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WO2018195769A1 - Mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc - Google Patents

Mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc Download PDF

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Publication number
WO2018195769A1
WO2018195769A1 PCT/CN2017/081835 CN2017081835W WO2018195769A1 WO 2018195769 A1 WO2018195769 A1 WO 2018195769A1 CN 2017081835 W CN2017081835 W CN 2017081835W WO 2018195769 A1 WO2018195769 A1 WO 2018195769A1
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WO
WIPO (PCT)
Prior art keywords
arc
curved
platform
parallel mechanism
connecting rod
Prior art date
Application number
PCT/CN2017/081835
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English (en)
Chinese (zh)
Inventor
赵国如
王永奉
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2017/081835 priority Critical patent/WO2018195769A1/fr
Publication of WO2018195769A1 publication Critical patent/WO2018195769A1/fr

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions

Definitions

  • the invention relates to the technical field of parallel mechanisms, in particular to a three-degree-of-freedom parallel mechanism with curved moving pairs.
  • the parallel robot Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society because of its large rigidity, strong bearing capacity, small error, high precision, small self-weight load ratio, good dynamic performance and easy control.
  • the spherical parallel mechanism belongs to a 3-rotation parallel mechanism, which can realize the arbitrary rotation of the spherical center of the spherical surface around the reference point of the moving platform.
  • the mechanism moves, all the points on the moving platform of the mechanism are around the spherical center and fixed by one. The radius rotates.
  • the advantage of spherical parallel connection with respect to the general parallel mechanism is that the working space is large, flexible and reliable, and it is not easy to interfere.
  • a three-degree-of-freedom spherical parallel mechanism (CN101306534) with a central spherical hinge, which has a typical 3-RRR type mechanism, is proposed by Professor Yan and others of Yanshan University. Achieve three directions of rotation around the fixed center.
  • a three-degree-of-freedom spherical parallel mechanism (CN104827463) with a curved moving pair proposed by Lin Rongfu and others of Shanghai Jiaotong University.
  • the shape of the curved moving pair is used to realize the rotation of the moving platform at the midpoint of the arc in three directions.
  • a three-degree-of-freedom parallel mechanism with a curved moving pair comprising a fixed platform, a moving platform, and three curved branches disposed between the fixed platform and the moving platform;
  • Each of the curved branches includes a first curved link and a second curved link of a common arc center, and one end of the first curved rod and the fixed platform are connected by a rotating pair, the second One end of the curved rod is disposed in a cavity at the other end of the first curved rod, and the second curved rod is reciprocable along a tangential direction of an arc of the first curved rod, The other end of the second curved rod and the moving platform are connected by a ball joint, and the three rotating pairs of the three curved branches are evenly spaced on the circumference of the fixed platform.
  • the axes of the three said rotating pairs are parallel to each other.
  • the cavity of the first curved rod has a circular, elliptical or square cross section.
  • the three curved branches have the same radius.
  • the three curved branches have different radii.
  • the above-mentioned three-degree-of-freedom parallel mechanism having a curved moving pair, one end of the curved branch is connected by the rotating pair and the fixed platform, and the other end of the curved branch is connected by the ball joint and the movable platform, and the axes of the rotating pair are mutually Parallel configuration, and the center of rotation of the parallel mechanism moving platform is the intersection of the center of each curved branch ball joint and the center of the curved branch, and the intersection changes with the posture of the moving platform, thereby making the working space of the moving platform Larger.
  • the structure is simple and reliable, the driving ability is strong, the flexibility is high, and the moving platform is stable, and can be applied to the fields of virtual axis machine tools, industrial robots, aviation simulation equipment, medical equipment and the like.
  • FIG. 1 is a schematic structural view of a three-degree-of-freedom parallel mechanism having a curved moving pair according to an embodiment
  • O1, O2, and O3 are arc centers of three curved branches, respectively, and O is a center of rotation.
  • a three-degree-of-freedom parallel mechanism 100 having a curved moving pair includes a fixed platform 110 , a moving platform 120 , and three curved branches disposed between the fixed platform 110 and the moving platform 120 . 130.
  • each of the arcuate branches 130 includes a first arcuate link 132 and a second arcuate link 134 that are coaxial.
  • One end of the first curved rod 132 and the fixed platform 110 are connected by a rotating pair 136.
  • One end of the second curved rod 134 is disposed in the cavity at the other end of the first curved rod 132, and the second curved rod 134 is reciprocable along the tangential direction of the circular arc of the first curved rod 132.
  • the other end of the second curved rod 134 and the movable platform 120 are connected by a ball joint 138.
  • the fixed platform 110 is configured as a circular plate. It can be understood that the structure of the fixed platform 110 is designed into a square plate, a rectangular plate and the like according to requirements.
  • the structure of the movable platform 120 is a triangular plate. The three vertices of the triangular plate are respectively connected to one end of the fixed platform 110 by three ball joints 138 and three curved branches 130.
  • the three rotating pairs 136 of the three curved branches 130 are evenly spaced on the circumference of the fixed platform 110. That is, the connection of the three rotating pairs 136 on the fixed platform 110 is an isosceles triangle.
  • the three curved branches 130 are symmetrically distributed between the fixed platform 110 and the movable platform 120 on a circumference parallel to the fixed platform 110.
