CN1228171C - Three-freedom spatial parallel robot mechanism - Google Patents
Three-freedom spatial parallel robot mechanism Download PDFInfo
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- CN1228171C CN1228171C CN 02117266 CN02117266A CN1228171C CN 1228171 C CN1228171 C CN 1228171C CN 02117266 CN02117266 CN 02117266 CN 02117266 A CN02117266 A CN 02117266A CN 1228171 C CN1228171 C CN 1228171C
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Abstract
The present invention relates to a three-dimensional space parallel robot mechanism which belongs to the field of robots and mechanical manufacture and comprises a machine frame, a movable platform, a guiding drive branch connecting the machine frame with the movable platform, and at least two drive branches. The three-dimensional space parallel robot mechanism has various concrete forms, and the movable platform can realize three position degrees of freedom and one rotational degree of freedom. The mechanism has less joint, simple technique structure and can completely use a rotary pair, which is favorable for realizing high precision and rigidity. The mechanism can realize space three-coordinate translational motion processing and can be used for flexibly building multiple-degree-of-freedom space parallel robots with various uses, parallel machine tools, micromotion robots, sensor elements, etc. if matched with other rotary mechanisms.
Description
Technical field:
The invention belongs to robot and mechanical manufacturing field, move and the three-freedom degree spatial parallel robot mechanism of one dimension from rotating but particularly a class implementation space is three-dimensional.
Background technology:
Existing robots mechanism can be decomposed into two class mechanisms, serial mechanism and parallel institution.Serial mechanism belongs to open chain, and each rod member links to each other successively by kinematic pair, and this class mechanism has big working space and flexibility, and shortcoming is that rigidity is low, inertia is big, and dynamic characteristic is poor, precision is low.For avoiding this class shortcoming, the end of several serial mechanisms can be connected to by kinematic pair and constitute a parallel institution on the moving platform, and by these the several serial mechanisms branch of parallel institution (or the be referred to as) end effector of drive installation on moving platform jointly.The benefit of this layout is conspicuous: the free degree that end effector is realized can be driven jointly by each branch, makes the big driver element of weight can be distributed to each branch; And a driver element can only be contained in each branch, and is arranged on the frame or near on the position of frame.This arrangement compactness, load can effectively reduce whole inertia from the anharmonic ratio height, improve dynamic property, improve integral rigidity.Therefore, parallel institution has obtained extensive use in simulator, lathe, robot, sensor, micromotion mechanism.
Parallel institution can chase after north paint spraying apparatus (PollardW to Pollard employing parallel institution in 1938 design in industrial application, Evanston.Position-controlling Apparatus, Application, Serial No.203:633, Apr.22,1938; UnitedState Patent:2,286,571, Jun.1942).The sixties, Stewart is successfully applied to flight simulator with the 6DOF parallel institution, and (180 (Part 1 for Stewart D.A Platform with 6Degrees of Freedom, Proc.of the Institution of mechanicalengineers, 15), 1965:371-386).Before this, Gough also is applied to same mechanism detection (Gough V Eet, Whitehall S G.Universal Tire Test Machine, the In Proceedings 9th Int.TechnicalCongress F.I.S.I.T.A. of tire, May 1962,117:117-135).Therefore, usually this mechanism is referred to as Gough-Stewart platform or Stewart platform.Early stage parallel institution refers to the Stewart platform of 6DOF more, but its space is little, realize that orientation capability is poor, the solution that realizes the different frees degree is lacked flexibility, in theory and practice, remain in a series of problems and be difficult to solution, for example foundation of position normal solution and kinetic model, precision calibration etc.
For giving full play to the advantage separately of parallel institution and serial mechanism, people turn to connection in series-parallel hybrid solution based on the lower-mobility parallel institution with research emphasis in recent years, wherein have the parallel institution of pure flat moving and pure rotational freedom owing to can form various multiple degrees of freedom solutions flexibly, have price advantage, have a extensive future in industrial production and other fields.1985, Clavel invents a kind of (Clavel R.Device for Movement and Position ofan Element in Space of three-dimensional translating mechanism that is called Delta mechanism, United State Patent:4,976,582, Dec.11,1990), 12 spherical pairs are arranged in this mechanism, two kinds of outer secondary drive forms of moving sets and revolute pair are arranged.Nineteen ninety-five Tsai proposes another kind of Delta (the Tsai L W.Multi-degree-of-freedom mechanisms for machine tools and the like of mechanism, United States Patent:5,656,905, Aug.12,1997), the Delta mechanism of contrast Clavel, the Delta mechanism of Tsai adopts revolute pair fully, and increases side-play amount between rotating shaft, has improved the space/volume ratio of this mechanism when reducing cost.1996, Tsai has studied (the Tsai L W.Kinematics of a Three-DOF Platform with ThreeExtensible Limbs of 3-TPT mechanism of another kind of realization three-dimensional translating, In Recent Advances in Robot Kinematics, Kluwer Academic Publishers, 1996:401-410).Above-mentioned pure flat actuation mechanism adopts the identical branch of structure in same mechanism, or the free degree of passing through hinge in each branch cooperates, or the rotational freedom by the constraint of the plane parallel quadric chain in each branch moving platform, the torque of automatic platform is born jointly by each branch during work.This class mechanism can only satisfy the application of general precision because torsional rigidity and positional precision are lower.Studies show that, different with traditional serial mechanism, parts rigidity in each branch of parallel institution is relevant with the position shape of parallel institution to the influence of end poing rigidity, and possibility difference is very big on the different directions of same position, and hinge, rod member quantity more in the branch are disadvantageous to the integral rigidity of system.
1985, Neumann invented a kind of Tricept parallel institution (Neumann KE.Robot, United States Patent:4,732,525, Mar.22,1988) with three controllable position frees degree.The moving platform of this mechanism is by a rotational freedom with compound hinges of two rotational freedoms and an one-movement-freedom-degree as guider constraint moving platform, by three scalable branch drives moving platforms, every branch is linked to each other with moving platform by a spherical hinge, a Hooke's hinge links to each other with silent flatform, and branch self has a flexible free degree.Tension and compression are only born by three branches in theory, and guider promptly bears tension and compression and also bears torque, and this partly decoupled on stressed makes the rigidity of Tricept mechanism be easier to coupling.Tricept mechanism tip engages two degrees of freedom rotating mechanism can be realized five processing, but involves rotational freedom because the position freedom of being realized has, and has limited its scope as Three Degree Of Freedom mechanism independent utility.1997, Cai Guangqi etc. invented a kind of parallel robot mechanism (Cai Guangqi, Hu Ming that has the three-translational freedom of guider, Guo becomes, elder generation of former institute, and the historian is suitable. a kind of three-freedom parallel robot mechanism, number of patent application: in March, 97229311.6,1999).This mechanism adopts the rotational freedom of double-deck three bar space parallel mechanisms as guider constraint moving platform, and moves by three extensible link driving moving platform implementation spaces.But because this guider hinge and rod member are more, the rigidity Design of this mechanism is comparatively complicated.
Summary of the invention:
A target of the present invention provides the parallel institution of a kind of high speed of carrying out three translations processing, high accuracy, high rigidity.
Another target of the present invention provides that a kind of process structure is simple, easy for installation, Rigidity Matching is easy to parallel institution.
The present invention also has a target to provide a kind of parallel institution seriation solution that can make up Three Degree Of Freedom, four-degree-of-freedom, five degree of freedom and more freedom flexibly.
Final goal of the present invention is at different cost requirements and required precision, and the seriation solution of multiple choices can be provided.
In order to solve technical problem mentioned in the background technology, realize above-mentioned target, the present invention shows the branched root that connects moving platform and frame in the parallel institution the different guiding branch and two kinds in the driving branches of being divided into of emphasis of function factually.The rotational freedom of moving platform is mainly by the constraint of guiding branch; Moving platform is removed with other and is driven being connected of branch, only under the constraint of the branch of leading, can realize that three position freedoms and one are from rotational freedom; Guiding branch can adopt revolute pair fully, and can strengthen rigidity as required; On this basis, the extensible link that driving branch can adopt two power rod type perhaps adopts the revolute pair type of drive to save cost with further raising rigidity.Drive branch and can adopt branch's form with six degrees of freedom of motion (as claim 6 or 7 determined driving branch forms), in this case, and in effective working space, driving branch only provides moving platform and drives and support and do not retrain the free degree of moving platform.Drive branch and also can have branch's form (as claim 2 or 3 or 4 determined driving branch forms) of five frees degree with further raising rigidity by employing, in this case, drive the one degree of freedom that branch increased and retrain free degree quantity and the kind that does not influence moving platform.Adopt branch's form (as claim 6 or 7 determined driving branch forms) of six freedom or more freedom can reduce assembly difficulty, suitably relax machining accuracy, the back is a bit especially favourable to main equipment.
The three-freedom spatial parallel robot mechanism that the present invention proposes is made of frame, moving platform, a guiding branch and two driving branches at least; Guiding branch is connected with moving platform with frame respectively by kinematic pair; Driving branch is connected with moving platform with frame respectively by kinematic pair; Can be by driving three locus frees degree of the driving joint control moving platform in branch and/or the guiding branch, there are two kinds of ways of realization in described guiding branch:
Described guiding branch forms from moving platform, three fixed length connecting rods, six revolute pairs by one; One end of first fixed length connecting rod links to each other with frame by first revolute pair, the other end with link to each other by second revolute pair from moving platform, and first revolute pair is parallel with the axis of second revolute pair; Second fixed length connecting rod and the 3rd fixed length length of connecting rod equate, are parallel to each other and do not overlap, the two ends of second fixed length connecting rod respectively by the 3rd revolute pair being parallel to each other and the 4th revolute pair be connected with moving platform from moving platform, the two ends of the 3rd fixed length connecting rod respectively by the 5th revolute pair being parallel to each other and the 6th revolute pair be connected with moving platform from moving platform, and third and fourth, the axis normal of five, six revolute pairs is in the axis of first revolute pair.
Described guiding branch also has another kind of implementation, and guiding branch is made up of three fixed length connecting rods, three revolute pairs and two Hooke's hinges; One end of first fixed length connecting rod connects by first revolute pair with frame; One end of second and the 3rd fixed length connecting rod and moving platform connect by second and the 3rd revolute pair respectively; The axis of second and the 3rd revolute pair is parallel to each other; Second links to each other with first fixed length connecting rod with second Hooke's hinge by first respectively with the other end of the 3rd fixed length connecting rod; The axis coaxial line of the rotating shaft that first links to each other with first fixed length connecting rod with second Hooke's hinge and be parallel to first revolute pair; The axis of the rotating shaft that first Hooke's hinge links to each other with second fixed length connecting rod is parallel to each other with the axis of the 3rd rotating shaft that the fixed length connecting rod links to each other with second Hooke's hinge and is parallel to the axis of second and the 3rd revolute pair.
The rod member of the described driving of any one in described three-freedom degree spatial parallel robot mechanism branch can be extensible link, and the two ends of this rod member are connected by Hooke's hinge with moving platform with frame respectively; Described Hooke's hinge is parallel to each other with the axis of the rotating shaft that frame, moving platform are connected, and is parallel to the axis of the revolute pair that described guiding branch links to each other with frame; Hooke's hinge is parallel to each other with the axis of the rotating shaft that described extensible link two ends are connected.
The rod member of the described driving of any one of described three-freedom degree spatial parallel robot mechanism branch can be certain long connecting rod, one end of fixed length connecting rod is connected with moving platform by Hooke's hinge, and the other end of fixed length connecting rod is connected with moving sets by another Hooke's hinge and links to each other with frame by moving sets; The axis of the rotating shaft that described Hooke's hinge and moving platform link to each other with moving sets is parallel with the axis of first revolute pair of described guiding branch respectively; The axis of the Hooke's hinge rotating shaft that links to each other with described connecting rod two ends also is parallel to each other.
The rod member of the described driving of any one of described three-freedom degree spatial parallel robot mechanism branch can be two fixed length connecting rods, one end of two fixed length connecting rods connects by a revolute pair, and an other end of two fixed length connecting rods is connected with moving platform with frame respectively by Hooke's hinge; The axis of the rotating shaft that Hooke's hinge and connecting rod link to each other is parallel with the axis of the described revolute pair that is connected two fixed length connecting rods; The axis of the rotating shaft that Hooke's hinge and frame are connected with moving platform is parallel with the axis of first revolute pair of described guiding branch respectively.
The connecting rod that links to each other with Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can use two connecting rods that linked to each other by a revolute pair to replace; The axis of the rotating shaft that the axis normal of described revolute pair links to each other with connecting rod in described Hooke's hinge.
Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be replaced by two revolute pairs and an intermediate member, intermediate member is fixedly connected with two revolute pairs, the axis of described two revolute pairs is vertical mutually and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can be non-intersect.
Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be replaced by ball pivot; The ball pivot center overlaps with the intersection point of Hooke's hinge shaft axis.
Kinematic pair in the described three-freedom degree spatial parallel robot mechanism can be by the elastic hinge equivalent substitute.
The present invention compared with prior art has following advantage:
But 1, three position freedoms in moving platform implementation space and rotation direction unique from rotational freedom.When the axis of main shaft on the moving platform is parallel with the rotation direction of moving platform, can be used for the three-dimensional translation processing in space.
2, single-degree-of-freedom or multivariant rotating mechanism are installed on moving platform or workbench, can be derived multiple-degree-of-freedom mechanism, but thereby have an extremely strong regroup by this mechanism.
3, hinge is less, and can adopt revolute pair fully, and technology is simple, cost is low, be easy to rigidity regulates.
4, the rotational freedom of moving platform can suitably be reduced rigidity during the design of other two driving branches by the constraint of guiding branch, helps reducing weight, raising speed and precision.
When 5, the Hooke's hinge in driving branch replaces with ball pivot, can relax the processing and the installation accuracy that drive branch and position, support junction, can guarantee mechanism precision fully by the later stage calibration in theory, thereby reduced processing and assembly difficulty, be particularly suitable for being applied to large-scale and huge processing and measure equipment.
Description of drawings:
Fig. 1 is the general structure schematic diagram of one of embodiment of three-freedom degree spatial parallel robot mechanism of the present invention.
Fig. 2 is two the general structure schematic diagram of the embodiment of three-freedom degree spatial parallel robot mechanism of the present invention.
Fig. 3 is three the general structure schematic diagram of the embodiment of three-freedom degree spatial parallel robot mechanism of the present invention.
Fig. 4 is the embodiment of the another kind of branch of leading of the present invention.
Fig. 5 is the replacement scheme of a kind of connecting rod of the present invention.
Fig. 6 is the replacement scheme of a kind of Hooke's hinge of the present invention.
Among the figure, T represents Hooke's hinge, and t represents the axis of Hooke's hinge rotating shaft, and R represents the single-degree-of-freedom revolute pair, and P represents the single-degree-of-freedom moving sets, and F represents extensible link, and L represents connecting rod.
Below in conjunction with the drawings and specific embodiments the present invention is described in further details.
The specific embodiment:
Embodiment 1: one of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 1, the moving platform of this mechanism 3 drives branches and links to each other with frame 1 with two by a guiding branch.Wherein, second fixed length connecting rod L of guiding branch
32With the 3rd fixed length connecting rod L
33By four single-degree-of-freedom revolute pair parallel to each other-the 3rd revolute pair R
33, the 4th revolute pair R
34, the 5th revolute pair R
35, the 6th revolute pair R
36Constitute a plane parallel quadrangular mechanism, first fixed length connecting rod L with moving platform 3 with linking to each other from moving platform 2
31Two ends with from moving platform 2 and frame 1 first revolute pair R by being parallel to each other respectively
31With second revolute pair R
32Link to each other, and R
31, R
32With R
33, R
34, R
35, R
36Vertically; Driving branches into TFT branch, the extensible link F in the branch
1And F
2Respectively by Hooke's hinge T
11, T
12And T
21, T
22Link to each other with moving platform 3 with frame 1, be fixed on the axis t of the Hooke's hinge rotating shaft on frame 1 and the moving platform 3
11, t
13, t
21, t
23And R
31Be parallel to each other, with extensible link F
1The axis t of the Hooke's hinge rotating shaft that links
12And t
14Be parallel to each other, with extensible link F
2The axis t of the Hooke's hinge rotating shaft that links
22And t
24Be parallel to each other.The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R
31The driven free degree that axis direction rotates.
