CN115175789B - Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly - Google Patents
Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly Download PDFInfo
- Publication number
- CN115175789B CN115175789B CN202080096358.2A CN202080096358A CN115175789B CN 115175789 B CN115175789 B CN 115175789B CN 202080096358 A CN202080096358 A CN 202080096358A CN 115175789 B CN115175789 B CN 115175789B
- Authority
- CN
- China
- Prior art keywords
- freedom
- guide
- follower
- parallel mechanism
- parallel
- 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 96
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000012636 effector Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The utility model provides a multi freedom parallel mechanism and parallel mechanism subassembly, wherein multi freedom parallel mechanism includes guide (1) and supporting component (2), supporting component (2) are including two supporting platform (20), setting element (23) and a plurality of connecting rod, supporting platform (20) are including two main moving part (21) and a follower (22), be equipped with first conducting bar (22 a) and second conducting bar (22 b) on follower (22), first conducting bar (22 a), second conducting bar (22 b) and guide (1) are not parallel each other, two follower (22) all are connected with setting element (23) rotation through the connecting rod, and at least one follower (22) are connected with setting element (23) rotation through two connecting rods, and form the parallelogram, through driving each main moving part (21) reciprocating motion along guide (1), setting element (23) have at least three degree of freedom.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly of a parallel robot.
Background
From the perspective of mechanics, robots can be divided into two main categories, namely serial robots and parallel robots, and compared with serial robots, parallel robots have the advantages of high rigidity, high bearing capacity, high precision, small inertia of end pieces and the like.
The existing parallel robots are designed completely symmetrically, so that the whole volume of the robot is large, and the robot cannot be well adapted to a small operation space or a plurality of robots can not be simultaneously arranged in a limited space.
Most common parallel robots are six degrees of freedom, for example patent publication US3295224a discloses a parallel robot for motion simulation. However, the cost of parallel robots having complete six degrees of freedom is often that the movement space of each degree of freedom is approximately equally divided, and the requirement for some robots having a larger movement space in a particular direction is not well met.
Patent application CN201810316148.4 provides a guiding mechanism with at least two translational and two rotational degrees of freedom. The guide mechanism comprises two movable components for supporting and positioning the bridge components, however, since the movable components superimpose the movements in two different directions, the motor controlling the movements is also integrated in the movable components, so that the moment of inertia of the movable components is large.
Disclosure of Invention
The invention aims to overcome or at least alleviate the defects in the prior art and provide a multi-degree-of-freedom parallel mechanism and a parallel mechanism assembly.
According to a first aspect of the present invention, there is provided a multiple degree of freedom parallel mechanism comprising a guide and a support assembly, wherein,
The supporting component comprises two supporting platforms, a positioning piece and a plurality of connecting rods,
The support platform comprises two main moving parts and a follow-up part,
The follower is provided with a first conducting bar and a second conducting bar, the first conducting bar, the second conducting bar and the guide piece are not parallel to each other,
The two follow-up parts are rotationally connected with the positioning part through the connecting rod, and
At least one follower is rotationally connected with the positioning piece through two connecting rods, two ends of a first connecting rod are rotationally connected with the follower and the positioning piece respectively at a first point and a second point, two ends of a second connecting rod are rotationally connected with the follower and the positioning piece respectively at a third point and a fourth point, quadrilaterals obtained by sequentially connecting the first point, the second point, the fourth point and the third point are parallelograms,
The positioning member has at least three translational degrees of freedom by driving each of the main movable members to reciprocate along the guide member.
In at least one embodiment, the first guide bar, the second guide bar, and the guide member are all parallel to a reference plane, and the plane in which the parallelogram lies is not parallel to the reference plane.
In at least one embodiment, the follower comprises a follower base and a follower turntable, the follower turntable being rotatable relative to the follower base about a follower axis of rotation,
The first guide bar and the second guide bar are arranged on the follower base station, and the connecting rod is connected with the follower turntable.
