CN108673470B - Three-degree-of-freedom parallel mechanism suitable for platform movement - Google Patents
Three-degree-of-freedom parallel mechanism suitable for platform movement Download PDFInfo
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- CN108673470B CN108673470B CN201810329397.7A CN201810329397A CN108673470B CN 108673470 B CN108673470 B CN 108673470B CN 201810329397 A CN201810329397 A CN 201810329397A CN 108673470 B CN108673470 B CN 108673470B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
本发明涉及一种适用于平台移动的三自由度并联机构，其由固定平台、运动平台以及连接这两个平台的三条结构完全相同的活动分支组成。其中，每条活动分支都是一个平行四边形连杆滑块机构，该机构是由3根连杆、2根滑杆以及2个滑块组成，通过2个转动副分别与固定平台、运动平台连接。固定平台和运动平台均采用正三角形结构，保证三条活动分支对称分布在正三角形的顶点处。本发明采用对称的结构，可以实现运动平台沿X、Y、Z三个方向的平移运动，适用于各类需要实现平台移动的机械结构，因此具有广阔的应用前景。此外，该机构能够有效降低对空间体积的占用，降低制造和维护成本，在运动过程中保持各向同性等优点。
The invention relates to a three-degree-of-freedom parallel mechanism suitable for platform movement, which is composed of a fixed platform, a moving platform and three movable branches with identical structures connecting the two platforms. Among them, each active branch is a parallelogram link-slider mechanism, which is composed of 3 connecting rods, 2 sliding rods and 2 sliding blocks, which are respectively connected with the fixed platform and the moving platform through 2 rotating pairs. . Both the fixed platform and the moving platform adopt an equilateral triangle structure to ensure that the three active branches are symmetrically distributed at the vertices of the equilateral triangle. The invention adopts a symmetrical structure, which can realize the translational movement of the moving platform along the three directions of X, Y and Z, and is suitable for various mechanical structures that need to realize the movement of the platform, so it has a broad application prospect. In addition, the mechanism can effectively reduce the occupation of space, reduce manufacturing and maintenance costs, and maintain isotropy during movement.
Description
Technical Field
The invention relates to the fields of mechanics and robotics, in particular to a three-degree-of-freedom parallel mechanism suitable for platform movement.
Background
Parallel mechanisms with three degrees of freedom of movement have found wide application in the mechanical industry. In the mechanical industry, it is often necessary to achieve translational motion of the motion platform in three directions X, Y, Z. To accomplish the translational motion with three degrees of freedom, the current mechanism is generally realized by a lead screw and slide block mechanism arranged in three directions. However, the space occupied by such a mechanism is equivalent to the product of the motion amplitudes in the three directions of X, Y, Z, and therefore, the occupied space is large, which is not favorable for the miniaturization of mechanical equipment.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom parallel mechanism suitable for platform movement, aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-degree-of-freedom parallel mechanism suitable for platform movement is composed of a fixed platform, a moving platform and three movable branches which are connected with the fixed platform and the moving platform and have the same structure, wherein the fixed platform and the moving platform are of regular triangle structures, and the three movable branches are symmetrically distributed at the vertex of the regular triangle.
Each movable branch is a parallelogram connecting rod sliding block mechanism which consists of three connecting rods, two sliding rods and two sliding blocks; the first connecting rod, the first sliding rod, the second connecting rod and the second sliding rod are connected through four revolute pairs, the length of the first connecting rod is equal to that of the second connecting rod, and the length of the first sliding rod is equal to that of the second sliding rod, so that a parallelogram structure is formed; the first sliding block is connected with the first sliding rod through a sliding pair, the second sliding block is connected with the second sliding rod through a sliding pair, the first sliding block and the second sliding block are connected through a rotating pair and a third connecting rod respectively, the tail end of the third connecting rod is connected with the fixed platform through a rotating pair, and the tail end of the first connecting rod is connected with the moving platform through a rotating pair.
Compared with the prior art, the invention has the following outstanding advantages:
the three-degree-of-freedom parallel mechanism suitable for platform movement provided by the invention can effectively reduce the space volume occupied by the mechanism and reduce the manufacturing and maintenance cost. In addition, the mechanism adopts three movable branches with completely identical structures, and good isotropy is guaranteed in the movement process.
The invention adopts a symmetrical structure, can realize the translational motion of the motion platform along X, Y, Z three directions, is suitable for various mechanical structures needing to realize the platform motion, and has wide application prospect.
Drawings
Fig. 1 is a schematic perspective view of a parallel mechanism.
Fig. 2 is a perspective view of the movable branch.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, a three-degree-of-freedom parallel mechanism suitable for platform movement is characterized by comprising a fixed platform 101, a moving platform 102 and three movable branches 103 which are connected with the fixed platform 101 and the moving platform 102 and have completely the same structure, wherein the fixed platform 101 and the moving platform 102 both adopt regular triangle structures, and the three movable branches 103 are ensured to be symmetrically distributed at the vertex of the regular triangle.
As shown in fig. 2, each movable branch 103 is a parallelogram link slider mechanism, which is composed of three links, two slide rods and two sliders; the first connecting rod 201, the first sliding rod 202, the second connecting rod 203 and the second sliding rod 204 are connected through four revolute pairs, the length of the first connecting rod 201 is equal to that of the second connecting rod 203, and the length of the first sliding rod 202 is equal to that of the second sliding rod 204, so that a parallelogram structure is formed; the first sliding block 206 is connected with the first sliding rod 202 through a sliding pair, the second sliding block 207 is connected with the second sliding rod 204 through a sliding pair, the first sliding block 206 and the second sliding block 207 are respectively connected through a rotating pair and a third connecting rod 205, the tail end of the third connecting rod 205 is connected with the fixed platform 101 through a rotating pair, and the tail end of the first connecting rod 201 is connected with the moving platform 102 through a rotating pair.
The working process of the three-degree-of-freedom parallel mechanism applicable to platform movement is as follows:
when the sliding blocks in the three movable branches 103 with completely the same structure move upwards relative to the sliding rod, the distance between the moving platform 102 and the fixed platform 101 is reduced, so that the moving platform 102 moves downwards along the vertical direction (Z direction); in contrast, when the slider in the movable branch 103 moves downward relative to the slide bar, the distance between the moving platform 102 and the fixed platform 101 increases, thereby realizing the upward movement of the moving platform 102 in the vertical direction (Z direction). Due to the nature of the parallelogram, the first link 201 and the third link 205 are always parallel, thereby ensuring that the moving platform 102 is always parallel to the fixed platform 101 during the work. In addition, each movable branch 103 is connected with the fixed platform 101 and the moving platform 102 through 2 revolute pairs respectively. Through these rotation pairs, the movable branch 103 can rotate relative to the fixed platform 101, thereby realizing the translational movement of the movable platform 102 in the horizontal plane (X direction and Y direction). Finally, the parallel mechanism combines the movements of the moving platform 102 in the vertical direction and the horizontal plane, so that the translational movement of the moving platform 102 along X, Y, Z is realized.
Claims (1)
1. A three-degree-of-freedom parallel mechanism suitable for platform movement is characterized by comprising a fixed platform (101), a moving platform (102) and three movable branches (103) which are connected with the fixed platform (101) and the moving platform (102) and have the same structure, wherein the fixed platform (101) and the moving platform (102) both adopt regular triangle structures, and the three movable branches (103) are ensured to be symmetrically distributed at the vertex of the regular triangle;
each movable branch (103) is a parallelogram connecting rod sliding block mechanism which consists of three connecting rods, two sliding rods and two sliding blocks; the first connecting rod (201), the first sliding rod (202), the second connecting rod (203) and the second sliding rod (204) are connected through four revolute pairs, the length of the first connecting rod (201) is equal to that of the second connecting rod (203), and the length of the first sliding rod (202) is equal to that of the second sliding rod (204), so that a parallelogram structure is formed; the first sliding block (206) is connected with the first sliding rod (202) through a sliding pair, the second sliding block (207) is connected with the second sliding rod (204) through a sliding pair, the first sliding block (206) and the second sliding block (207) are respectively connected with the third connecting rod (205) through a rotating pair, the tail end of the third connecting rod (205) is connected with the fixed platform (101) through a rotating pair, and the tail end of the first connecting rod (201) is connected with the moving platform (102) through a rotating pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810329397.7A CN108673470B (en) | 2018-04-13 | 2018-04-13 | Three-degree-of-freedom parallel mechanism suitable for platform movement |
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| CN201810329397.7A CN108673470B (en) | 2018-04-13 | 2018-04-13 | Three-degree-of-freedom parallel mechanism suitable for platform movement |
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| Publication Number | Publication Date |
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| CN108673470A CN108673470A (en) | 2018-10-19 |
| CN108673470B true CN108673470B (en) | 2021-08-10 |
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| CN109108948B (en) * | 2018-10-23 | 2021-07-27 | 西安工程大学 | Parallel mechanism with three motion modes 3R, 2R1T and 1R2T |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN102107431A (en) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| JP2012056045A (en) * | 2010-09-10 | 2012-03-22 | Nagoya Institute Of Technology | Force-sensation-presentation manipulator having five axes |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
-
2018
- 2018-04-13 CN CN201810329397.7A patent/CN108673470B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006101893A2 (en) * | 2005-03-21 | 2006-09-28 | Michael Merz | Parallel robot |
| CN102107431A (en) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| JP2012056045A (en) * | 2010-09-10 | 2012-03-22 | Nagoya Institute Of Technology | Force-sensation-presentation manipulator having five axes |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN105619387A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Single-input three-translation and one-rotation parallel robot device |
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