Embodiment 2: two of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 2, the moving platform of this mechanism 3 drives branches and links to each other with frame 1 with two by a guiding branch.Wherein, second fixed length connecting rod L of guiding branch
32With the 3rd fixed length connecting rod L
33By four single-degree-of-freedom revolute pair parallel to each other-the 3rd revolute pair R
33, the 4th revolute pair R
34, the 5th revolute pair R
35, the 6th revolute pair R
36Constitute a plane parallel quadrangular mechanism, first fixed length connecting rod L with moving platform 3 with linking to each other from moving platform 2
31Two ends with from moving platform 2 and frame 1 first revolute pair R by being parallel to each other respectively
31With second revolute pair R
32Link to each other, and R
31And R
32With R
33, R
34, R
35, R
36Vertically; Driving branches into PTT branch, fixed length connecting rod L
1And L
2An end respectively by Hooke's hinge T
11, T
21With moving sets P
1, P
2Connect, link to each other fixed length connecting rod L again by described moving sets with frame 1
1And L
2The other end respectively by Hooke's hinge T
12, T
22Link to each other with moving platform 3, be fixed on moving sets P
1, P
2Axis t with Hooke's hinge rotating shaft on the moving platform 3
11, t
13, t
21, t
23And R
31Parallel to each other, with fixed length connecting rod L
1The axis t of the rotating shaft of the Hooke's hinge that links to each other
12, t
14Be parallel to each other, with fixed length connecting rod L
2The axis t of the rotating shaft of the Hooke's hinge that links to each other
22, t
24Be parallel to each other.The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R
31The driven free degree that axis direction rotates.
Embodiment 3: three of three-freedom degree spatial parallel robot mechanism
The present embodiment general structure as shown in Figure 3, the moving platform of this mechanism 3 drives branches and links to each other with frame 1 with two by a guiding branch.Wherein, second fixed length connecting rod L of guiding branch
32With the 3rd fixed length connecting rod L
33By four single-degree-of-freedom revolute pair parallel to each other-the 3rd revolute pair R
33, the 4th revolute pair R
34, the 5th revolute pair R
35, the 6th revolute pair R
36Constitute a plane parallel quadrangular mechanism, first fixed length connecting rod L with moving platform 3 with linking to each other from moving platform 2
31Two ends with from moving platform 2 and frame 1 first revolute pair R by being parallel to each other respectively
31With second revolute pair R
32Link to each other, and R
31And R
32With R
33, R
34, R
35, R
36Vertically; Two structures that drive branch are identical, are all RRRT branch, branch into example, two fixed length connecting rod L of described branch with one
11, L
12By a revolute pair R
13Link to each other fixed length connecting rod L
11The other end and revolute pair R
12Link to each other R
12With R
11Link to each other, and pass through R
11Be connected on the frame 1 fixed length connecting rod L
12The other end by Hooke's hinge T
12Be connected on the moving platform 2 revolute pair R
12, R
13Axis and Hooke's hinge T
12Be connected fixed length connecting rod L
12On the axis t of rotating shaft
14Parallel and perpendicular to revolute pair R
11Axis and Hooke's hinge T
12Be connected the axis t of the rotating shaft on the moving platform 3
13The three-dimensional of moving platform 3 by the secondary implementation space of the driving in three branches moves and around R
31The driven free degree that axis direction rotates.
Embodiment 4: the another kind of branch of leading
The present embodiment general structure as shown in Figure 4, the guiding branch first fixed length connecting rod L
31By first revolute pair R
31Link to each other with frame 1; Other is two fixed length connecting rod-second fixed length connecting rod L
32With the 3rd fixed length connecting rod L
33Pass through second revolute pair R respectively with moving platform 3
34With the 3rd revolute pair R
36Connect; Revolute pair R
34And R
36Axis be parallel to each other; Fixed length connecting rod L
32And L
33Respectively by first Hooke's hinge T
31With second Hooke's hinge T
32With fixed length connecting rod L
31Link to each other; Hooke's hinge T
31And T
32With fixed length connecting rod L
31The axis t of the rotating shaft that links to each other
31And t
33Coaxial line and be parallel to revolute pair R
31Hooke's hinge T
31And T
32With fixed length connecting rod L
32And L
33The axis t of the rotating shaft that links to each other
32And t
34Be parallel to each other and be parallel to revolute pair R
34And R
36Axis.
Embodiment 5: a kind of replacement scheme of connecting rod
The present embodiment general structure as shown in Figure 5, Hooke's hinge is made up of quiet fork 4, cross axle 5, moving fork 6, wherein t
41And t
42Axis for two rotating shafts of cross axle 5; The connecting rod that links to each other with Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be by passing through a revolute pair R
4The connecting rod L that connects
4With connecting rod L
5Replace the moving fork 6 and the connecting rod L of Hooke's hinge
4Fixedly connected; Revolute pair R
4Axis normal in axis t
42For example, the connecting rod L among Fig. 2
1Can be by L
4, R
4, L
5Replace the Hooke's hinge axis t among Fig. 5
41Corresponding to t
11, t
42Corresponding to t
12
Embodiment 6: a kind of replacement scheme of Hooke's hinge
The present embodiment general structure as shown in Figure 6, the Hooke's hinge in the described three-freedom degree spatial parallel robot mechanism can be by two revolute pair R
5, R
6With an intermediate member L
7Replace intermediate member L
7With two revolute pair R
5And R
6Fixedly connected; Revolute pair R
5With revolute pair R
6Axis mutually vertical and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can intersect also can be non-intersect; L
6And L
8Be the member that connects by described Hooke's hinge in the original mechanism.For example, the Hooke's hinge T among Fig. 2
12After this programme replacement, revolute pair R
5Axis and t
13The direction unanimity, revolute pair R
6Axis and t
14The direction unanimity, member L
6Corresponding to moving platform 3, member L
8Corresponding to connecting rod L
1
Other application forms of the present invention can comprise: (a) two-freedom or Three Degree Of Freedom direction mechanism are installed in five coordinates or the six coordinate serial parallel mechanisms that constitute on the mobile platform 3 of described three-freedom degree spatial parallel robot mechanism; (b) pedestal of a two-freedom or Three Degree Of Freedom direction mechanism is fixed on five coordinates or six coordinate serial parallel mechanisms on the frame 1 of described three-freedom degree spatial parallel robot mechanism; (c) wrist joint of a single-degree-of-freedom is installed in 4-coordinate parallel institution on the moving platform 3 of described three-freedom degree spatial parallel robot mechanism.
Though Fig. 1, Fig. 2, parallel institution shown in Figure 3 have three branches, any theoretically branch more than three all can be used for realizing same purpose.When using a guiding branch and two driving branches, the mode of recommendation is that a driver is installed in each branch; When using four or when more driving branch, have only three branches wherein to need to drive, and other branches provide extra rigidity for mechanism, do not change its free degree.It should be noted that the installation site of driver is arbitrarily under the prerequisite that satisfies the theory of mechanisms motion principle.These mechanisms can use rotation and linear actuator.For example, straight line ball-screw or hydraulic unit driver can be installed in the frame 1 of parallel robot mechanism and the connecting rod L in the branch
11Between (as shown in Figure 3) in order to control the rotation of this connecting rod.
It should be noted that at last: the specific embodiments of the invention of above introduction and configuration, only unrestricted technical scheme of the present invention in order to explanation; Although the present invention is had been described in detail with reference to the foregoing description, those of ordinary skill in the art is to be understood that, also have various variations, and these change and all to have followed spirit described in the invention and category, still can make amendment or be equal to replacement the present invention; And not breaking away from any modification or partial replacement of the spirit and scope of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1, three-freedom spatial parallel robot mechanism is made of frame, moving platform, a guiding branch and two driving branches at least; Guiding branch is connected with moving platform with frame respectively by kinematic pair; Driving branch is connected with moving platform with frame respectively by kinematic pair; By driving three locus frees degree of the driving joint control moving platform in branch and/or the guiding branch; It is characterized in that there are two kinds of ways of realization in described guiding branch:
A, form from moving platform, three fixed length connecting rods, six revolute pairs by one; One end of first fixed length connecting rod links to each other with frame by first revolute pair, the other end with link to each other by second revolute pair from moving platform, and first revolute pair is parallel with the axis of second revolute pair; Second fixed length connecting rod and the 3rd fixed length length of connecting rod equate, are parallel to each other and do not overlap, the two ends of second fixed length connecting rod respectively by the 3rd revolute pair being parallel to each other and the 4th revolute pair be connected with moving platform from moving platform, the two ends of the 3rd fixed length connecting rod respectively by the 5th revolute pair being parallel to each other and the 6th revolute pair be connected with moving platform from moving platform, and third and fourth, the axis normal of five, six revolute pairs is in the axis of first revolute pair;
B, form by three fixed length connecting rods, three revolute pairs and two Hooke's hinges; One end of first fixed length connecting rod connects by first revolute pair with frame; One end of second and the 3rd fixed length connecting rod and moving platform connect by second and the 3rd revolute pair respectively; The axis of second and the 3rd revolute pair is parallel to each other; Second links to each other with first fixed length connecting rod with second Hooke's hinge by first respectively with the other end of the 3rd fixed length connecting rod; The axis coaxial line of the rotating shaft that first links to each other with first fixed length connecting rod with second Hooke's hinge and be parallel to first revolute pair; The axis of the rotating shaft that first Hooke's hinge links to each other with second fixed length connecting rod is parallel to each other with the axis of the 3rd rotating shaft that the fixed length connecting rod links to each other with second Hooke's hinge and is parallel to the axis of second and the 3rd revolute pair.
