CN102126212A - Motion decoupling two-degree-of-freedom rotation parallel mechanism - Google Patents
Motion decoupling two-degree-of-freedom rotation parallel mechanism Download PDFInfo
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- CN102126212A CN102126212A CN2010106170421A CN201010617042A CN102126212A CN 102126212 A CN102126212 A CN 102126212A CN 2010106170421 A CN2010106170421 A CN 2010106170421A CN 201010617042 A CN201010617042 A CN 201010617042A CN 102126212 A CN102126212 A CN 102126212A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
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Abstract
本发明涉及一种运动解耦的两自由度转动并联机构，属于并联机器人领域。该机构由定平台、动平台以及连接定、动平台的两个分支组成，此两分支均由转动副和虎克铰两运动副组成，均以转动副与动平台相连，均以虎克铰与定平台相连，并且两个虎克铰的其中一条轴线保持共线，另外一条轴线和两个转动副的轴线保持平行。本发明所述两自由度转动并联机构具有运动学性能优良、灵活性高、工作空间较大等特点，其运动学正反解十分简单，动平台的两个转动完全解耦，使控制极为容易、标定简单，并且节能，可广泛用于望远镜、照相机、变位机、雷达跟踪、太阳能面板、导弹发射架、火炮瞄准定位设备等。
The invention relates to a two-degree-of-freedom rotating parallel mechanism with motion decoupling, which belongs to the field of parallel robots. The mechanism is composed of a fixed platform, a moving platform and two branches connecting the fixed and moving platforms. It is connected with the fixed platform, and one of the axes of the two Hooke hinges is collinear, and the other axis is parallel to the axes of the two rotating pairs. The two-degree-of-freedom rotating parallel mechanism of the present invention has the characteristics of excellent kinematics performance, high flexibility, and large working space. Its kinematics positive and negative solutions are very simple, and the two rotations of the moving platform are completely decoupled, making the control extremely easy. , Calibration is simple, and energy-saving, can be widely used in telescopes, cameras, positioners, radar tracking, solar panels, missile launchers, artillery targeting and positioning equipment, etc.
Description
Technical field
The invention belongs to the parallel robot field, particularly a kind of two freedom rotary parallel mechanism of mobile decoupling.
Background technology
In the more than two decades in the past, parallel institution obtains more for using the especially application in industry fields such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, power and torque sensor widely in industrial quarters because of characteristics such as it has the rigidity height, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformations.
With respect to serial mechanism, the parallel institution working space is little, has strong coupling between the motion, and the control difficulty is bigger.And if motion of mechanism can realize decoupling zero, then its working space will enlarge, and control is easy, can reach higher kinematic accuracy, and will be all significant to motion of mechanism control, trajectory planning and demarcation etc.
Summary of the invention
The object of the present invention is to provide a kind of two freedom rotary parallel mechanism of mobile decoupling, the moving platform of this mechanism has two independent rotation frees degree, and these two are rotated decoupling zero each other, has simple in structure, control easily, advantages such as it is convenient to demarcate, and dynamic property is good, process and assemble is good.
The two freedom rotary parallel mechanism of this mobile decoupling comprises fixed platform, moving platform and is connected fixed platform and two branches' compositions of moving platform.It is characterized in that: moving platform is connected with fixed platform by two branches, wherein first branch has two kinematic pairs, the kinematic pair that links to each other with moving platform is a revolute pair, the kinematic pair that links to each other with fixed platform is a Hooke's hinge, second branch also has two kinematic pairs, the kinematic pair that links to each other with moving platform is a revolute pair, and the kinematic pair that links to each other with fixed platform is a Hooke's hinge; Wherein axis of two Hooke's hinges that link to each other with fixed platform keeps conllinear, the axis keeping parallelism of an other axis and two revolute pairs that link to each other with moving platform.
Description of drawings
Fig. 1 is the two freedom rotary parallel mechanism schematic diagram of mobile decoupling of the present invention.