In at least one embodiment, the first guide bar, the second guide bar, and the guide member are all parallel to a reference plane, and the follower rotation axis is perpendicular to the reference plane.
In at least one embodiment, the primary mover includes a primary mover abutment and a primary mover turntable, the primary mover turntable being rotatable relative to the primary mover abutment about a primary mover rotational axis,
The main movable member turntable is used for reciprocating along the first guide bar or the second guide bar, and the main movable member base is used for reciprocating along the guide member.
In at least one embodiment, the first guide bar, the second guide bar, and the guide member are all parallel to a reference plane, and the main movable member rotation axis is perpendicular to the reference plane.
In at least one embodiment, each of the followers is rotatably coupled to the positioning member by two of the links.
In at least one embodiment, the positioning member comprises a terminal positioning member and two rotating positioning members, the rotating positioning members can rotate around a positioning member rotating axis relative to the terminal positioning member, the connecting rod is connected with the rotating positioning members,
The terminal positioning element has at least three translational degrees of freedom and one rotational degree of freedom.
In at least one embodiment, the first guide bar, the second guide bar, and the guide member are all parallel to a reference plane, the positioning member rotation axis is perpendicular to the reference plane, or the positioning member rotation axis is parallel to the reference plane.
In at least one embodiment, the guide extends in a straight line.
According to a second aspect of the present invention there is provided a parallel mechanism assembly comprising a bridge assembly and two multiple degree of freedom parallel mechanisms according to the present invention, the positioning members of each of the multiple degree of freedom parallel mechanisms being rotatably connected to the bridge assembly such that the bridge assembly can rotate relative to either of the positioning members about two axes which are non-parallel to each other,
The bridge assembly has at least three translational degrees of freedom and two rotational degrees of freedom.
According to a third aspect of the present invention there is provided a parallel mechanism assembly comprising a bridge assembly and two multiple degree of freedom parallel mechanisms according to the present invention, the terminal position determining members of each of the multiple degree of freedom parallel mechanisms being rotatably connected to the bridge assembly such that the bridge assembly is rotatable relative to either of the terminal position determining members about two axes which are non-parallel to each other,
The bridge assembly has at least three translational degrees of freedom and three rotational degrees of freedom.
In at least one embodiment, the number of the guide members is four, and two main moving members belonging to the same support platform share one guide member.
In at least one embodiment, two of said followers belonging to the same said support assembly are arranged opposite each other.
In at least one embodiment, there are two guides, and four of the main moving parts belonging to the same support assembly share one guide.
In at least one embodiment, the guide is one, and all of the primary moving members share one of the guides.
In at least one embodiment, the two axes of rotation of the bridge assembly relative to each of the positioning members are perpendicular to each other.
The multi-degree-of-freedom parallel mechanism is simple in structure and convenient to operate, and the positioning piece can translate in three directions and even rotate at the terminal by driving the main moving piece to reciprocate along the guide piece.
According to the parallel mechanism component, the control precision is high, the arrangement mode is flexible, and the bridge component can have three translational degrees of freedom and at least two rotational degrees of freedom.
Drawings
Fig. 1 is a schematic diagram of a first embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 2 is a schematic view of a support assembly of a second embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 3 is a schematic view of a portion of a support assembly of a third embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 4 is a schematic diagram of a fourth embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 5 is a schematic diagram of a fifth embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 6 is a schematic diagram of a sixth embodiment of a multiple degree of freedom parallel mechanism according to the invention.
Fig. 7 is a schematic diagram of a first embodiment of a parallel mechanism assembly according to the present invention.
Fig. 8 is a schematic diagram of a second embodiment of a parallel mechanism assembly according to the present invention.
Fig. 9 is a schematic diagram of a third embodiment of a parallel mechanism assembly according to the present invention.