2, three-freedom degree spatial parallel robot mechanism according to claim 1 is characterized in that, any one described rod member that drives branch can be extensible link, and the two ends of this rod member are connected by Hooke's hinge with moving platform with frame respectively; Described Hooke's hinge is parallel to each other with the axis of the rotating shaft that frame, moving platform are connected, and is parallel to the axis of the revolute pair that described guiding branch links to each other with frame; Described Hooke's hinge is parallel to each other with the axis of the rotating shaft that described extensible link two ends are connected.
3, three-freedom degree spatial parallel robot mechanism according to claim 1, it is characterized in that, any one described rod member that drives branch can be certain long connecting rod, one end of described fixed length connecting rod is connected with moving platform by Hooke's hinge, and the other end of described fixed length connecting rod is connected with moving sets by another Hooke's hinge and links to each other with frame by moving sets; The axis of the rotating shaft that described Hooke's hinge and moving platform link to each other with moving sets is parallel with the axis of first revolute pair of described guiding branch respectively; The axis of the Hooke's hinge rotating shaft that links to each other with described fixed length connecting rod two ends also is parallel to each other.
4, three-freedom degree spatial parallel robot mechanism according to claim 1, it is characterized in that, any one described rod member that drives branch can be two fixed length connecting rods, one end of two described fixed length connecting rods connects by a revolute pair, and an other end of two described fixed length connecting rods is connected with moving platform with frame respectively by Hooke's hinge; The axis of the rotating shaft that described Hooke's hinge and described fixed length connecting rod link to each other is parallel with the axis of the described revolute pair that is connected two described fixed length connecting rods; The axis of the rotating shaft that described Hooke's hinge and frame are connected with moving platform is parallel with the axis of first revolute pair of described guiding branch respectively.
According to claim 1 or 2 or 3 or 4 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that 5, the connecting rod that links to each other with Hooke's hinge in the described mechanism can use two connecting rods that linked to each other by a revolute pair to replace; The axis of the rotating shaft that the axis normal of described revolute pair links to each other with connecting rod in described Hooke's hinge.
6, according to claim 1 or 2 or 3 or 4 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that, Hooke's hinge in the described mechanism can be replaced by two revolute pairs and an intermediate member, intermediate member is fixedly connected with two revolute pairs, the axis of described two revolute pairs is vertical mutually and consistent respectively with the axis direction of the Hooke's hinge that is replaced, and described two axis can be non-intersect.
7, according to claim 1 or 2 or 3 or 4 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that the Hooke's hinge in the described mechanism can be replaced by ball pivot; The ball pivot center overlaps with the intersection point of Hooke's hinge shaft axis.
8, according to claim 1 or 2 or 3 or 4 described three-freedom degree spatial parallel robot mechanisms, it is characterized in that the kinematic pair in the described mechanism can be by the elastic hinge equivalent substitute.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02117266 CN1228171C (en) | 2002-04-22 | 2002-04-22 | Three-freedom spatial parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02117266 CN1228171C (en) | 2002-04-22 | 2002-04-22 | Three-freedom spatial parallel robot mechanism |
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| CN1453105A CN1453105A (en) | 2003-11-05 |
| CN1228171C true CN1228171C (en) | 2005-11-23 |
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| CN 02117266 Expired - Lifetime CN1228171C (en) | 2002-04-22 | 2002-04-22 | Three-freedom spatial parallel robot mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100360286C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | A three-degree-of-freedom steel-belt parallel robot mechanism |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112629384B (en) * | 2020-12-18 | 2022-08-02 | 中国科学院光电技术研究所 | A Hook tilt disc ball joint attitude detection device |
| CN118305776A (en) * | 2024-05-08 | 2024-07-09 | 天津工业大学 | Multi-drive mode three-translation parallel robot mechanism with auxiliary branched chain |
-
2002
- 2002-04-22 CN CN 02117266 patent/CN1228171C/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100360286C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | A three-degree-of-freedom steel-belt parallel robot mechanism |
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| Publication number | Publication date |
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| CN1453105A (en) | 2003-11-05 |
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