CN202556405U - Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain - Google Patents
Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain Download PDFInfo
- Publication number
- CN202556405U CN202556405U CN2012201206489U CN201220120648U CN202556405U CN 202556405 U CN202556405 U CN 202556405U CN 2012201206489 U CN2012201206489 U CN 2012201206489U CN 201220120648 U CN201220120648 U CN 201220120648U CN 202556405 U CN202556405 U CN 202556405U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- driving lever
- turntable
- rprpr
- 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
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model relates to a six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chains. The parallel mechanism comprises a first RPRPR closed-loop chain, a second RPRPR branch chain, a third RPRPR closed-loop chain and an actuating mechanism branch chain, wherein the first, the second and the third RPRPR closed-loop branch chains are in a same plane and can control movements of a first, a second and a third rotary table respectively, and the movements of the first, the second and the third rotary tables can help realized a spatial motion of a moving platform. According to the parallel mechanism, three closed-loop branch chains are used to control the movements of three rotary tables in the plane, thereby realizing a six degree-of-freedom motion of the moving platform and enabling the parallel mechanism to have the characteristics of being compact in structure and simple to control, and all driving levers are connected on a rack, and enabling the mechanism being small in movement inertia and excellent in dynamics performance.
Description
Technical field
The utility model relates to the robot field, particularly a kind of six-degree-of-freedom parallel connection mechanism that contains RPRPR closed loop subchain.
Background technology
Parallel institution and traditional serial mechanism are compared, and have following characteristics: no accumulated error, and precision is higher; Drive unit can place on the fixed platform or near the position of fixed platform, motion parts is in light weight like this, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is big; The parallel institution of symmetry has isotropism preferably fully.Because parallel institution itself is with regard to more complicated; If closed loop is contained again in branch, its mechanism will be complicated more, so in general; Parallel institution symmetry, that branch does not contain closed loop just can have most typical character; Appropriate but if closed loop is used, the performance of parallel institution will be remarkable more, like famous delta mechanism.In addition; Existing parallel institution; Its side chain receives the restriction of connected mode, generally has only a driving lever to be connected in the driving that is cemented on the frame, like this mode of multiple freedom parallel mechanism for realizing that it moves and just needs many side chains or take a plurality of driving levers of series connection on the side chain; And the parallel institution complex structure of many side chains control difficulty, a plurality of driving levers of series connection can influence the exercise performance of parallel institution on the side chain.
Summary of the invention
The purpose of the utility model is to provide a kind of six-degree-of-freedom parallel connection mechanism of the RPRPR of containing closed loop subchain, solves a plurality of drivings of side chain of traditional parallel institution and can not be connected the shortcoming on the frame simultaneously.
The utility model achieves the above object through following technical scheme: a kind of six-degree-of-freedom parallel connection mechanism of the RPRPR of containing closed loop subchain comprises a RPRPR closed loop subchain, the 2nd RPRPR closed loop subchain, the 3rd RPRPR closed loop subchain and executing agency's subchain.
A said RPRPR closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through first moving sets; The first connecting rod other end is connected with second connecting rod through second revolute pair; The second connecting rod other end is connected with second driving lever through second moving sets, and the second driving lever other end is connected with frame through the 3rd revolute pair, and first driving lever and the motion of second driving lever drive first connecting rod and the second connecting rod motion can be controlled the motion of first turntable in plane, RPRPR closed loop subchain place.
Said the 2nd RPRPR closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame; The 3rd driving lever one end is connected on the frame through the 4th revolute pair; The 3rd driving lever other end is connected with third connecting rod through three moving sets; The third connecting rod other end is connected with the 4th connecting rod through the 5th revolute pair; The 4th connecting rod other end is connected with the 4th driving lever through the 4th moving sets, and the 4th driving lever other end is connected with frame through the 6th revolute pair, and the 3rd driving lever and the motion of the 4th driving lever drive third connecting rod and the 4th link motion can be controlled the motion of second turntable in plane, the 2nd RPRPR closed loop subchain place.
Said the 3rd RPRPR closed loop subchain is formed by connecting the 5th driving lever, the 6th driving lever, the 5th connecting rod, the 6th connecting rod and frame; The 5th driving lever one end is connected on the frame through the 7th revolute pair; The 5th driving lever other end is connected with the 5th connecting rod through the 5th moving sets; The 5th connecting rod other end is connected with the 6th connecting rod through the 8th revolute pair; The 6th connecting rod other end is connected with the 6th driving lever through the 6th moving sets, and the 6th driving lever other end is connected with frame through the 9th revolute pair, and the 5th driving lever and the motion of the 6th driving lever drive the 5th connecting rod and the 6th link motion can be controlled the motion of the 3rd turntable in plane, the 3rd RPRPR closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable, second turntable, the 3rd turntable, seven-link assembly, the 8th connecting rod, the 9th connecting rod, first Hooke's hinge, second Hooke's hinge, the 3rd Hooke's hinge and moving platform; First turntable is connected with first connecting rod through second revolute pair; First turntable is connected with seven-link assembly through the tenth revolute pair; The seven-link assembly other end is connected with first Hooke's hinge through the 11 revolute pair; First Hooke's hinge is connected with moving platform through the 12 revolute pair, and second turntable is connected with third connecting rod through the 5th revolute pair, and second turntable is connected with the 8th connecting rod through the 13 revolute pair; The 8th connecting rod other end is connected with second Hooke's hinge through the 14 revolute pair; Second Hooke's hinge is connected with moving platform through the 15 revolute pair, and the 3rd turntable is connected with the 5th connecting rod through the 8th revolute pair, and the 3rd turntable is connected with the 9th connecting rod through the 16 revolute pair; The 9th connecting rod other end is connected with the 3rd Hooke's hinge through the 17 revolute pair, and the 3rd Hooke's hinge is connected with moving platform through the 18 revolute pair.First turntable, second turntable and the 3rd turntable can be realized the space six-freedom motion of moving platform in the motion of separately space.
The outstanding advantage of the utility model is:
1, through the motion of closed loop subchain controlling organization, mechanism's side chain can have a plurality of driving levers to be connected on the frame;
2, all driving levers all are connected on the frame, and rod member is made lighter bar, and mechanism kinematic inertia is little, and dynamic performance is good;
3, through the end effector of various different purposes is installed on moving platform, this mechanism may be used in the work such as extracting, carrying, piling, assembling, cutting.
Description of drawings
Fig. 1 is said a kind of first structural representation that contains the six-degree-of-freedom parallel connection mechanism of RPRPR closed loop subchain of the utility model.
Fig. 2 is said a kind of second structural representation that contains the six-degree-of-freedom parallel connection mechanism of RPRPR closed loop subchain of the utility model.
Fig. 3 is said a kind of the 3rd structural representation that contains the six-degree-of-freedom parallel connection mechanism of RPRPR closed loop subchain of the utility model.
Fig. 4 is said a kind of the 4th structural representation that contains the six-degree-of-freedom parallel connection mechanism of RPRPR closed loop subchain of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the technical scheme of the utility model is described further.
A said RPRPR closed loop subchain is formed by connecting first driving lever 3, second driving lever 9, first connecting rod 5, second connecting rod 7 and frame 1; First driving lever, 3 one ends are connected on the frame 1 through first revolute pair 42; First driving lever, 3 other ends are connected with first connecting rod 5 through first moving sets 4; First connecting rod 5 other ends are connected with second connecting rod 7 through second revolute pair 43; Second connecting rod 7 other ends are connected with second driving lever 9 through second moving sets 8; Second driving lever, 9 other ends are connected with frame 1 through the 3rd revolute pair 44, and first driving lever 3 and second driving lever 9 move, and 7 motions can realize first turntable 6 is accurately located in the space on plane, a RPRPR closed loop subchain place drive first connecting rods 5 with second connecting rod.
Said the 2nd RPRPR closed loop subchain is formed by connecting the 3rd driving lever 12, the 4th driving lever 18, third connecting rod 14, the 4th connecting rod 16 and frame 1; The 3rd driving lever 12 1 ends are connected on the frame 1 through the 4th revolute pair 45; The 3rd driving lever 12 other ends are connected with third connecting rod 14 through three moving sets 13; Third connecting rod 14 other ends are connected with the 4th connecting rod 16 through the 5th revolute pair 46; The 4th connecting rod 16 other ends are connected with the 4th driving lever 18 through the 4th moving sets 17; The 4th driving lever 18 other ends pass through the 6th revolute pair 47 and are connected with frame 1, and the 3rd driving lever 12 and 18 motions of the 4th driving lever drive third connecting rods 14 and 16 motions of the 4th connecting rod can realize second turntable 15 is accurately located in the space on plane, the 2nd RPRPR closed loop subchain place.
Said the 3rd RPRPR closed loop subchain is formed by connecting the 5th driving lever 21, the 6th driving lever 27, the 5th connecting rod 23, the 6th connecting rod 25 and frame 1; The 5th driving lever 21 1 ends are connected on the frame 1 through the 7th revolute pair 48; The 5th driving lever 21 other ends are connected with the 5th connecting rod 23 through the 5th moving sets 22; The 5th connecting rod 23 other ends are connected with the 6th connecting rod 25 through the 8th revolute pair 49; The 6th connecting rod 25 other ends are connected with the 6th driving lever 27 through the 6th moving sets 26; The 6th driving lever 25 other ends pass through the 9th revolute pair 50 and are connected with frame 1, and the 5th driving lever 21 and 27 motions of the 6th driving lever drive the 5th connecting rods 23 and 25 motions of the 6th connecting rod can realize the 3rd turntable 24 is accurately located in the space on plane, the 3rd RPRPR closed loop subchain place.
Said executing agency subchain is formed by connecting first turntable 6, second turntable 15, the 3rd turntable 24, seven-link assembly 29, the 8th connecting rod 33, the 9th connecting rod 37, first Hooke's hinge 32, second Hooke's hinge 36, the 3rd Hooke's hinge 40 and moving platform 41; First turntable 6 is connected with first connecting rod 5 through second revolute pair 43; First turntable 6 is connected with seven-link assembly 29 through the tenth revolute pair 51; Seven-link assembly 29 other ends are connected with first Hooke's hinge 32 through the 11 revolute pair 30; First Hooke's hinge 32 is connected with moving platform 41 through the 12 revolute pair 31; Second turntable 15 is connected with third connecting rod 14 through the 5th revolute pair 46; Second turntable 15 is connected with the 8th connecting rod 33 through the 13 revolute pair 53, and the 8th connecting rod 33 other ends are connected with second Hooke's hinge 36 through the 14 revolute pair 34, and second Hooke's hinge 36 is connected with moving platform 41 through the 15 revolute pair 35; The 3rd turntable 24 is connected with the 5th connecting rod 23 through the 8th revolute pair 49; The 3rd turntable 24 is connected with the 9th connecting rod 37 through the 16 revolute pair 52, and the 9th connecting rod 37 other ends are connected with the 3rd Hooke's hinge 40 through the 17 revolute pair 38, and the 3rd Hooke's hinge 40 is connected with moving platform 41 through the 18 revolute pair 39.
Claims (1)
1. a six-degree-of-freedom parallel connection mechanism that contains RPRPR closed loop subchain comprises a RPRPR closed loop subchain, the 2nd RPRPR closed loop subchain, the 3rd RPRPR closed loop subchain and executing agency's subchain, and its structure and connected mode are:
A said RPRPR closed loop subchain is formed by connecting first driving lever, second driving lever, first connecting rod, second connecting rod and frame; First driving lever, one end is connected on the frame through first revolute pair; The first driving lever other end is connected with first connecting rod through first moving sets, and the first connecting rod other end is connected with second connecting rod through second revolute pair, and the second connecting rod other end is connected with second driving lever through second moving sets; The second driving lever other end is connected with frame through the 3rd revolute pair
Said the 2nd RPRPR closed loop subchain is formed by connecting the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod and frame; The 3rd driving lever one end is connected on the frame through the 4th revolute pair; The 3rd driving lever other end is connected with third connecting rod through three moving sets, and the third connecting rod other end is connected with the 4th connecting rod through the 5th revolute pair, and the 4th connecting rod other end is connected with the 4th driving lever through the 4th moving sets; The 4th driving lever other end is connected with frame through the 6th revolute pair
Said the 3rd RPRPR closed loop subchain is formed by connecting the 5th driving lever, the 6th driving lever, the 5th connecting rod, the 6th connecting rod and frame; The 5th driving lever one end is connected on the frame through the 7th revolute pair; The 5th driving lever other end is connected with the 5th connecting rod through the 5th moving sets, and the 5th connecting rod other end is connected with the 6th connecting rod through the 8th revolute pair, and the 6th connecting rod other end is connected with the 6th driving lever through the 6th moving sets; The 6th driving lever other end is connected with frame through the 9th revolute pair
Said executing agency subchain is formed by connecting first turntable, second turntable, the 3rd turntable, seven-link assembly, the 8th connecting rod, the 9th connecting rod, first Hooke's hinge, second Hooke's hinge, the 3rd Hooke's hinge and moving platform; First turntable is connected with first connecting rod through second revolute pair; First turntable is connected with seven-link assembly through the tenth revolute pair; The seven-link assembly other end is connected with first Hooke's hinge through the 11 revolute pair; First Hooke's hinge is connected with moving platform through the 12 revolute pair, and second turntable is connected with third connecting rod through the 5th revolute pair, and second turntable is connected with the 8th connecting rod through the 13 revolute pair; The 8th connecting rod other end is connected with second Hooke's hinge through the 14 revolute pair; Second Hooke's hinge is connected with moving platform through the 15 revolute pair, and the 3rd turntable is connected with the 5th connecting rod through the 8th revolute pair, and the 3rd turntable is connected with the 9th connecting rod through the 16 revolute pair; The 9th connecting rod other end is connected with the 3rd Hooke's hinge through the 17 revolute pair, and the 3rd Hooke's hinge is connected with moving platform through the 18 revolute pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201206489U CN202556405U (en) | 2012-03-28 | 2012-03-28 | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012201206489U CN202556405U (en) | 2012-03-28 | 2012-03-28 | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202556405U true CN202556405U (en) | 2012-11-28 |
Family
ID=47206102
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012201206489U Expired - Fee Related CN202556405U (en) | 2012-03-28 | 2012-03-28 | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202556405U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601785A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains |
-
2012
- 2012-03-28 CN CN2012201206489U patent/CN202556405U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601785A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102601789A (en) | Three-degree-of-freedom parallel mechanism containing RPRPR closed-loop subchain | |
| CN102601787A (en) | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating | |
| CN202556402U (en) | Parallel mechanism capable of realizing three-dimension translation motion and one-dimension rotation | |
| CN202556401U (en) | Parallel mechanism containing RRR closed-loop subchain | |
| CN202556405U (en) | Six degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain | |
| CN203003873U (en) | Parallel mechanism provided with prrrp kinematic pair closed-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN203003886U (en) | Parallel mechanism provided with prrr kinematic pair open-loop subchain and prrrr kinematic pair closed-loop subchain | |
| CN203003875U (en) | Parallel mechanism with prr open loop sub-chain and prrrp closed loop sub-chain | |
| CN203109938U (en) | Parallel mechanism containing six revolute pairs and two sliding pairs | |
| CN202556403U (en) | Three degree-of-freedom parallel mechanism containing RPRPR closed-loop branch chain | |
| CN203003880U (en) | Parallel mechanism comprising two symmetrical closed-loop subchains | |
| CN102601785A (en) | Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains | |
| CN202556404U (en) | Three degree-of-freedom parallel mechanism containing RRR closed-loop branch chain | |
| CN102990660A (en) | Parallel mechanism containing prr kinematic pair open loop subchain and rprrp kinematic pair closed loop subchain | |
| CN203003884U (en) | Parallel mechanism with prr open loop sub-chain and pprrp closed loop sub-chain | |
| CN203003885U (en) | Parallel mechanism with prr open loop sub-chain and pprpr closed loop sub-chain | |
| CN203003883U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and pprrr kinematic pair closed-loop subchain | |
| CN203003876U (en) | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain | |
| CN102990657A (en) | Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain | |
| CN102825600A (en) | Parallel mechanism containing RRRR closed-loop subchain | |
| CN203003874U (en) | Parallel mechanism comprising prr open-loop subchain and rrrrr kinematic pair closed-loop subchain | |
| CN103223667A (en) | Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain | |
| CN203003882U (en) | Parallel mechanism with two pprrr closed loop sub-chains | |
| CN203003877U (en) | Kinematic pair combined rprrr-prrrp double closed-loop sub-chain parallel mechanism | |
| CN203003878U (en) | Parallel mechanism with two identical closed loop sub-chains |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20121128 Termination date: 20150328 |
|
| EXPY | Termination of patent right or utility model |