Reference numerals illustrate:
1a guide member; 2, supporting the assembly; 20 a support platform; 21a main movable member; 211 a main movable part base station; 212 a main rotor turret; 22 follower; 221 follower abutment; 222 follower turntable; 22a first guide bar; 22b second guide bars; l1 a first connecting rod; l2 second connecting rod; 23 positioning pieces; 231 terminal positioning member; 232 rotating the positioning member; a 3-bridge assembly; m terminal operation pieces; a1, a2, b1, b2, b3 axes of rotation.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of illustrating how one skilled in the art may practice the invention, and are not intended to be exhaustive of all of the possible ways of practicing the invention, nor to limit the scope of the invention.
The present invention describes positional relationships of the respective members in a three-dimensional coordinate system as illustrated unless otherwise specified. It should be understood that the positional relationship defined according to the x, y and z axes in the present invention is relative, and the coordinate axes may be rotated in space according to the actual application of the device.
Referring first to fig. 1-6, a multiple degree of freedom parallel mechanism according to the present invention will be described.
(First embodiment of Multi-degree-of-freedom parallel mechanism)
A first embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 1.
The parallel mechanism according to the first embodiment of the present invention includes a guide 1 and a support assembly 2.
The support assembly 2 includes two support platforms 20, a positioning member 23 and a plurality of connecting rods, and two ends of each connecting rod (including a first connecting rod L1 and a second connecting rod L2 in this embodiment) are respectively rotatably connected with the positioning member 23 and the support platforms 20. Each support platform 20 comprises a main movable member 21 and a follower member 22.
In the present embodiment, the guide 1 is a linear guide rail, which extends in the x direction. The main movable member 21 is for reciprocating along the guide member 1. For example, the main movable member 21 is provided with a linear driving device (e.g., a linear motor, an electric screw, etc.). Two main moving parts 21 belonging to the same support platform 20 share one guide 1. While the two guides 1 for providing guidance for the two support platforms 20 of the same support assembly 2 are spaced apart in the y-direction, the support assembly 2 being located between the two guides 1.
It should be understood that two main moving parts 21 belonging to the same support platform 20 may also each use a separate guide, which are parallel to each other.
The main movable member 21 is also adapted to cooperate with a first guide bar 22a or a second guide bar 22b provided to the follower 22, so that the main movable member 21 connects the guide member 1 and the follower 22 at the same time.
In the present embodiment, the followers 22 have a substantially flat plate shape, which is parallel to the plane xoz (also referred to as the reference plane), and two followers 22 belonging to the same support assembly 2 are disposed opposite to each other. Each follower 22 is provided with a first conductive bar 22a and a second conductive bar 22b, and the first conductive bar 22a and the second conductive bar 22b are parallel to the xoz plane. None of the first 22a, second 22b and guide 1 are parallel. In particular, the first and second guide bars 22a, 22b are non-parallel, in the example illustrated they are splayed.
When either or both of the two main moving members 21 belonging to the same support platform 20 are driven to move along the guide member 1, the follower 22 moves relative to the main moving member 21 due to the restriction of the first guide bar 22a and the second guide bar 22b, resulting in displacement of the follower 22 in the x-direction and the z-direction.
The two ends of the first connecting rod L1 are respectively and rotatably connected with the follower 22 and the positioning piece 23 at a point O1 and a point O2, and the two ends of the second connecting rod L2 are respectively and rotatably connected with the follower 22 and the positioning piece 23 at a point O3 and a point O4. In this embodiment, the rotation axes of the rotation connectors are all parallel to the z-axis. The quadrangle obtained by connecting the point O1, the point O2, the point O4, and the point O3 in sequence is a parallelogram (hereinafter, this structure will also be simply referred to as a parallelogram structure formed in the support member 2), and the plane of the parallelogram is not parallel to the plane xoz; in this embodiment, the plane in which the parallelogram is located is an xoy plane. The parallelogram structure allows translation of the follower 22 in the x-direction and z-direction to be transferred to the positioner 23, thereby determining the position of the positioner 23 in the x-direction and z-direction.
Each positioning member 23 is connected to two sets of support platforms 20, and since the two follower members 22 belonging to the same support assembly 2 are spaced apart in the y-direction, the position of the positioning member 23 in the y-direction can also be determined when the four main movable members 21 belonging to the same support assembly 2 are driven respectively.
It should be noted that each support assembly 2 may have only one parallelogram structure connected to one support platform 20 of the support assembly 2, and the other support platform 20 of the support assembly 2 may be connected to the positioning member 23 by only one rod (e.g., only the first link L1 and no second link L2).
To sum up, for one support assembly 2, by controlling the positions of the four main movable members 21 of the support assembly 2 on the guide member 1 (i.e., the positions in the x direction), the translational movements of the positioning member 23 of the support assembly 2 in the x direction, the y direction, and the z direction can be controlled, and thus the positions of the positioning member 23 in the x, y, and z directions can be controlled. Therefore, the multiple degree of freedom parallel mechanism according to the present embodiment is also referred to as having three translational degrees of freedom.
(Second embodiment of Multi-degree-of-freedom parallel mechanism)
Next, a second embodiment of the multiple degree of freedom parallel mechanism of the present invention will be described with reference to fig. 2. The second embodiment is a modification of the first embodiment, and differences from the first embodiment mainly include: the follower 22 includes a follower base 221 and a follower turntable 222, the main mover 21 is connected to the follower base 221, and the first link L1 and the second link L2 are both rotatably connected to the follower turntable 222.
In the present embodiment, the guide 1 extends in the z direction, unlike the guide 1 extending in the x direction in the first embodiment, and the extending direction of the guide 1 is not limited by the present invention. It is only necessary to ensure that the guide 1, the first guide bar 22a and the second guide bar 22b are not parallel to each other and that the guide 1 is parallel to the reference plane (xoz plane) and that the parallelogram structure is not parallel to the reference plane.
In the present embodiment, the follower base 221 and the follower turntable 222 are rotatably connected, and preferably, a rotation axis b1 of relative rotation of the follower base 221 and the follower turntable 222 is parallel to the y-direction, or the rotation axis b1 is perpendicular to the reference plane.
The positioning member 23 of the multiple degree of freedom parallel mechanism according to the present embodiment has a rotational degree of freedom for rotation about the y direction in addition to translational degrees of freedom in the x, y and z directions.
(Third embodiment of Multi-degree-of-freedom parallel mechanism)
A third embodiment of the multiple degree of freedom parallel mechanism of the present invention, which is a modification of the second embodiment, is described with reference to fig. 3.
In this embodiment, the positioning member 23 also has a rotational degree of freedom about the y-direction, which is achieved by means of the rotational degree of freedom on the main movable member 21.
The main mover 21 includes a main mover base 211 and a main mover turntable 212, and the main mover turntable 212 is rotatable about a rotation axis b2 with respect to the main mover base 211, preferably, the rotation axis b2 is parallel to the y-direction or the rotation axis b2 is perpendicular to the reference plane. The main mover turntable 212 is for reciprocating along the first guide bar 22a or the second guide bar 22b, and the main mover base 211 is for reciprocating along the guide 1.
(Fourth embodiment of Multi-degree-of-freedom parallel mechanism)
A fourth embodiment of the multiple degree of freedom parallel mechanism of the present invention, which is a modification of the first embodiment, is described with reference to fig. 4.
In this embodiment, each positioning member 23 includes one terminal positioning member 231 and two rotational positioning members 232.
The first link L1 and the second link L2 are both rotatably connected with the rotational positioning member 232 to form a parallelogram structure. The rotational positioning member 232 is rotatably connected to the terminal positioning member 231 such that the rotational positioning member 232 can rotate about the rotational axis b3 with respect to the terminal positioning member 231. In the present embodiment, the rotation axis b3 is parallel to the y direction.
The terminal positioning member 232 of the multiple degree of freedom parallel mechanism according to the present embodiment has translational degrees of freedom in three directions of x, y and z, and also has rotational degrees of freedom to rotate around the y direction.
(Fifth embodiment of Multi-degree-of-freedom parallel mechanism)
A fifth embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 5, which is a modification of the fourth embodiment.
In the present embodiment, the rotation positioner 232 is rotatable about the rotation axis b3 with respect to the terminal positioner 231, and the rotation axis b3 is parallel to the x-direction.
The terminal positioning member 232 of the multiple degree of freedom parallel mechanism according to the present embodiment has translational degrees of freedom in three directions of x, y and z, and also has rotational degrees of freedom to rotate about the x direction.
It should be noted that, in the present embodiment, the two rotation positioning members 232 may be spaced apart by a certain distance in the x direction, so that the two rotation positioning members 232 and the connecting rod connected thereto do not interfere during rotation, in other words, the terminal positioning member 231 has a larger rotation range.
(Sixth embodiment of Multi-degree-of-freedom parallel mechanism)
A sixth embodiment of the multiple degree of freedom parallel mechanism of the present invention is described with reference to fig. 6, which is yet another modification of the fourth embodiment.
In the present embodiment, the rotation positioner 232 is rotatable about the rotation axis b3 with respect to the terminal positioner 231, and the rotation axis b3 is parallel to the z direction.
The end positioning member 232 of the multiple degree of freedom parallel mechanism according to the present embodiment has translational degrees of freedom in the x, y, and z directions, and also has rotational degrees of freedom to rotate about the z direction.
It should be appreciated that the positioning member 23 (or more specifically the terminal positioning member 231) of the multiple degree of freedom parallel mechanism according to the present invention may be provided with a terminal working member M, such as a surgical instrument. The present invention does not limit the installation position and direction of the terminal work M on the positioning member 23.
Next, the parallel mechanism assembly according to the present invention is described with reference to fig. 7 to 9.
(First embodiment of parallel mechanism Assembly)
Referring to fig. 7, in the present embodiment, the parallel mechanism assembly includes a bridge assembly 3 and two multiple degree of freedom parallel mechanisms according to the present invention.
The positioning members 23 of the two multiple degree of freedom parallel mechanism are each rotatably connected to the bridge assembly 3 and allow the bridge assembly 3 to rotate relative to each positioning member 23 about two non-parallel (preferably mutually perpendicular) axes of rotation a1 and a 2. In the present embodiment, when the movements of the two positioning pieces 23 are synchronized, that is, when the positions of the two positioning pieces 23 in the xoy plane are the same, the rotation axis a1 is parallel to the x-direction, and the rotation axis a2 is parallel to the y-direction.
By controlling the positions of the eight main moving members 21 of the two multi-degree-of-freedom parallel mechanisms on the respective guide members 1, the positions of the two positioning members 23 in the x, y and z directions can be controlled, so that the translation of the bridge assembly 3 in the x direction, the translation in the y direction, the translation in the z direction, the rotation around the x direction and the rotation around the y direction are realized, and the bridge assembly 3 has at least five degrees of freedom.
(Second embodiment of parallel mechanism Assembly)
A second embodiment of the parallel mechanism assembly of the present invention is described with reference to fig. 8. This embodiment is a modification of the first embodiment of the parallel mechanism assembly, and its differences from the first embodiment mainly include the manner in which the guide 1 is provided.
In the present embodiment, the guide 1 is two linear guide rails spaced apart in the z-direction, and four main moving members 21 belonging to the same support assembly 2 share one guide 1.
(Third embodiment of parallel mechanism Assembly)
A third embodiment of the parallel mechanism assembly of the present invention is described with reference to fig. 9. This embodiment is a modification of the first embodiment of the parallel mechanism assembly, and its differences from the first embodiment mainly include the manner in which the guide 1 is provided.
In the present embodiment, the multiple degree of freedom parallel mechanism has only one guide 1, the guide 1 is a linear guide extending in the x direction, and the eight main movable members 21 of the multiple degree of freedom parallel mechanism share the guide 1.
The second and third embodiments of the parallel mechanism assembly reduce the number of parts by reducing the number of guides 1, simplify the structure of the parallel mechanism, and reduce the cost.
It will be appreciated that the above-described embodiments and portions of aspects or features thereof may be suitably combined.
It should be appreciated that when the multiple degree of freedom parallel mechanism according to the present invention has a rotational degree of freedom about the z-direction, the parallel mechanism assembly comprising the multiple degree of freedom parallel mechanism may have translational degrees of freedom in three directions and rotational degrees of freedom about the three directions.
Some advantageous effects of the above-described embodiments of the present invention are briefly described below.
(I) By controlling the reciprocating movement of the main movable member 21 on the guide member 1, the positioning member 23 can be made to have three translational degrees of freedom or three translational degrees of freedom plus one rotational degree of freedom, and the bridge assembly 3 can be made to have three translational degrees of freedom plus two rotational degrees of freedom or three translational degrees of freedom plus three rotational degrees of freedom.
(Ii) The driving member for moving the main moving member 21 may be installed on the main moving member 21 or the guide member 1, and the driving member is not required to be provided on the follower 22, the link and the positioning member 23, so that the moving inertia of the moving member of the whole mechanism is small and the control accuracy is high.
(Iii) The guide member 1 has various arrangement forms, even the whole mechanism can only have one guide member 1, the structure is compact, and the installation space can be small.
It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above-described embodiments without departing from the scope of the present invention. For example, the number of the cells to be processed,
(I) The parallel mechanism according to the invention is preferably used as part of a surgical robot, however the invention is not limited thereto, and the parallel mechanism according to the invention may also provide guiding and steering functions for other instruments.
When the end effector M is added to the positioning member 23 or the bridge assembly 3, the end effector M may have an additional degree of freedom with respect to the positioning member 23 or the bridge assembly 3.
(Ii) The guide 1, the first guide bar 22a and the second guide bar 22b of the present invention are not limited to the form of the guide rail as shown in the drawings, but may be other forms of guide such as a guide groove or a screw.
(Iii) The guide 1, the first guide bar 22a and the second guide bar 22b may not extend in a straight line, but may be a guide path having a curved form, for example.
(Iv) The support platforms 20 of the parallel mechanism according to the invention may not be symmetrical and the lengths of the links connecting the different support platforms 20 and the positioning members 23 may also be different.
Claims (17)
1. A multi-freedom parallel mechanism comprises a guide piece (1) and a supporting component (2), wherein,
The supporting component (2) comprises two supporting platforms (20), a positioning piece (23) and a plurality of connecting rods,
The support platform (20) comprises two main moving parts (21) and a follow-up part (22),
The follower (22) is provided with a first conducting bar (22 a) and a second conducting bar (22 b), the first conducting bar (22 a), the second conducting bar (22 b) and the guide piece (1) are not parallel to each other,
Both the follower (22) are rotationally connected with the positioning piece (23) through the connecting rod, and
At least one follower (22) is rotationally connected with the positioning piece (23) through two connecting rods, wherein two ends of a first connecting rod (L1) are respectively rotationally connected with the follower (22) and the positioning piece (23) to a first point (O1) and a second point (O2), two ends of a second connecting rod (L2) are respectively rotationally connected with the follower (22) and the positioning piece (23) to a third point (O3) and a fourth point (O4), quadrilaterals obtained by sequentially connecting the first point (O1), the second point (O2), the fourth point (O4) and the third point (O3) are parallelograms,
By driving each main moving member (21) to reciprocate along the guide member (1), the positioning member (23) has at least three translational degrees of freedom.
2. The multiple degree of freedom parallel mechanism of claim 1 wherein the first guide bar (22 a), the second guide bar (22 b) and the guide member (1) are all parallel to a reference plane (xoz), the plane of the parallelogram being non-parallel to the reference plane (xoz).
3. The multiple degree of freedom parallel mechanism of claim 1 wherein the follower (22) includes a follower abutment (221) and a follower turntable (222), the follower turntable (222) being rotatable relative to the follower abutment (221) about a follower axis of rotation (b 1),
The first guide bar (22 a) and the second guide bar (22 b) are mounted on the follower base (221), and the connecting rod is connected with the follower turntable (222).
4. A multiple degree of freedom parallel mechanism according to claim 3, characterized in that the first guide bar (22 a), the second guide bar (22 b) and the guide (1) are all parallel to a reference plane (xoz), the follower rotation axis (b 1) being perpendicular to the reference plane (xoz).
5. The multiple degree of freedom parallel mechanism of claim 1 wherein the primary mover (21) includes a primary mover abutment (211) and a primary mover turntable (212), the primary mover turntable (212) being rotatable relative to the primary mover abutment (211) about a primary mover rotational axis (b 2),
The main mover turntable (212) is configured to reciprocate along the first guide bar (22 a) or the second guide bar (22 b), and the main mover base (211) is configured to reciprocate along the guide (1).
6. The multiple degree of freedom parallel mechanism of claim 5 wherein the first guide bar (22 a), the second guide bar (22 b) and the guide member (1) are all parallel to a reference plane (xoz), the primary mover rotational axis (b 2) being perpendicular to the reference plane (xoz).
7. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 6 wherein each follower (22) is rotationally connected to the positioner (23) by two of the links.
8. The multiple degree of freedom parallel mechanism of claim 1 wherein the positioning member (23) comprises a terminal positioning member (231) and two rotational positioning members (232), the rotational positioning members (232) being rotatable relative to the terminal positioning member (231) about a positioning member rotational axis (b 3), the connecting rod being connected to the rotational positioning members (232),
The terminal positioning element (231) has at least three translational degrees of freedom and one rotational degree of freedom.
9. The multiple degree of freedom parallel mechanism of claim 8 wherein the first guide bar (22 a), the second guide bar (22 b) and the guide member (1) are all parallel to a reference plane (xoz), the positioner rotational axis (b 3) is perpendicular to the reference plane (xoz), or the positioner rotational axis (b 3) is parallel to the reference plane (xoz).
10. A multiple degree of freedom parallel mechanism according to any one of claims 1 to 6 wherein the guide (1) extends in a straight line.
11. A parallel mechanism assembly comprising a bridge assembly (3) and two multiple degree of freedom parallel mechanisms according to any one of claims 1 to 7, 10, the positioning members (23) of each of said multiple degree of freedom parallel mechanisms being rotatably connected to said bridge assembly (3) such that said bridge assembly (3) can rotate relative to any one of said positioning members (23) about two axes (a 1, a 2) that are non-parallel to each other,
The bridge assembly (3) has at least three translational degrees of freedom and two rotational degrees of freedom.
12. A parallel mechanism assembly comprising a bridge assembly (3) and two multiple degree of freedom parallel mechanisms according to claim 8 or 9, the terminal positioning members (231) of each of said multiple degree of freedom parallel mechanisms being rotatably connected to said bridge assembly such that said bridge assembly (3) can rotate relative to either of said terminal positioning members (231) about two axes (a 1, a 2) that are non-parallel to each other,
The bridge assembly (3) has at least three translational degrees of freedom and three rotational degrees of freedom.
13. Parallel mechanism assembly according to claim 11 or 12, characterized in that there are four of said guides (1), two of said main moving parts (21) belonging to the same support platform (20) sharing one of said guides (1).
14. Parallel mechanism assembly according to claim 13, characterized in that two followers (22) belonging to the same support assembly (2) are arranged opposite each other.
15. Parallel mechanism assembly according to claim 11 or 12, characterized in that there are two of said guides (1), four of said main moving parts (21) belonging to the same support assembly (2) sharing one of said guides (1).
16. Parallel mechanism assembly according to claim 11 or 12, characterized in that the guide (1) is one, all the main moving parts (21) sharing one guide (1).
17. The parallel mechanism assembly according to claim 11 or 12, characterized in that the two axes (a 1, a 2) of rotation of the bridge assembly (3) with respect to each of the positioning members (23) are mutually perpendicular.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/078821 WO2021179209A1 (en) | 2020-03-11 | 2020-03-11 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115175789A CN115175789A (en) | 2022-10-11 |
| CN115175789B true CN115175789B (en) | 2024-08-30 |
Family
ID=77671672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080096358.2A Active CN115175789B (en) | 2020-03-11 | 2020-03-11 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115175789B (en) |
| WO (1) | WO2021179209A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom planar parallel robot mechanism |
| CN107498541A (en) * | 2017-09-20 | 2017-12-22 | 北京航空航天大学 | A kind of two translations one rotate 3-freedom parallel mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5279176A (en) * | 1992-07-20 | 1994-01-18 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs |
| DE19841243B4 (en) * | 1998-09-09 | 2004-09-30 | Hans Paal Kg Maschinenbau (Gmbh & Co.) | industrial robots |
| EP1234632A1 (en) * | 2001-02-23 | 2002-08-28 | Willemin Machines S.A. | Kinematic device for programmably supporting and positioning an end element in a machine or an instrument |
| CN110355737B (en) * | 2018-04-10 | 2022-06-10 | 苏州迈澜医疗科技有限公司 | Translation mechanism and multi-degree-of-freedom guide mechanism with same |
| CN110170984A (en) * | 2019-05-13 | 2019-08-27 | 霸州市华硕汽车零部件有限公司 | A kind of parallel connection processing platform robot |
-
2020
- 2020-03-11 WO PCT/CN2020/078821 patent/WO2021179209A1/en active Application Filing
- 2020-03-11 CN CN202080096358.2A patent/CN115175789B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom planar parallel robot mechanism |
| CN107498541A (en) * | 2017-09-20 | 2017-12-22 | 北京航空航天大学 | A kind of two translations one rotate 3-freedom parallel mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115175789A (en) | 2022-10-11 |
| WO2021179209A1 (en) | 2021-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115175790B (en) | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly | |
| CN110355737B (en) | Translation mechanism and multi-degree-of-freedom guide mechanism with same | |
| US11484979B2 (en) | Precision tripod motion system with six degrees of freedom | |
| US7707907B2 (en) | Planar parallel mechanism and method | |
| US9694501B2 (en) | Parallel link robot | |
| CN109073137B (en) | System for generating movement of a support plate in six degrees of freedom | |
| CN109605339B (en) | Multi-freedom-degree parallel mechanism | |
| US20180185102A1 (en) | Parallel-type micro robot and surgical robot system having the same | |
| CN115175789B (en) | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly | |
| CN1462670A (en) | Parallel decoupling mechanism with 3 degree of freedom | |
| CN114786882B (en) | Multi-freedom-degree parallel mechanism | |
| WO2022261934A1 (en) | Multi-degree-of-freedom guiding mechanism and multi-degree-of-freedom guiding device | |
| WO2021109074A1 (en) | Multi-degree-of-freedom parallel mechanism | |
| CN113211418A (en) | Two-rotation one-movement parallel mechanism and mechanical equipment | |
| US20240217123A1 (en) | Three-axis robot | |
| EP0462337A1 (en) | Positioning table | |
| WO2020155040A1 (en) | Multi-degree-of-freedom parallel mechanism | |
| CN110142751A (en) | A kind of boosting manipulator arm configuration based on truss robot | |
| WO2021109062A1 (en) | Multi-degree-of-freedom parallel mechanism | |
| CN118163077A (en) | A four-branch spatial six-degree-of-freedom parallel mechanism driven by a mobile pair | |
| CN116829311A (en) | Six-degree-of-freedom motion mechanism | |
| KR100987196B1 (en) | Planar high speed parallelism mechanism | |
| CN118254148A (en) | A novel seven-degree-of-freedom serial-parallel hybrid micromanipulator and robotic arm | |
| CN118219240A (en) | A seven-degree-of-freedom serial-parallel hybrid micromanipulator with decoupling of attitude and position motion | |
| CN1462672A (en) | Parallel decoupling mechanism with 5 degree of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |