CN103600348B - A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism - Google Patents
A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism Download PDFInfo
- Publication number
- CN103600348B CN103600348B CN201310605981.8A CN201310605981A CN103600348B CN 103600348 B CN103600348 B CN 103600348B CN 201310605981 A CN201310605981 A CN 201310605981A CN 103600348 B CN103600348 B CN 103600348B
- Authority
- CN
- China
- Prior art keywords
- branch
- platform
- branch chain
- moving
- fixed platform
- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 1
Landscapes
- Pivots And Pivotal Connections (AREA)
- Transmission Devices (AREA)
Abstract
一种四分支无汇交点二自由度转动并联机构，它包括定平台、动平台及连接动平台和定平台的四条支链，其中第一支链和第二支链的结构完全相同，该两个分支中的上连杆的一端通过万向铰与动平台连接，该上连杆的另一端通过移动副与下连杆的一端连接，该下连杆的另一端通过转动副与定平台连接；第三支链和第四支链的结构完全相同，该两个分支中的连杆的一端通过球铰与动平台相连，该连杆的另一端通过万向铰与定平台连接。本发明加工制造容易，机构含有四条支链，大大提高了其承载能力，且不需要满足运动副轴线汇交于定点的几何约束条件，适用于重载的场合。
A four-branch non-convergence point two-degree-of-freedom rotating parallel mechanism, which includes a fixed platform, a moving platform, and four branch chains connecting the moving platform and the fixed platform, wherein the structure of the first branch chain and the second branch chain are exactly the same, and the two One end of the upper link in each branch is connected to the moving platform through a universal hinge, the other end of the upper link is connected to one end of the lower link through a moving pair, and the other end of the lower link is connected to the fixed platform through a rotating pair ; The structure of the third branch chain and the fourth branch chain is exactly the same, one end of the connecting rod in the two branches is connected with the moving platform through a spherical hinge, and the other end of the connecting rod is connected with the fixed platform through a universal hinge. The invention is easy to process and manufacture, and the mechanism contains four branch chains, which greatly improves its bearing capacity, and does not need to meet the geometric constraint condition that the auxiliary axes of motion meet at a fixed point, and is suitable for heavy-duty occasions.
Description
技术领域technical field
本发明属于机器人领域，特别涉及一种并联机构。The invention belongs to the field of robots, in particular to a parallel mechanism.
背景技术Background technique
二自由度转动并联机构是少自由度并联机构一个重要分支，它在很多场合，诸如船舶、车辆和飞行器上的平台姿态调整与自稳定，医疗器械、摄像机和望远镜定位，以及天线和太阳能电池板方位跟踪等领域，都有非常大的应用前景。二自由度转动并联机构包括二自由度球面机构和无汇交点二自由度转动并联机构，中国专利CN200510122178.4等提出的二自由度球面并联机构，必须满足转动副轴线汇交于一定点的几何要求，加工制造非常困难；中国专利CN200710061909.8等提出的无汇交点二自由度并联机构大都是有一条仅包含虎克铰的约束分支，承载能力不够大。The two-degree-of-freedom rotary parallel mechanism is an important branch of the few-degree-of-freedom parallel mechanism. It is used in many occasions, such as attitude adjustment and self-stabilization of platforms on ships, vehicles and aircraft, positioning of medical equipment, cameras and telescopes, and antennas and solar panels. Fields such as azimuth tracking have great application prospects. The two-degree-of-freedom rotating parallel mechanism includes a two-degree-of-freedom spherical mechanism and a two-degree-of-freedom rotating parallel mechanism without a meeting point. The two-degree-of-freedom spherical parallel mechanism proposed in Chinese patent CN200510122178.4 must satisfy the geometry that the axes of the rotating pairs meet at a certain point. Requirements, processing and manufacturing are very difficult; most of the non-intersection two-degree-of-freedom parallel mechanisms proposed in Chinese patent CN200710061909.8 have a constraint branch that only includes a Hooke hinge, and the carrying capacity is not large enough.