In Fig. 1, label 1～8 is respectively the 1-fixed platform, 2-Hooke's hinge, 3-connecting rod, 4-revolute pair, 5-moving platform, 6-revolute pair, 7-connecting rod, 8-Hooke's hinge.
The specific embodiment
The two freedom rotary parallel mechanism (see figure 1) of mobile decoupling, be made up of fixed platform 1, moving platform 5 and two branches, wherein, first branch has revolute pair and two kinematic pairs of Hooke's hinge, the kinematic pair that links to each other with moving platform 5 is a revolute pair 4, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 2; Second branch also has revolute pair and two kinematic pairs of Hooke's hinge, and the kinematic pair that links to each other with moving platform 5 is a revolute pair 6, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 8; Wherein axis of two Hooke's hinges (2,8) that link to each other with fixed platform 1 keeps conllinear, the axis keeping parallelism of an other axis and revolute pair 4 that links to each other with moving platform 5 and revolute pair 6.
The two freedom rotary parallel mechanism of mobile decoupling of the present invention, have characteristics such as kinematics function admirable, flexibility height, working space be bigger, its kinematics is positive and negative separate very simple, two rotations of moving platform are full decoupled, make control very easily, demarcate simple, and energy-conservation, can be widely used in telescope, camera, positioner, radar tracking, solar panel, missile launcher, gun laying positioning equipment etc.
Claims (1)
1. the two freedom rotary parallel mechanism of a mobile decoupling, comprise fixed platform 1, moving platform 5 and be connected fixed platform 1 and the compositions such as branch of moving platform 5, it is characterized in that: moving platform 5 is connected with fixed platform 1 by two branches, wherein first branch has two kinematic pairs, the kinematic pair that links to each other with moving platform 5 is a revolute pair 4, the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 2, second branch has two kinematic pairs, the kinematic pair that links to each other with moving platform 5 is a revolute pair 6, and the kinematic pair that links to each other with fixed platform 1 is a Hooke's hinge 8; Wherein axis of two Hooke's hinges (2,8) that link to each other with fixed platform 1 keeps conllinear, the axis keeping parallelism of an other axis and revolute pair 4 that links to each other with moving platform 5 and revolute pair 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010617042A CN102126212B (en) | 2010-12-24 | 2010-12-24 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010617042A CN102126212B (en) | 2010-12-24 | 2010-12-24 | Motion decoupling two-degree-of-freedom rotation parallel mechanism |
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| Publication Number | Publication Date |
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| CN102126212A true CN102126212A (en) | 2011-07-20 |
| CN102126212B CN102126212B (en) | 2012-09-05 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN105406803A (en) * | 2015-12-16 | 2016-03-16 | 常熟高嘉能源科技有限公司 | Bracket for controllable photovoltaic module |
| CN107571247A (en) * | 2017-10-21 | 2018-01-12 | 长沙展朔轩兴信息科技有限公司 | A kind of two-freedom rotating decoupling parallel robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61120207A (en) * | 1984-11-16 | 1986-06-07 | Nissan Motor Co Ltd | Robot controller |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
-
2010
- 2010-12-24 CN CN201010617042A patent/CN102126212B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61120207A (en) * | 1984-11-16 | 1986-06-07 | Nissan Motor Co Ltd | Robot controller |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101791798A (en) * | 2010-03-27 | 2010-08-04 | 燕山大学 | Two-freedom rotary decoupling parallel robot mechanism |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308842A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Novel plane-symmetric dual-rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN104308842B (en) * | 2014-10-24 | 2015-12-30 | 天津大学 | A kind of novel symmetry two one-rotation parallel mechanism |
| CN104476540B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
| CN104308833B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
| CN105406803A (en) * | 2015-12-16 | 2016-03-16 | 常熟高嘉能源科技有限公司 | Bracket for controllable photovoltaic module |
| CN107571247A (en) * | 2017-10-21 | 2018-01-12 | 长沙展朔轩兴信息科技有限公司 | A kind of two-freedom rotating decoupling parallel robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
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| Publication number | Publication date |
|---|---|
| CN102126212B (en) | 2012-09-05 |
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