  • the axes of the three rotating pairs 136 are parallel to each other.
  • the axes of the three rotating pairs 136 are perpendicular to the fixed platform 110 and point toward the arc of the curved branch 130.
  • the first curved rod 132 can be a curved tubular structure.
  • the cross section of the cavity of the first curved rod 132 may be a circular, elliptical or square structure.
  • the cross section of the second curved link 134 may be a circular, elliptical or square structure that matches the cavity structure of the first curved rod 132.
  • the second curved rod 134 can reciprocate along the tangential direction of the arc of the first curved rod 132, that is, the second curved rod 134 can enter or extend the first curved rod 132, thereby adjusting the movable platform 120 and fixing The distance between the platforms 110.
  • the radii of the three curved branches 130 can be designed to be the same or different depending on the requirements of the different workspaces or flexibility.
  • the three-degree-of-freedom parallel mechanism 100 having a curved moving pair realizes the movable platform 120 around the three curved branches 130 by driving the rotation angle of the first curved rod 132 on the fixed platform 110 about the axis of the rotating pair 136.
  • the intersection of the centers of the respective ball joints and the arc-centers of the respective arc-shaped branches 130 is rotated in three directions of the axis of the three-dimensional coordinate system. That is, referring to FIG. 2, the center of rotation of the movable platform 110 of the three-degree-of-freedom parallel mechanism 100 having the curved moving pair is the center of the ball joint 138 of each curved branch 130 and the arc of the curved branch 130.
  • the intersection of the line which changes with the posture of the platform 120.
  • the three-degree-of-freedom parallel mechanism 100 having the curved moving pair has one end of each of the three curved branches 130 directly connected to the fixed platform 110, so that the rotating center of the parallel mechanism 100 is not fixed, and can be arbitrarily configured according to actual requirements.
  • the curved branch is installed at the fixed platform, which has no limitations on the installation requirements, improving its working space and flexibility.
  • the three-degree-of-freedom parallel mechanism 100 having the curved moving pair has one end connected to the fixed platform 110 through the rotating pair 136, and the other end of the curved branch 130 is connected to the moving platform 120 through the ball hinge 138, and rotates
  • the axes of the pair 136 are arranged parallel to each other, and the center of rotation of the parallel mechanism moving platform 120 It is the intersection of the center of the arc-shaped branch 130 and the center of the arc-shaped branch 130.
  • the intersection changes with the posture of the platform 120, so that the working space of the movable platform 120 is large.
  • the structure is simple and reliable, the driving ability is strong, the flexibility is high, and the moving platform 120 is stable in motion, and can be applied to the fields of virtual axis machine tools, industrial robots, aviation simulation equipment, medical equipment and the like.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc, le mécanisme comprenant une plateforme fixe (110), une plateforme mobile (120) et trois liaisons de support en forme d'arc (130) disposées entre la plateforme fixe (110) et la plateforme mobile (120). Chacune des liaisons de support en forme d'arc (130) comprend une première tige de liaison en forme d'arc (132) et une seconde tige de liaison en forme d'arc (134) partageant le même centre d'arc. Une extrémité de la première tige de liaison en forme d'arc (132) est reliée à la plateforme fixe (110) à l'aide d'une paire rotoïde (136). Une extrémité de la seconde tige de liaison en forme d'arc (134) est disposée dans une cavité de l'autre extrémité de la première tige de liaison en forme d'arc (132), et la seconde tige de liaison en forme d'arc (134) peut effectuer un mouvement alternatif dans une direction tangentielle d'un arc circulaire de la première tige de liaison en forme d'arc (132). L'autre extrémité de la seconde tige de liaison en forme d'arc (134) est reliée à la plateforme mobile (120) à l'aide d'un joint à rotule (138). Les trois paires rotoïdes (136) des trois liaisons de support en forme d'arc (130) sont uniformément réparties sur une circonférence de la plateforme fixe (110) selon des intervalles. Les directions axiales des paires rotoïdes (136) sont parallèles l'une par rapport à l'autre, et un centre de rotation de la plateforme mobile du mécanisme parallèle est un point d'intersection de lignes pour relier les centres des articulations à rotule (138) des liaisons de support en forme d'arc (130) et les centres d'arc des liaisons de support en forme d'arc (130). Le point d'intersection change avec la pose de la plateforme mobile, et par conséquent, la plate-forme mobile présente un espace de travail relativement grand, une structure simple et fiable, et une flexibilité élevée.
PCT/CN2017/081835 2017-04-25 2017-04-25 Mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc WO2018195769A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/081835 WO2018195769A1 (fr) 2017-04-25 2017-04-25 Mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/081835 WO2018195769A1 (fr) 2017-04-25 2017-04-25 Mécanisme parallèle à trois degrés de liberté ayant une paire de mouvements en forme d'arc

Publications (1)

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WO2018195769A1 true WO2018195769A1 (fr) 2018-11-01

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101244560A (zh) * 2008-03-22 2008-08-20 燕山大学 具有不同结构驱动分支的三自由度并联机器人机构
TW201121735A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN102528817A (zh) * 2012-01-13 2012-07-04 燕山大学 一种三自由度并联机械手腕
CN104827463A (zh) * 2015-05-07 2015-08-12 上海交通大学 具有弧形移动副的三自由度球面并联机构
CN206066431U (zh) * 2016-10-09 2017-04-05 邯郸学院 一种三自由度机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101244560A (zh) * 2008-03-22 2008-08-20 燕山大学 具有不同结构驱动分支的三自由度并联机器人机构
TW201121735A (en) * 2009-12-28 2011-07-01 Hon Hai Prec Ind Co Ltd Parallel robot
CN102528817A (zh) * 2012-01-13 2012-07-04 燕山大学 一种三自由度并联机械手腕
CN104827463A (zh) * 2015-05-07 2015-08-12 上海交通大学 具有弧形移动副的三自由度球面并联机构
CN206066431U (zh) * 2016-10-09 2017-04-05 邯郸学院 一种三自由度机器人

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