发明内容Contents of the invention
本发明的目的在于提供一种加工制造容易、能够提高承载能力的四分支无汇交点二自由度转动并联机构。The object of the present invention is to provide a four-branch non-converging point two-degree-of-freedom rotating parallel mechanism that is easy to manufacture and can improve the bearing capacity.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
本发明包括定平台、动平台及连接动平台和定平台的四条支链，其中第一支链和第二支链的结构完全相同，该两个分支中的上连杆的一端通过万向铰与动平台连接，该上连杆的另一端通过移动副与下连杆的一端连接，该下连杆的另一端通过转动副与定平台连接，该第一支链和第二支链中的移动副为输入运动副；第三支链和第四支链的结构完全相同，该两个分支中的连杆的一端通过球铰与动平台相连，该连杆的另一端通过万向铰与定平台连接。第一支链和第二支链的转动副轴线相互平行并平行于万向铰靠近定平台的轴线，且垂直于移动副的轴线，万向铰与动平台相连的轴线重合。The present invention includes a fixed platform, a moving platform and four branch chains connecting the moving platform and the fixed platform, wherein the structures of the first branch chain and the second branch chain are exactly the same, and one end of the upper link in the two branches passes through a universal hinge It is connected with the moving platform, the other end of the upper connecting rod is connected with one end of the lower connecting rod through the moving pair, and the other end of the lower connecting rod is connected with the fixed platform through the rotating pair, the first branch chain and the second branch chain The moving pair is the input kinematic pair; the structure of the third branch chain and the fourth branch chain is exactly the same, one end of the connecting rod in the two branches is connected with the moving platform through a ball joint, and the other end of the connecting rod is connected with the moving platform through a universal hinge. Determine the platform connection. The rotating pair axes of the first branch chain and the second branch chain are parallel to each other and parallel to the axis of the universal hinge approaching the fixed platform, and perpendicular to the axis of the moving pair, and the axis connecting the universal hinge and the moving platform coincides.
本发明与现有技术相比具有如下优点：加工制造容易，机构含有四条支链，大大提高了其承载能力，且不需要满足运动副轴线汇交于定点的几何约束条件，适用于重载的场合。Compared with the prior art, the present invention has the following advantages: it is easy to process and manufacture, and the mechanism contains four branch chains, which greatly improves its bearing capacity, and does not need to meet the geometric constraints that the axes of the motions meet at a fixed point, and is suitable for heavy-duty occasion.
附图说明Description of drawings
图1为本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图中：1、定平台2、动平台3、万向铰4、上连杆5、移动副6、下连杆7、转动副8、球铰9、万向铰10、连杆In the figure: 1, fixed platform 2, moving platform 3, universal hinge 4, upper connecting rod 5, moving pair 6, lower connecting rod 7, rotating pair 8, spherical hinge 9, universal hinge 10, connecting rod
具体实施方式detailed description
在图1所示的四分支无汇交点二自由度转动并联机构示意图中，第一支链和第二支链的结构完全相同，该两个分支中的上连杆4的一端通过万向铰3与动平台2连接，该上连杆的另一端通过移动副5与下连杆6的一端连接，该下连杆的另一端通过转动副7与定平台连接，该第一支链和第二支链中的移动副为输入运动副；第三支链和第四支链的结构完全相同，该两个分支中的连杆10的一端通过球铰8与动平台相连，该连杆的另一端通过万向铰9与定平台连接。第一支链和第二支链的转动副轴线（R11、R21）相互平行并平行于万向铰靠近定平台的轴线（R13、R23），且垂直于移动副的轴线，万向铰与动平台相连的轴线（R12、R22）重合。In the schematic diagram of the four-branch non-convergence point two-degree-of-freedom rotating parallel mechanism shown in Figure 1, the structures of the first branch chain and the second branch chain are exactly the same, and one end of the upper link 4 in the two branches passes through a universal hinge 3 is connected with the moving platform 2, the other end of the upper link is connected with one end of the lower link 6 through the moving pair 5, the other end of the lower link is connected with the fixed platform through the rotating pair 7, the first branch chain and the second The moving pair in the two branch chains is the input kinematic pair; the structure of the third branch chain and the fourth branch chain is exactly the same, and one end of the connecting rod 10 in the two branches is connected with the moving platform through the ball joint 8, and the connecting rod The other end is connected with fixed platform by universal hinge 9. The rotating pair axes (R 11 , R 21 ) of the first branch chain and the second branch chain are parallel to each other and parallel to the axes (R 13 , R 23 ) of the universal joint approaching the fixed platform, and perpendicular to the axis of the moving pair. The axis (R12, R22) connected to the hinge and the moving platform coincides.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310605981.8A CN103600348B (en) | 2013-11-25 | 2013-11-25 | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310605981.8A CN103600348B (en) | 2013-11-25 | 2013-11-25 | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103600348A CN103600348A (en) | 2014-02-26 |
| CN103600348B true CN103600348B (en) | 2016-01-27 |
Family
ID=50118644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310605981.8A Expired - Fee Related CN103600348B (en) | 2013-11-25 | 2013-11-25 | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103600348B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531550B (en) * | 2019-01-23 | 2024-02-13 | 河南科技大学 | Coupling-free two-rotation parallel mechanism |
| CN114161391B (en) * | 2021-11-22 | 2024-07-16 | 燕山大学 | Two-rotation one-movement few-joint multi-redundancy driving parallel mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN1586806A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
| CN101486185A (en) * | 2009-02-10 | 2009-07-22 | 江苏工业学院 | Two-freedom degree two-rotation parallel mechanism |
| CN101513736A (en) * | 2009-03-26 | 2009-08-26 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN202292761U (en) * | 2011-10-14 | 2012-07-04 | 北华航天工业学院 | Symmetrical parallel robot mechanism with three degrees of freedom of redundant driven plane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0379291A (en) * | 1989-08-23 | 1991-04-04 | Mitsubishi Heavy Ind Ltd | Manipulator |
-
2013
- 2013-11-25 CN CN201310605981.8A patent/CN103600348B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267586A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-freedom parallel robot mechanism |
| CN1586806A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
| CN101486185A (en) * | 2009-02-10 | 2009-07-22 | 江苏工业学院 | Two-freedom degree two-rotation parallel mechanism |
| CN101513736A (en) * | 2009-03-26 | 2009-08-26 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN202292761U (en) * | 2011-10-14 | 2012-07-04 | 北华航天工业学院 | Symmetrical parallel robot mechanism with three degrees of freedom of redundant driven plane |
Non-Patent Citations (3)
| Title |
|---|
| 基于Pro/E的2-RPS-2-SPS并联机床仿真分析;肖鹏等;《科学技术与工程》;20091231;第9卷(第24期);7350-7352 * |
| 并联机构位置正解的基于Hénon混沌映射的Newton迭代法;车林仙等;《机械设计》;20090131;第26卷(第01期);19-22 * |
| 新型2UPU/2SPS并联机器人计算机辅助几何分析;张艳华等;《机械设计》;20090331;第26卷(第03期);40-43 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103600348A (en) | 2014-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105856193B (en) | A kind of two degrees of freedom one-rotation parallel mechanism that two continuous pivot centers be present | |
| CN104889976B (en) | A kind of three rotate decoupling sphere parallel robot mechanism | |
| CN103639712B (en) | A kind of three rotation spherical parallel institutions | |
| CN104827463A (en) | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair | |
| CN104325457B (en) | A kind of symmetric form three one-rotation parallel mechanisms | |
| CN104827462B (en) | There is the three-degree-of-freedom spherical parallel mechanism of passive side chain | |
| CN1631612A (en) | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide | |
| CN102962837A (en) | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair | |
| CN103600347A (en) | Asymmetric two-rotational one-translational three-degree-of-freedom parallel mechanism with two continuous rotating shafts | |
| CN102501243A (en) | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom | |
| CN103072134B (en) | There is the two freedom decoupling parallel institution of hybrid motion | |
| CN102962840B (en) | Parallel mechanism with symmetric structure and without associated movement | |
| CN2762940Y (en) | Spherical surface three-freedom parallel mechanism | |
| CN103600348B (en) | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism | |
| CN105945916A (en) | Three-degree-of-freedom rotating parallel mechanism free of crossed axes | |
| CN103481282B (en) | A kind of two-freedom two rotation parallel connection motion device | |
| CN105710867B (en) | A kind of two turn of one shifting parallel institution of more centers of rotation | |
| CN105729447A (en) | Concomitant movement-free multi-rotation center two-dimension rotating and one-dimension translational parallel-connection mechanism | |
| CN205614653U (en) | No accompanying movement two changes one and moves parallel mechanism | |
| CN100553898C (en) | A kind of two freedom space parallel mechanism | |
| CN103286778B (en) | Two-freedom rotates decoupling parallel mechanism | |
| CN103624773B (en) | Two-degree-of-freedom rotating parallel mechanism | |
| CN105904436B (en) | One kind is without two turn of one shifting parallel institution of associated movement | |
| CN105710868B (en) | A kind of two turn of one shifting parallel institution with multiple centers of rotation | |
| CN205657160U (en) | Straight line drives parallelly connected antenna pedestal mechanism of three degrees of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160127 Termination date: 20181125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |