CN103433916A - Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism - Google Patents

Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism Download PDF

Info

Publication number
CN103433916A
CN103433916A CN2013103378737A CN201310337873A CN103433916A CN 103433916 A CN103433916 A CN 103433916A CN 2013103378737 A CN2013103378737 A CN 2013103378737A CN 201310337873 A CN201310337873 A CN 201310337873A CN 103433916 A CN103433916 A CN 103433916A
Authority
CN
China
Prior art keywords
branched chain
movement branched
pair
revolute pair
connecting rod
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.)
Granted
Application number
CN2013103378737A
Other languages
Chinese (zh)
Other versions
CN103433916B (en
Inventor
吴钪
于靖军
宗光华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
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 Beihang University filed Critical Beihang University
Priority to CN201310337873.7A priority Critical patent/CN103433916B/en
Publication of CN103433916A publication Critical patent/CN103433916A/en
Application granted granted Critical
Publication of CN103433916B publication Critical patent/CN103433916B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Transmission Devices (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

The invention discloses a two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism and relates to the technical field of robots, precise instruments, equipment and machinery manufacturing. The mechanism is mainly formed by a motion platform, a fixed base and motion branch chains and can implement an effect that the motion platform takes the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotation around the fixed base. More than three motion branch chains are connected between the motion platform and the fixed base by motion pairs; each motion branch chain comprises more than two connecting rods; and each motion branch chain is of a symmetrical structure and comprises two or a plurality of motion pairs to form more than four degrees of freedom. The rotating mechanism provided by the invention has the advantages that the motion platform has a large working space; the structure is compact; stiffness is high; the mechanism does not include redundant constraining, mutual internal stress does not exist among the motion branch chains and accuracy stability is high; and the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism has the simple structure and is convenient to install. The advantages enable the rotating mechanism to have wide application in the field of a high-performance pointing device.

