Liang GeSPRXing linear drives branch circumferentially uniform between support and moving platform.
Claims (1)
1. a 3SPS+2SPR+R type five-freedom parallel structure, mainly comprise support, moving platform, transverse axis, three SPS type linear drives branches, Liang GeSPRXing linear drives branch, it is characterized in that: described support is that five secondary bars are dull and stereotyped, described moving platform is that fourth officer bar is dull and stereotyped, and described transverse axis is three secondary bars, at moving platform while be provided with horizontal through hole in parallel, transverse axis is through through hole, and connect with moving platform revolute pair, transverse axis two ends are respectively provided with a through hole, the axis of these two through holes is parallel to each other, and perpendicular to transverse axis; The one end of moving sets electric cylinder in Liang GeSPRXing branch connects with transverse axis two ends respectively by the through hole at revolute pair and transverse axis two ends, and these two revolute pairs are parallel to each other, and vertical with transverse axis, and this moving sets electric cylinder other end connects with support respectively by ball pair; The two ends of the moving sets electric cylinder in three SPS type branches connect with moving platform and support respectively by ball pair; Three SPS type linear drives branches and Liang GeSPRXing linear drives branch circumferentially uniform between support and moving platform.
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| CN201410717437.7A CN104608130B (en) | 2014-12-01 | 2014-12-01 | A kind of 3SPS+2SPR+R type five-freedom parallel structure |
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| CN201410717437.7A CN104608130B (en) | 2014-12-01 | 2014-12-01 | A kind of 3SPS+2SPR+R type five-freedom parallel structure |
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| CN104608130A true CN104608130A (en) | 2015-05-13 |
| CN104608130B CN104608130B (en) | 2016-05-18 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN109015742A (en) * | 2018-08-31 | 2018-12-18 | 上海与德通讯技术有限公司 | The universal driving joint module of one kind and flexible mechanical arm |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A Large Rotation Angle 2T2R Four Degrees of Freedom Parallel Mechanism |
| CN115533689A (en) * | 2022-09-16 | 2022-12-30 | 燕山大学 | Five-freedom-degree parallel grinding device for constant pressure of free-form surface workpiece |
Citations (4)
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| US20020029610A1 (en) * | 2000-05-12 | 2002-03-14 | Chrystall Keith G. | Motion platform and method of use |
| CN1673606A (en) * | 2005-04-13 | 2005-09-28 | 浙江大学 | Space four freedom mechanism for realizing three rotating and one moving |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three-degree-of-freedom parallel robot mechanism with different structural drive branches |
-
2014
- 2014-12-01 CN CN201410717437.7A patent/CN104608130B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020029610A1 (en) * | 2000-05-12 | 2002-03-14 | Chrystall Keith G. | Motion platform and method of use |
| CN1673606A (en) * | 2005-04-13 | 2005-09-28 | 浙江大学 | Space four freedom mechanism for realizing three rotating and one moving |
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three-degree-of-freedom parallel robot mechanism with different structural drive branches |
Non-Patent Citations (2)
| Title |
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| 路懿: "三自由度SP+SPR+SPS 并联机构的", 《燕山大学学报》 * |
| 陈修龙: "4-UPS-ＲPS 空间5自由度并联机构运动学分析", 《农业机械学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN106112979B (en) * | 2016-07-25 | 2018-06-08 | 燕山大学 | One kind contains two orthogonal plane branch four-freedom parallel mechanisms |
| CN109015742A (en) * | 2018-08-31 | 2018-12-18 | 上海与德通讯技术有限公司 | The universal driving joint module of one kind and flexible mechanical arm |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A Large Rotation Angle 2T2R Four Degrees of Freedom Parallel Mechanism |
| CN115533689A (en) * | 2022-09-16 | 2022-12-30 | 燕山大学 | Five-freedom-degree parallel grinding device for constant pressure of free-form surface workpiece |
| CN115533689B (en) * | 2022-09-16 | 2024-09-03 | 燕山大学 | Five-DOF parallel grinding device for constant pressure of free-form surface workpiece |
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| CN104608130B (en) | 2016-05-18 |
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