Description

The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel
Technical field
The present invention relates to robot, sensitive instrument and equipment and machinery manufacturing technology field, be specifically related to that the isometrical sphere of a kind of two degrees of freedom is pure rolls rotating mechanism in parallel.
Background technology
The two degrees of freedom rotating mechanism is widely applied in fields such as machine-building, auto industry manufacture, Aero-Space manufacture, robots, comprises the fields such as machine tool chief axis, automobile shaft coupling, aviation sensing platform.Along with technical development, mechanism's end load is increasing, and traditional two degrees of freedom rotating mechanism has been difficult for meeting design requirement; And two degrees of freedom rotating mechanism in parallel has the characteristics such as rigidity is large, precision is high, bearing capacity is strong, movement inertia is little because of it, more and more receive publicity and be used widely.Typical case as, G.R.Dunlop has designed the parallel radar tracker (Canterbury Satellite Tracker) with two rotational freedoms based on many hinges of Three Degree Of Freedom parallel institution patent (US4651589); Patent US5893296 and WO99/21070 disclose a kind of two degrees of freedom rotating mechanism in parallel of four side chains, and by successfully as devices such as entertainment fountains; Patent US7478576 and US7472622 all disclose a kind of two degrees of freedom rotating mechanism in parallel of three side chains.Published mechanism mostly is the parallel institution with redundancy constraint, and an interchain of mechanism has with platform stance variation and unsettled erection stress, and in the high-speed motion process, dynamic property is bad, and precision stability is poor.
Summary of the invention
The purpose of this invention is to provide that the isometrical sphere of a kind of two degrees of freedom is pure rolls rotating mechanism in parallel, such mechanism mainly consists of motion platform, fixed pedestal and movement branched chain, can realize that motion platform does around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel the rotation.Comprise three above movement branched chain between described motion platform and fixed pedestal, each movement branched chain comprises two above connecting rods; Each movement branched chain is symmetrical structure, comprises two or more kinematic pairs, forms 4 above frees degree; The input of each movement branched chain is connected with fixed pedestal by kinematic pair, and the output of each movement branched chain is connected with motion platform by kinematic pair; Between each movement branched chain, relative position can be about centrosymmetric, and so, mechanism is bearing capacity equilibrium between attractive in appearance and each movement branched chain both, and application life is long.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel, and described each movement branched chain is about plane of symmetry II symmetry, realizes that motion platform does around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel the rotation; Described isometrical sphere refers to: the mid point of supposing the line that A point and B are ordered is the C point, and take respectively A point and B point is the centre of sphere, and AC or BC are that radius is made ball, and the public tangent plane of two balls is plane of symmetry II;
Described A point is determined by following relation: when the kinematic pair axis be connected with motion platform when each movement branched chain is coplanar, the A point is positioned at formed center of kinematic pair axis that each movement branched chain is connected with motion platform; When the kinematic pair axis be connected with motion platform when each movement branched chain meets at a common point, the A point is positioned at this common point place;
Described B point is determined by following relation: when the kinematic pair axis be connected with fixed pedestal when each movement branched chain is coplanar, the B point is positioned at formed center of kinematic pair axis that each movement branched chain is connected with fixed pedestal; When the kinematic pair axis be connected with fixed pedestal when each movement branched chain meets at a common point, the B point is positioned at this common point place.
The isometrical sphere of this two degrees of freedom is pure to be rolled rotating mechanism in parallel and only has two rotational freedoms, but has a plurality of actuation movement side chains, can realize redundant drive, to guarantee the input torque deficiency under the high capacity situation.Can drive motors be installed in each movement branched chain and being connected on kinematic pair of fixed pedestal during concrete enforcement, load only needs wherein two drive motors work output torque while hanging down, and all the other remaining drive motors are only made position follower; When load is large, all drive motors all participate in work output torque, to guarantee having enough rotating torques to drive load to rotate instantaneous.
Rotating mechanism provided by the invention has the following advantages:
(1) motion platform working space large (be generally ± 60 °, maximum can reach ± 90 °); (2) compact conformation; (3) rigidity is large; (4) mechanism's redundant bondage not, between movement branched chain, without internal stress mutually, precision stability is high; (5) simple in structure, be convenient to install.These advantages make this rotating mechanism can be widely used in high-performance indicator device field.
The accompanying drawing explanation
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism overall structure schematic diagram in parallel to Fig. 1;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll movement branched chain symmetrical structure schematic diagram in rotating mechanism in parallel to Fig. 2;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the first example structure schematic diagram in parallel to Fig. 3;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the second example structure schematic diagram in parallel to Fig. 4;
Fig. 5 is pure rotating mechanism in parallel the 3rd example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Fig. 6 is pure rotating mechanism in parallel the 4th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Fig. 7 is pure rotating mechanism in parallel the 5th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Fig. 8 is pure rotating mechanism in parallel the 6th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Fig. 9 is pure rotating mechanism in parallel the 7th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Figure 10 is pure rotating mechanism in parallel the 8th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Figure 11 is pure rotating mechanism in parallel the 9th example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
Figure 12 is pure rotating mechanism in parallel the tenth example structure schematic diagram that rolls of the isometrical sphere of two degrees of freedom of the present invention;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 11 example structure schematic diagram in parallel to Figure 13;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 12 example structure schematic diagram in parallel to Figure 14;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 13 example structure schematic diagram in parallel to Figure 15;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 14 example structure schematic diagram in parallel to Figure 16.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
In all embodiments, described R imean a revolute pair, P imean a moving sets, U imean a universal joint pair that contains two crossing pivot centers, C imean a cylindrical pair, Pa imean a parallel four-bar pair formed by four revolute pairs, S imean a ball pair, i is natural number.
The isometrical sphere of two degrees of freedom provided by the invention is pure rolls rotating mechanism in parallel, as shown in Figure 1, comprises motion platform 1, fixed pedestal 2, the first movement branched chain 3, the second movement branched chain 4, the 3rd movement branched chain 5; Motion platform 1 is connected with the two ends of the first movement branched chain 3, the second movement branched chain 4, the 3rd movement branched chain 5 respectively by kinematic pair with fixed pedestal 2.The first movement branched chain 3, the second movement branched chain 4, the 3rd movement branched chain 5(can also comprise the more movement branched chain such as the 4th movement branched chain 6) can be the movement branched chain that structure is identical, also only the componental movement branched structure is identical.Also different physical dimensions can be arranged between identical movement branched chain, as long as meet some requirements.Fixed pedestal 2 can be arranged on the motion end of the equipment such as lathe or in executing agency, 1 of motion platform is installed rotary cutter or sensor of interest, so, motion platform 1 can realize relatively and fixed pedestal 2 ± 60 °, maximum can reach ± working space of 90 °, can realize the application such as machining or target following and detection.
Described movement branched chain structure need to be satisfied condition be: have a plane of symmetry II in each movement branched chain, the kinematic pair in movement branched chain is all symmetrical up and down about this plane of symmetry II, as shown in Figure 2, revolute pair R 3with R 2the intersection point D of axis extended line, revolute pair R 1with R 2the intersection point E of axis extended line, revolute pair R 3with R 1the intersection point F of extended line of axis, three intersection points form a plane isosceles triangle DEF, wherein: the D point is summit, the long DE of waist equals the long DF of waist; The vertical bisector plane that is normal through D point and C point and the base EF of take is called plane of symmetry II.Between motion platform 1 and fixed pedestal 2, the plane of symmetry II of all movement branched chain overlaps, and forms a public plane of symmetry.
Annexation between described movement branched chain and motion platform 1 or fixed pedestal 2 can be revolute pair, moving sets, universal joint pair or cylindrical pair; Also can adopt identical kinematic pair to be connected, with simplified structure, save manufacturing cost.
Described movement branched chain and motion platform 1 can be realized rolling motion around the isometrical sphere of the two degrees of freedom of fixed pedestal 2 is pure, as shown in Figure 1, and the centre of sphere that A point and B point are two hemisphere, the contact point that the C point is two hemisphere; The centre of sphere of the hemisphere at motion platform 1 place is the A point, and radius is the distance L that A point and C are ordered aC; The centre of sphere of the hemisphere at fixed pedestal 2 places is the B point, and radius is the distance L that B point and C are ordered bC; And L aC=L bC; The C that crosses that planar I I is two contact hemisphere selects public tangent plane, is called plane of symmetry II.The isometrical sphere of two degrees of freedom provided by the invention is pure rolls rotating mechanism in parallel when motion, motion platform 1 is just as being fixed on hemisphere A, fixed pedestal 2 is just as being fixed on hemisphere B, two hemisphere spheres are done without slippage pure and are rolled motion, therefore two hemisphere contact points are the C point, have formed motion platform 1 and have rolled in parallel the rotation with respect to the isometrical sphere of fixed pedestal 2 is pure.
Described centre of sphere A point is determined by following relation: when the kinematic pair axis be connected with motion platform 1 when each movement branched chain or center are coplanar, the A point is positioned at kinematic pair axis or the center, formed of center that each movement branched chain is connected with motion platform 1; When the kinematic pair axis be connected with motion platform 1 when each movement branched chain meets at a common point, the A point is positioned at this common point place.
Described centre of sphere B point is determined by following relation: when the kinematic pair axis be connected with fixed pedestal 2 when each movement branched chain or center are coplanar, the B point is positioned at kinematic pair axis or the center, formed of center that each movement branched chain is connected with fixed pedestal 2; When the kinematic pair axis be connected with fixed pedestal 2 when each movement branched chain meets at a common point, the B point is positioned at this common point place.
The pure embodiment that rolls rotating mechanism in parallel of the isometrical sphere of two degrees of freedom of the present invention, just like shown in Fig. 3, comprises motion platform 101, fixed pedestal 102, the first movement branched chain 103, the second movement branched chain 104 and the 3rd movement branched chain 105; Motion platform 101 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 4, R 6and R 8, three revolute pair axis meet at a common point; Fixed pedestal 102 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 1, R 5and R 7, three revolute pair axis meet at a common point; The first movement branched chain 103 is comprised of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, revolute pair R 2and R 3connecting rod in formation, R 3and R 4connecting rod on formation; R 1with fixed pedestal 102, be connected, R 4with motion platform 101, be connected, revolute pair R 1with revolute pair R 2be arranged in the both sides of connecting rod; The second movement branched chain 104 is comprised of two connecting rods, comprises three kinematic pairs, is followed successively by R 5, S 1and R 6, revolute pair R 5with secondary S of ball 1form lower link, revolute pair R 6with secondary S of ball 1connecting rod on formation, revolute pair R 5with fixed pedestal 102, be connected, revolute pair R 6with motion platform 101, be connected, revolute pair R 5with revolute pair R 6be positioned at secondary S of ball 1two ends; The 3rd movement branched chain 105 is comprised of two connecting rods, comprises three kinematic pairs, is followed successively by R 7, S 2and R 8, revolute pair R 7with secondary S of ball 2form lower link, revolute pair R 8with secondary S of ball 2connecting rod on formation, revolute pair R 7with fixed pedestal 102, be connected, revolute pair R 8with motion platform 101, be connected, revolute pair R 7with revolute pair R 8be positioned at secondary S of ball 2two ends; Wherein, revolute pair R in the first movement branched chain 103 2with revolute pair R 3crossing point of axes, secondary S of ball in the second movement branched chain 104 1central point and the 3rd movement branched chain 105 in secondary S of ball 2central point form plane of symmetry II;
The embodiment bis-that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 4, comprises motion platform 201, fixed pedestal 202, the first movement branched chain 203, the second movement branched chain 204 and the 3rd movement branched chain 205; Motion platform 201 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 4, R 6and R 8, three revolute pair axis are coplanar and crossing in twos; Fixed pedestal 202 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 1, R 5and R 7, three revolute pair axis are coplanar and crossing in twos; The first movement branched chain 203 is comprised of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, R 2and R 3connecting rod in formation, R 3and R 4connecting rod on formation; R 1with fixed pedestal 202, be connected, R 4with motion platform 201, be connected; The second movement branched chain 204 is comprised of two connecting rods, comprises three kinematic pairs, is followed successively by R 5, S 1and R 6, revolute pair R 5with secondary S of ball 1form lower link, revolute pair R 6with secondary S of ball 1connecting rod on formation, revolute pair R 5with fixed pedestal 202, be connected, revolute pair R 6with motion platform 201, be connected; The 3rd movement branched chain 205 is comprised of two connecting rods, comprises three kinematic pairs, is followed successively by R 7, S 2and R 8, revolute pair R 7with secondary S of ball 2form lower link, revolute pair R 8with secondary S of ball 2connecting rod on formation, revolute pair R 7with fixed pedestal 202, be connected, revolute pair R 8with motion platform 201, be connected; Wherein, revolute pair R in the first movement branched chain 203 2with revolute pair R 3crossing point of axes, secondary S of ball in the second movement branched chain 204 1central point and the 3rd movement branched chain 205 in secondary S of ball 2central point form plane of symmetry II;
The embodiment tri-that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 5, comprises motion platform 301, fixed pedestal 302, the first movement branched chain 303, the second movement branched chain 304, the 3rd movement branched chain 305 and the 4th movement branched chain 306; Motion platform 301 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 303, the second movement branched chain 304, the 3rd movement branched chain 305) form three revolute pair R 2, R 4and R 6, three revolute pair axis are coplanar and crossing in twos; Fixed pedestal 302 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 303, the second movement branched chain 304, the 3rd movement branched chain 305) form three revolute pair R 1, R 3and R 5, three revolute pair axis are coplanar and crossing in twos; The first movement branched chain 303, the second movement branched chain 304 and the 3rd movement branched chain 305 structural similarities, form by two connecting rods, but in movement branched chain, the length of connecting rod can be selected different size according to concrete application background; First movement branched chain 303 of take is example, includes three kinematic pairs, is followed successively by R 1, S 2and R 2, revolute pair R 1with secondary S of ball 2form lower link, revolute pair R 2with secondary S of ball 2connecting rod on formation, revolute pair R 1with fixed pedestal 302, be connected, revolute pair R 2with motion platform 301, be connected; Side chain centered by the 4th movement branched chain 306, only be comprised of a connecting rod, comprises two kinematic pairs, is followed successively by U 1and S 1; Secondary U of universal joint 1with fixed pedestal 302, be connected, and secondary U of universal joint 1be centered close to R 1, R 3and R 5on the plane that axis forms, secondary S of ball 1with motion platform 301, be connected, and secondary S of ball 1be centered close to R 2, R 4and R 6on the plane that axis forms; Wherein, secondary S of ball in the first movement branched chain 303 2central point, secondary S of ball in the second movement branched chain 304 3central point and the 3rd movement branched chain 305 in secondary S of ball 4central point form plane of symmetry II;
The embodiment tetra-that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 6, comprises motion platform 401, fixed pedestal 402, the first movement branched chain 403, the second movement branched chain 404, the 3rd movement branched chain 405 and the 4th movement branched chain 406; Motion platform 401 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 403, the second movement branched chain 404, the 3rd movement branched chain 405) form three revolute pair R 2, R 4and R 6, three revolute pair axis meet at a common point; Fixed pedestal 402 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 403, the second movement branched chain 404, the 3rd movement branched chain 405) form three revolute pair R 1, R 3and R 5, three revolute pair axis meet at a common point; The first movement branched chain 403, the second movement branched chain 404 and the 3rd movement branched chain 405 structural similarities, form by two connecting rods; First movement branched chain 403 of take is example, includes three kinematic pairs, is followed successively by R 1, S 2and R 2, revolute pair R 1with secondary S of ball 2form lower link, revolute pair R 2with secondary S of ball 2connecting rod on formation, revolute pair R 1with fixed pedestal 402, be connected, revolute pair R 2with motion platform 401, be connected, revolute pair R 1with revolute pair R 2be positioned at secondary S of ball 2two ends; Side chain centered by the 4th movement branched chain 406, only be comprised of a connecting rod, comprises two kinematic pairs, is followed successively by U 1and S 1; Secondary U of universal joint 1be connected with fixed pedestal 402, and be centered close to R 1, R 3and R 5on the common intersection of axis, secondary S of ball 1be connected with motion platform 401, and be centered close to R 2, R 4and R 6on the common intersection of axis; Wherein, secondary S of ball in the first movement branched chain 403 2central point, secondary S of ball in the second movement branched chain 404 3central point and the 3rd movement branched chain 405 in secondary S of ball 4central point form plane of symmetry II;
The embodiment five that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 7, comprises motion platform 501, fixed pedestal 502, the first movement branched chain 503, the second movement branched chain 504, the 3rd movement branched chain 505 and the 4th movement branched chain 506; Motion platform 501 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 503, the second movement branched chain 504, the 3rd movement branched chain 505) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 502 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 503, the second movement branched chain 504, the 3rd movement branched chain 505) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; The first movement branched chain 503, the second movement branched chain 504 and the 3rd movement branched chain 505 structural similarities, form by two connecting rods; First movement branched chain 503 of take is example, includes three kinematic pairs, is followed successively by C 1, R 1and C 2, revolute pair R 1with cylindrical pair C 1form lower link, revolute pair R 1with cylindrical pair C 2connecting rod on formation, cylindrical pair C 1with fixed pedestal 502, be connected, cylindrical pair C 2with motion platform 501, be connected, cylindrical pair C 1with cylindrical pair C 2axis coplanar and with revolute pair R 1meet at a common point; Side chain centered by the 4th movement branched chain 506, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 502, be connected, secondary S of ball 2with motion platform 501, be connected; Wherein, revolute pair R in the first movement branched chain 503 1axis, revolute pair R in the second movement branched chain 504 2axis and the 3rd movement branched chain 505 in revolute pair R 3axis coplanar and form plane of symmetry II.
The embodiment six that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 8, comprises motion platform 601, fixed pedestal 602, the first movement branched chain 603, the second movement branched chain 604, the 3rd movement branched chain 605 and the 4th movement branched chain 606; Motion platform 601 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 603, the second movement branched chain 604, the 3rd movement branched chain 605) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 602 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 603, the second movement branched chain 604, the 3rd movement branched chain 605) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; The first movement branched chain 603, the second movement branched chain 604 and the 3rd movement branched chain 605 structural similarities, form by two connecting rods; First movement branched chain 603 of take is example, includes three kinematic pairs, is followed successively by C 1, S 3and C 2, secondary S of ball 3with cylindrical pair C 1form lower link, secondary S of ball 3with cylindrical pair C 2connecting rod on formation, cylindrical pair C 1with fixed pedestal 602, be connected, cylindrical pair C 2with motion platform 601, be connected, cylindrical pair C 1with cylindrical pair C 2axis is coplanar and meet at secondary S of ball 3central point; Side chain centered by the 4th movement branched chain 606, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 602, be connected, secondary S of ball 2with motion platform 601, be connected; Wherein, secondary S of ball in the first movement branched chain 603 3central point, secondary S of ball in the second movement branched chain 604 5central point and the 3rd movement branched chain 605 in secondary S of ball 4central point form plane of symmetry II.
The embodiment seven that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in Figure 9, comprises motion platform 701, fixed pedestal 702, the first movement branched chain 703, the second movement branched chain 704, the 3rd movement branched chain 705 and the 4th movement branched chain 706; Motion platform 701 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 703, the second movement branched chain 704, the 3rd movement branched chain 705) form three moving sets P 2, P 6and P 4, three moving sets axis meet at a common point; Fixed pedestal 702 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 703, the second movement branched chain 704, the 3rd movement branched chain 705) form three moving sets P 1, P 5and P 3, three moving sets axis meet at a common point; The first movement branched chain 703, the second movement branched chain 704 and the 3rd movement branched chain 705 structural similarities, form by two connecting rods; First movement branched chain 703 of take is example, includes three kinematic pairs, is followed successively by P 1, S 3and P 2, secondary S of ball 3with moving sets P 1form lower link, secondary S of ball 3with moving sets P 2connecting rod on formation, moving sets P 1with fixed pedestal 702, be connected, moving sets P 2with motion platform 701, be connected, moving sets P 1with moving sets P 2axis is coplanar and meet at secondary S of ball 3central point; Side chain centered by the 4th movement branched chain 706, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 702, be connected, secondary S of ball 2with motion platform 701, be connected; Wherein, secondary S of ball in the first movement branched chain 703 3central point, secondary S of ball in the second movement branched chain 704 5central point and the 3rd movement branched chain 705 in secondary S of ball 4central point form plane of symmetry II.
The embodiment eight that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 10, comprises motion platform 801, fixed pedestal 802, the first movement branched chain 803, the second movement branched chain 804, the 3rd movement branched chain 805 and the 4th movement branched chain 806; Motion platform 801 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 803, the second movement branched chain 804, the 3rd movement branched chain 805) form three revolute pair R 3, R 9and R 6, three revolute pair axis meet at a common point; Fixed pedestal 802 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 803, the second movement branched chain 804, the 3rd movement branched chain 805) form three revolute pair R 1, R 7and R 4, three revolute pair axis meet at a common point; The first movement branched chain 803, the second movement branched chain 804 and the 3rd movement branched chain 805 structural similarities, form by four connecting rods; First movement branched chain 803 of take is example, includes five kinematic pairs, is followed successively by R 1, P 1, R 2, P 2and R 3, revolute pair R 1with moving sets P 1form lower link, revolute pair R 2with moving sets P 1in formation, connecting rod one, revolute pair R 2with moving sets P 2in formation, connecting rod two, revolute pair R 3with moving sets P 2connecting rod on formation, revolute pair R 1with fixed pedestal 802, be connected, revolute pair R 3with motion platform 801, be connected, moving sets P 1with moving sets P 2axis coplanar and with revolute pair R 2meet at a common point; Side chain centered by the 4th movement branched chain 806, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 802, be connected, secondary S of ball 2with motion platform 801, be connected; Wherein, revolute pair R in the first movement branched chain 803 2axis, revolute pair R in the second movement branched chain 804 8axis and the 3rd movement branched chain 805 in revolute pair R 5axis coplanar and form plane of symmetry II.
The embodiment nine that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 11, comprises motion platform 901, fixed pedestal 902, the first movement branched chain 903, the second movement branched chain 904, the 3rd movement branched chain 905 and the 4th movement branched chain 906; Motion platform 901 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 903, the second movement branched chain 904, the 3rd movement branched chain 905) form three cylindrical pair C 1, C 3and C 2, three cylindrical pair axis meet at a common point; Fixed pedestal 902 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 903, the second movement branched chain 904, the 3rd movement branched chain 905) form three moving sets P 1, P 3and P 2, three moving sets axis meet at a common point; The first movement branched chain 903, the second movement branched chain 904 and the 3rd movement branched chain 905 structural similarities, form by two connecting rods; First movement branched chain 903 of take is example, includes three kinematic pairs, is followed successively by P 1, S 3and C 1, secondary S of ball 3with moving sets P 1form lower link, secondary S of ball 3with cylindrical pair C 1connecting rod on formation, moving sets P 1with fixed pedestal 902, be connected, cylindrical pair C 1with motion platform 901, be connected, moving sets P 1with cylindrical pair C 1axis is coplanar and meet at secondary S of ball 3central point; Side chain centered by the 4th movement branched chain 906, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 902, be connected, secondary S of ball 2with motion platform 901, be connected; Wherein, secondary S of ball in the first movement branched chain 903 3central point, secondary S of ball in the second movement branched chain 904 5central point and the 3rd movement branched chain 905 in secondary S of ball 4central point form plane of symmetry II.
The embodiment ten that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 12, comprises motion platform 1001, fixed pedestal 1002, the first movement branched chain 1003, the second movement branched chain 1004, the 3rd movement branched chain 1005 and the 4th movement branched chain 1006; Motion platform 1001 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1003, the second movement branched chain 1004, the 3rd movement branched chain 1005) form three cylindrical pair C 1, C 3and C 2, three cylindrical pair axis meet at a common point; Fixed pedestal 1002 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1003, the second movement branched chain 1004, the 3rd movement branched chain 1005) form three moving sets P 1, P 3and P 2, three moving sets axis meet at a common point; The first movement branched chain 1003, the second movement branched chain 1004 and the 3rd movement branched chain 1005 structural similarities, form by two connecting rods; First movement branched chain 1003 of take is example, includes three kinematic pairs, is followed successively by P 1, U 1and C 1, secondary U of universal joint 1with moving sets P 1form lower link, secondary U of universal joint 1with cylindrical pair C 1connecting rod on formation, moving sets P 1with fixed pedestal 1002, be connected, cylindrical pair C 1with motion platform 1001, be connected, moving sets P 1with cylindrical pair C 1axis is coplanar and meet at secondary U of universal joint 1central point; Side chain centered by the 4th movement branched chain 1006, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 1002, be connected, secondary S of ball 2with motion platform 1001, be connected; Wherein, secondary U of universal joint in the first movement branched chain 1003 1central point, secondary U of universal joint in the second movement branched chain 1004 3central point and the 3rd movement branched chain 1005 in secondary U of universal joint 2central point form plane of symmetry II.
The pure embodiment ten that rolls rotating mechanism in parallel of the isometrical sphere of two degrees of freedom of the present invention, just like shown in Figure 13, comprises motion platform 1101, fixed pedestal 1102, the first movement branched chain 1103, the second movement branched chain 1104, the 3rd movement branched chain 1105 and the 4th movement branched chain 1106; Motion platform 1101 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1103, the second movement branched chain 1104, the 3rd movement branched chain 1105) form three moving sets P 2, P 6and P 4, three moving sets axis meet at a common point; Fixed pedestal 1102 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1103, the second movement branched chain 1104, the 3rd movement branched chain 1105) form three moving sets P 1, P 5and P 3, three moving sets axis meet at a common point; The first movement branched chain 1103, the second movement branched chain 1104 and the 3rd movement branched chain 1105 structural similarities, form by four connecting rods; First movement branched chain 1103 of take is example, includes five kinematic pairs, is followed successively by P 1, R 1, R 2, R 3and P 2, revolute pair R 1with moving sets P 1form lower link, secondary R of roating sphere 2with revolute pair R 1in formation, connecting rod one, revolute pair R 2with revolute pair R 3in formation, connecting rod two, revolute pair R 3with moving sets P 2connecting rod on formation, revolute pair R 1, R 2and R 3axis meet at R 2a common point on axis, moving sets P 1with fixed pedestal 1102, be connected, moving sets P 2with motion platform 1101, be connected, moving sets P 1with moving sets P 2axis is coplanar and meet at revolute pair R 1, R 2and R 3the common point of axis; Side chain centered by the 4th movement branched chain 1106, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 1102, be connected, secondary S of ball 2with motion platform 1101, be connected; Wherein, revolute pair R in the first movement branched chain 1103 2axis, revolute pair R in the second movement branched chain 1104 8axis and the 3rd movement branched chain 1105 in revolute pair R 5axis form plane of symmetry II.
The embodiment 12 that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 14, comprises motion platform 1201, fixed pedestal 1202, the first movement branched chain 1203, the second movement branched chain 1204, the 3rd movement branched chain 1205 and the 4th movement branched chain 1206; Motion platform 1201 is provided with the secondary link of three universal joints, and respectively with three movement branched chain (the first movement branched chain 1203, the second movement branched chain 1204, the 3rd movement branched chain 1205) form three secondary U of universal joint 2, U 6and U 4; Fixed pedestal 1202 is provided with the secondary link of three universal joints, and respectively with three movement branched chain (the first movement branched chain 1203, the second movement branched chain 1204, the 3rd movement branched chain 1205) form three secondary U of universal joint 1, U 5and U 3; The first movement branched chain 1203, the second movement branched chain 1204 and the 3rd movement branched chain 1205 structural similarities, form by two connecting rods; First movement branched chain 1203 of take is example, includes three kinematic pairs, is followed successively by U 1, R 1and U 2, revolute pair R 1with secondary U of universal joint 1form lower link, revolute pair R 1with secondary U of universal joint 2connecting rod on formation, secondary U of universal joint 1with fixed pedestal 1202, be connected, secondary U of universal joint 2with motion platform 1201, be connected; Side chain centered by the 4th movement branched chain 1206, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 1202, be connected, secondary S of ball 2with motion platform 1201, be connected; Wherein, revolute pair R in the first movement branched chain 1203 1axis, revolute pair R in the second movement branched chain 1204 3axis and the 3rd movement branched chain 1205 in revolute pair R 2axis form plane of symmetry II.
The embodiment 13 that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 15, comprises motion platform 1301, fixed pedestal 1302, the first movement branched chain 1303, the second movement branched chain 1304, the 3rd movement branched chain 1305 and the 4th movement branched chain 1306; Motion platform 1301 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1303, the second movement branched chain 1304, the 3rd movement branched chain 1305) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 1302 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1303, the second movement branched chain 1304, the 3rd movement branched chain 1305) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; The first movement branched chain 1303, the second movement branched chain 1304 and the 3rd movement branched chain 1305 structural similarities, form by two connecting rods; First movement branched chain 1303 of take is example, includes three kinematic pairs, is followed successively by C 1, U 1and C 2, secondary U of universal joint 1with cylindrical pair C 1form lower link, secondary U of universal joint 1with cylindrical pair C 2connecting rod on formation, cylindrical pair C 1with fixed pedestal 1302, be connected, cylindrical pair C 2with motion platform 1301, be connected, cylindrical pair C 1with cylindrical pair C 2axis is coplanar and meet at secondary U of universal joint 1central point; Side chain centered by the 4th movement branched chain 1306, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 1302, be connected, secondary S of ball 2with motion platform 1301, be connected; Wherein, secondary U of universal joint in the first movement branched chain 1303 1central point, secondary U of universal joint in the second movement branched chain 1304 3central point and the 3rd movement branched chain 1305 in secondary U of universal joint 2central point form plane of symmetry II.
The embodiment 14 that the isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel as shown in figure 16, comprises motion platform 1401, fixed pedestal 1402, the first movement branched chain 1403, the second movement branched chain 1404, the 3rd movement branched chain 1405 and the 4th movement branched chain 1406; Motion platform 1401 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 1403, the second movement branched chain 1404, the 3rd movement branched chain 1405) form three revolute pair R 3, R 9and R 6, three revolute pair axis meet at a common point; Fixed pedestal 1402 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 1403, the second movement branched chain 1404, the 3rd movement branched chain 1405) form three revolute pair R 1, R 7and R 4, three revolute pair axis meet at a common point; The first movement branched chain 1403, the second movement branched chain 1404 and the 3rd movement branched chain 1405 structural similarities, form by four connecting rods; First movement branched chain 1403 of take is example, includes five kinematic pairs, is followed successively by R 1, Pa 1, R 2, Pa 2and R 3, revolute pair R 1with secondary Pa of parallel four-bar 1form lower link, revolute pair R 2with secondary Pa of parallel four-bar 1in formation, connecting rod one, revolute pair R 2with secondary Pa of parallel four-bar 2in formation, connecting rod two, revolute pair R 3with secondary Pa of parallel four-bar 2connecting rod on formation, revolute pair R 1with fixed pedestal 1402, be connected, revolute pair R 3with motion platform 1401, be connected, secondary Pa of parallel four-bar 1with secondary Pa of parallel four-bar 2axis coplanar and with revolute pair R 2meet at a common point; Side chain centered by the 4th movement branched chain 1406, only be comprised of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Secondary S of ball 1with fixed pedestal 1402, be connected, secondary S of ball 2with motion platform 1401, be connected; Wherein, revolute pair R in the first movement branched chain 1403 2axis, revolute pair R in the second movement branched chain 1404 8axis and the 3rd movement branched chain 1405 in revolute pair R 5axis form plane of symmetry II.
The 4th movement branched chain of above-described embodiment three and embodiment tetra-also can adopt two ends to be the central motion side chain of secondary S of ball;
It is secondary S of ball that the 4th movement branched chain of above-described embodiment five, embodiment six, embodiment seven, embodiment eight, embodiment nine, embodiment ten, embodiment 11, embodiment 12, embodiment 13 and embodiment 14 also can adopt an end, the central motion side chain that the other end is secondary U of universal joint;
In above-described embodiment six, embodiment nine and embodiment 13, movement branched chain contains redundant degree of freedom, is conducive to installation and the assembling of parallel institution;
In above-described embodiment, similar movement branched chain can have not identical connecting rod size, as long as meet in same movement branched chain the connecting rod size about plane of symmetry symmetric condition;
In above-described embodiment, each movement branched chain all contains a plane of symmetry, and each movement branched chain plane of symmetry in each embodiment overlaps.

Claims (7)

1. the isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel, it is characterized in that: described mechanism consists of motion platform, fixed pedestal and movement branched chain, be connected three above movement branched chain by kinematic pair between described motion platform and fixed pedestal, described each movement branched chain is about plane of symmetry II symmetry, realizes that motion platform does around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel the rotation; Described isometrical sphere refers to: the mid point of supposing the line that A point and B are ordered is the C point, and take respectively A point and B point is the centre of sphere, and AC or BC are that radius is made ball, and the public tangent plane of two balls is plane of symmetry II;
Described A point is determined by following relation: when the kinematic pair axis be connected with motion platform when each movement branched chain is coplanar, the A point is positioned at formed center of kinematic pair axis that each movement branched chain is connected with motion platform; When the kinematic pair axis be connected with motion platform when each movement branched chain meets at a common point, the A point is positioned at this common point place;
Described B point is determined by following relation: when the kinematic pair axis be connected with fixed pedestal when each movement branched chain is coplanar, the B point is positioned at formed center of kinematic pair axis that each movement branched chain is connected with fixed pedestal; When the kinematic pair axis be connected with fixed pedestal when each movement branched chain meets at a common point, the B point is positioned at this common point place.
2. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, and it is characterized in that: described each movement branched chain comprises two above connecting rods, comprises three above kinematic pairs, forms 4 above frees degree.
3. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, it is characterized in that: described mechanism also comprises Yi Ge center side chain, described center side chain is for to be connected to the connecting rod between A point and B point by kinematic pair, and described kinematic pair is ball pair or universal joint pair.
4. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, it is characterized in that: in each movement branched chain and being connected on kinematic pair of fixed pedestal, drive motors is installed.
5. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, and it is characterized in that: the kinematic pair between described movement branched chain and motion platform or fixed pedestal is one or more in revolute pair, moving sets, universal joint pair or cylindrical pair.
6. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, it is characterized in that: symmetrical structure centered by between described three above movement branched chain.
7. the isometrical sphere of two degrees of freedom according to claim 1 is pure rolls rotating mechanism in parallel, and it is characterized in that: described movement branched chain is combined by following one or more:
The first, movement branched chain is comprised of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, revolute pair R 2and R 3connecting rod in formation, R 3and R 4connecting rod on formation;
The second, movement branched chain is comprised of two connecting rods, comprises three kinematic pairs, is followed successively by R 1, S 1and R 2, revolute pair R 1with secondary S of ball 1form lower link, revolute pair R 2with secondary S of ball 1connecting rod on formation;
The third, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by C 1, R 1and C 2, revolute pair R 1with cylindrical pair C 1form lower link, revolute pair R 1with cylindrical pair C 2connecting rod on formation;
The 4th kind, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by C 1, S 1and C 2, secondary S of ball 1with cylindrical pair C 1form lower link, secondary S of ball 1with cylindrical pair C 2connecting rod on formation;
The 5th kind, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by P 1, S 1and P 2, secondary S of ball 1with moving sets P 1form lower link, secondary S of ball 1with moving sets P 2connecting rod on formation;
The 6th kind, movement branched chain is comprised of four connecting rods, includes five kinematic pairs, is followed successively by R 1, P 1, R 2, P 2and R 3, revolute pair R 1with moving sets P 1form lower link, revolute pair R 2with moving sets P 1in formation, connecting rod one, revolute pair R 2with moving sets P 2in formation, connecting rod two, revolute pair R 3with moving sets P 2connecting rod on formation;
The 7th kind, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by P 1, S 1and C 1, secondary S of ball 1with moving sets P 1form lower link, secondary S of ball 1with cylindrical pair C 1connecting rod on formation;
The 8th kind, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by P 1, U 1and C 1, secondary U of universal joint 1with moving sets P 1form lower link, secondary U of universal joint 1with cylindrical pair C 1connecting rod on formation;
The 9th kind, movement branched chain is comprised of five connecting rods, includes five kinematic pairs, is followed successively by P 1, R 1, R 2, R 3and P 2, revolute pair R 1with moving sets P 1form lower link, secondary R of roating sphere 2with revolute pair R 1in formation, connecting rod one, revolute pair R 2with revolute pair R 3in formation, connecting rod two, revolute pair R 3with moving sets P 2connecting rod on formation;
The tenth kind, the movement branched chain that forms mechanism can be comprised of two connecting rods, includes three kinematic pairs, is followed successively by U 1, R 1and U 2, revolute pair R 1with secondary U of universal joint 1form lower link, revolute pair R 1with secondary U of universal joint 2connecting rod on formation;
The 11 kind, movement branched chain is comprised of two connecting rods, includes three kinematic pairs, is followed successively by C 1, U 1and C 2, secondary U of universal joint 1with cylindrical pair C 1form lower link, secondary U of universal joint 1with cylindrical pair C 2connecting rod on formation;
The 12 kind, movement branched chain is comprised of five connecting rods, includes five kinematic pairs, is followed successively by R 1, Pa 1, R 2, Pa 2and R 3, revolute pair R 1with secondary Pa of parallel four-bar 1form lower link, revolute pair R 2with secondary Pa of parallel four-bar 1in formation, connecting rod one, revolute pair R 2with secondary Pa of parallel four-bar 2in formation, connecting rod two, revolute pair R 3with secondary Pa of parallel four-bar 2connecting rod on formation;
Described R imean a revolute pair, P imean a moving sets, U imean a universal joint pair that contains two crossing pivot centers, C imean a cylindrical pair, Pa imean a parallel four-bar pair formed by four revolute pairs, S imean a ball pair, i is natural number.
CN201310337873.7A 2013-08-06 2013-08-06 The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel Expired - Fee Related CN103433916B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310337873.7A CN103433916B (en) 2013-08-06 2013-08-06 The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310337873.7A CN103433916B (en) 2013-08-06 2013-08-06 The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel

Publications (2)

Publication Number Publication Date
CN103433916A true CN103433916A (en) 2013-12-11
CN103433916B CN103433916B (en) 2016-01-20

Family

ID=49687678

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310337873.7A Expired - Fee Related CN103433916B (en) 2013-08-06 2013-08-06 The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel

Country Status (1)

Country Link
CN (1) CN103433916B (en)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103909526A (en) * 2014-04-11 2014-07-09 北京航空航天大学 Motion-pattern variable two-degree-of-freedom parallel mechanical wrist
CN104626099A (en) * 2014-12-08 2015-05-20 燕山大学 Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism
CN104626201A (en) * 2014-12-24 2015-05-20 北京航天测控技术有限公司 Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism
CN105149672A (en) * 2015-10-27 2015-12-16 北华航天工业学院 Novel main movement mechanism of mechanical shaper
CN105598997A (en) * 2016-03-24 2016-05-25 褚宏鹏 Spherical two-degree-of-freedom parallel robot joint
CN105599002A (en) * 2016-03-24 2016-05-25 褚宏鹏 Four-branch-chain two-rotation parallel robot joint
CN105619391A (en) * 2016-03-24 2016-06-01 褚宏鹏 Two-degree-of-freedom in-parallel mechanism
CN105690420A (en) * 2016-03-24 2016-06-22 褚宏鹏 Joint of parallel spray painting robot
CN105752288A (en) * 2016-03-24 2016-07-13 褚宏鹏 Novel two-freedom-degree parallel ship-borne radar antenna stabilizing platform
CN105773579A (en) * 2016-03-24 2016-07-20 褚宏鹏 Multi-branch chain coupled spherical two-rotating parallel mechanism
CN105789892A (en) * 2016-03-24 2016-07-20 褚宏鹏 Novel parallel antenna attitude adjusting mechanism
CN106112332A (en) * 2016-07-20 2016-11-16 张学衡 A kind of vehicle bodywork soldering welding robot
CN107127737A (en) * 2017-05-05 2017-09-05 燕山大学 A kind of few joint double rotation freedom degrees parallel institution
CN108608418A (en) * 2018-06-08 2018-10-02 燕山大学 A kind of spheric motion parallel institution
CN110682323A (en) * 2019-09-03 2020-01-14 上海工程技术大学 Mechanical arm joint with controllable rigidity
CN111150492A (en) * 2020-01-17 2020-05-15 长沙理工大学 Single-degree-of-freedom remote motion center mechanism
CN112192551A (en) * 2020-10-30 2021-01-08 燕山大学 Two-degree-of-freedom spherical motion parallel mechanism
CN113119126A (en) * 2021-04-19 2021-07-16 广东工业大学 Kinematics calibration method and system based on sensitivity iteration step length planning
CN113543942A (en) * 2019-03-06 2021-10-22 拉瓦尔大学 Parallel mechanism with kinematic redundant drive

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US5893296A (en) * 1997-03-13 1999-04-13 Ross-Hime Designs, Incorporated Multiple rotatable links robotic manipulator
WO1999021070A1 (en) * 1997-10-16 1999-04-29 Ross-Hime Designs, Inc. Robotic manipulator
US7472622B2 (en) * 2003-11-18 2009-01-06 Ntn Corporation Linkage system
US7478576B2 (en) * 2005-03-22 2009-01-20 Ross-Hime Designs, Inc. Robotic manipulator
CN202428439U (en) * 2012-01-13 2012-09-12 河南科技大学 Three-freedom-degree movable parallel robot mechanism
CN103042522A (en) * 2012-12-26 2013-04-17 燕山大学 3-5R (revolute) and SS (sphere-sphere) two-degree-of-freedom parallel mechanism with function of posture adjustment and positioning
CN103217986A (en) * 2013-03-13 2013-07-24 北京航空航天大学 Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4651589A (en) * 1983-03-08 1987-03-24 Societe Bauduin Becart S.A. Polyarticulated retractile mechanism
US5893296A (en) * 1997-03-13 1999-04-13 Ross-Hime Designs, Incorporated Multiple rotatable links robotic manipulator
WO1999021070A1 (en) * 1997-10-16 1999-04-29 Ross-Hime Designs, Inc. Robotic manipulator
US7472622B2 (en) * 2003-11-18 2009-01-06 Ntn Corporation Linkage system
US7478576B2 (en) * 2005-03-22 2009-01-20 Ross-Hime Designs, Inc. Robotic manipulator
CN202428439U (en) * 2012-01-13 2012-09-12 河南科技大学 Three-freedom-degree movable parallel robot mechanism
CN103042522A (en) * 2012-12-26 2013-04-17 燕山大学 3-5R (revolute) and SS (sphere-sphere) two-degree-of-freedom parallel mechanism with function of posture adjustment and positioning
CN103217986A (en) * 2013-03-13 2013-07-24 北京航空航天大学 Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103909526A (en) * 2014-04-11 2014-07-09 北京航空航天大学 Motion-pattern variable two-degree-of-freedom parallel mechanical wrist
CN104626099A (en) * 2014-12-08 2015-05-20 燕山大学 Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism
CN104626099B (en) * 2014-12-08 2016-05-18 燕山大学 Six degree of freedom hybrid mechanism is moved in three full decoupled rotations three
CN104626201A (en) * 2014-12-24 2015-05-20 北京航天测控技术有限公司 Structure-state-variable mechanism and spinor adjacent matrix method for characteristic analysis of structure-state-variable mechanism
CN104626201B (en) * 2014-12-24 2016-02-17 北京航天测控技术有限公司 The spinor adjacency Matrix Method of structure state changeable mechanism and specificity analysis thereof
CN105149672A (en) * 2015-10-27 2015-12-16 北华航天工业学院 Novel main movement mechanism of mechanical shaper
CN105789892A (en) * 2016-03-24 2016-07-20 褚宏鹏 Novel parallel antenna attitude adjusting mechanism
CN105599002A (en) * 2016-03-24 2016-05-25 褚宏鹏 Four-branch-chain two-rotation parallel robot joint
CN105619391A (en) * 2016-03-24 2016-06-01 褚宏鹏 Two-degree-of-freedom in-parallel mechanism
CN105690420A (en) * 2016-03-24 2016-06-22 褚宏鹏 Joint of parallel spray painting robot
CN105752288A (en) * 2016-03-24 2016-07-13 褚宏鹏 Novel two-freedom-degree parallel ship-borne radar antenna stabilizing platform
CN105773579A (en) * 2016-03-24 2016-07-20 褚宏鹏 Multi-branch chain coupled spherical two-rotating parallel mechanism
CN105598997A (en) * 2016-03-24 2016-05-25 褚宏鹏 Spherical two-degree-of-freedom parallel robot joint
CN106112332B (en) * 2016-07-20 2018-04-06 重庆瑞特精密模具有限公司 A kind of vehicle bodywork soldering welding robot
CN106112332A (en) * 2016-07-20 2016-11-16 张学衡 A kind of vehicle bodywork soldering welding robot
CN107127737A (en) * 2017-05-05 2017-09-05 燕山大学 A kind of few joint double rotation freedom degrees parallel institution
CN108608418A (en) * 2018-06-08 2018-10-02 燕山大学 A kind of spheric motion parallel institution
CN113543942A (en) * 2019-03-06 2021-10-22 拉瓦尔大学 Parallel mechanism with kinematic redundant drive
CN113543942B (en) * 2019-03-06 2024-05-07 拉瓦尔大学 Parallel mechanism with kinematic redundant drive
CN110682323A (en) * 2019-09-03 2020-01-14 上海工程技术大学 Mechanical arm joint with controllable rigidity
CN110682323B (en) * 2019-09-03 2022-10-14 上海工程技术大学 Mechanical arm joint with controllable rigidity
CN111150492A (en) * 2020-01-17 2020-05-15 长沙理工大学 Single-degree-of-freedom remote motion center mechanism
CN112192551A (en) * 2020-10-30 2021-01-08 燕山大学 Two-degree-of-freedom spherical motion parallel mechanism
CN113119126A (en) * 2021-04-19 2021-07-16 广东工业大学 Kinematics calibration method and system based on sensitivity iteration step length planning

Also Published As

Publication number Publication date
CN103433916B (en) 2016-01-20

Similar Documents

Publication Publication Date Title
CN103433916B (en) The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel
CN103217986B (en) There is the pure two-degree-of-freedoparallel parallel rotating mechanism rolling character of sphere
CN102431028A (en) Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom
CN103448059B (en) Containing planar six-rod closed loop side chain 6DOF parallel institution
CN102380771B (en) High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism
CN102166751A (en) Branched chain-less and six-freedom degree parallel manipulator
WO2018195762A1 (en) Three-degrees-of-freedom parallel mechanism having an arc-shaped movement pair
CN101791804A (en) Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism
CN204450527U (en) A kind of sphere parallel mechanism with 2 rotational freedoms
CN202292114U (en) Three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts
CN100486782C (en) Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms
CN1986148B (en) Parallel triaxial head structure
CN103381601A (en) Six- free-degree 3-3 orthogonal type parallel robot
CN102626920B (en) Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains
CN102626919B (en) Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes
CN102366896B (en) Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts
CN100513062C (en) Parallel mechanism with four degrees of freedom
CN102501243A (en) Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom
CN109514596B (en) Double-cross hinge three-degree-of-freedom parallel joint mechanism
CN103042521A (en) 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN102431027B (en) Parallel robot mechanism with spatial three degrees of freedom
CN109571444B (en) Two-translation one-rotation partial decoupling parallel mechanism
CN101927796A (en) Single-power parallelogram two-foot moving mechanism
CN102166754B (en) Two-degree-of-freedom shoulder joint mechanism for robot
CN105598996A (en) Novel under-actuated robot wrist device based on nonholonomic constraint

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into 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: 20160120

Termination date: 20160806

CF01 Termination of patent right due to non-payment of annual fee