CN104308833A - Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation - Google Patents
Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation Download PDFInfo
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- CN104308833A CN104308833A CN201410577159.XA CN201410577159A CN104308833A CN 104308833 A CN104308833 A CN 104308833A CN 201410577159 A CN201410577159 A CN 201410577159A CN 104308833 A CN104308833 A CN 104308833A
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Abstract
The invention discloses a decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation. The parallel mechanism comprises a static platform, a movable platform, a first active branch chain and a second active branch chain. The static platform and the movable platform are connected by the first active branch chain and the second active branch chain. An annular guiderail is disposed on the movable platform. The first active branch chain comprises a first static platform rotation pair. The static platform is rotationally connected with one end of a first arc-shaped rod through the first static platform rotation pair. The other end of the first arc-shaped rod is rotationally connected with a slider through a first movable platform rotation pair. The slider is in slide fit with the annular guide rail on the movable platform. The second active branch chain comprises a second static platform rotation pair. The static platform is rotationally connected with one end of a second arc-shaped rod through a second static platform rotation pair. The other end of the second arc-shaped rod is rotationally connected with a fixed block through a second movable platform rotation pair. The fixed block is fixed on the movable platform. The parallel mechanism is free of rod interference and paranormal phenomena.
Description
Technical field
The present invention relates to a kind of space two one-rotation parallel mechanism, particularly relate to a kind of mobile decoupling, can realize 180 degree of decoupling type two one-rotation parallel mechanisms rotated without unusual two-freedom.
Background technology
Two one-rotation parallel mechanisms are with a wide range of applications at industrial circle, can be used for the location tracking device of inter-satellite link satellite, robot shoulder/wrist joint, Minimally Invasive Surgery mechanical hand etc.It is large that above-mentioned application all requires that two one-rotation parallel mechanisms have rotational angle, and motion flexibly, is easy to the advantages such as assembling.
At present, two one-rotation parallel mechanisms proposed are due to complex structure, and the reasons such as rod member interference cannot meet above-mentioned requirements.As, described in patent CN 102079090 A and CN 102294693 A, two rotating mechanisms are made up of many side chains, complex structure; Side chain comprises complicated hinge, the turning power of limiting mechanism and kinematic dexterity; Patent CN 102126212 A describes two rotating mechanisms of a type games decoupling zero, but the hook hinge contained by side chain inside limits the slewing area of mechanism.
In sum, the equal Shortcomings of existing two one-rotation parallel mechanism, cannot meet the requirement of above-mentioned application.
Summary of the invention
The object of the invention is to the shortcoming overcoming prior art, a kind of mobile decoupling is provided, decoupling type two one-rotation parallel mechanism that 180 degree of realized hemisphere rotated without unusual two-freedom rotate can be realized.
In order to achieve the above object, the technical solution used in the present invention is:
Decoupling type two one-rotation parallel mechanism realizing hemisphere and rotate of the present invention, it is made up of the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection and the second active branched chain;
Described moving platform is provided with ring-shaped guide rail;
Described first active branched chain comprises the first silent flatform revolute pair, described silent flatform is rotationally connected by one end of the first silent flatform revolute pair and the first bow, the other end of described first bow is rotationally connected by the first moving platform revolute pair and slide block, and the ring-shaped guide rail on described slide block and moving platform is slidably matched;
Described second active branched chain comprises the second silent flatform revolute pair, described silent flatform is rotationally connected by the second silent flatform revolute pair and second bow one end, the described second bow other end is rotationally connected by the second moving platform revolute pair and fixed block, and described fixed block is fixed on moving platform;
The pivot center of described first silent flatform revolute pair and the second silent flatform revolute pair is mutually vertical and intersect at moving platform central point; Described first moving platform revolute pair axis and the second moving platform revolute pair axis and moving platform central axis intersect at moving platform central point.
The invention has the advantages that:
Decoupling type two one-rotation parallel mechanism realizing hemisphere rotation of the present invention is made up of connecting rod, revolute pair and ring-shaped guide rail, mechanism structure is simple, interfere without rod member and unusual appearance existence, mechanism can realize 180 degree and rotate without unusual two-freedom, namely hemisphere rotates, kinematic analysis of mechanism is simple, is convenient to control and design, can be applicable to robot shoulder, waist, wrist joint etc. and requires the occasion that space two-freedom rotates.
Accompanying drawing explanation
Fig. 1 is the structural representation realizing decoupling type two one-rotation parallel mechanism that hemisphere rotates of the present invention;
Reference numeral: silent flatform 1 first silent flatform revolute pair 2 first bow 3 first moving platform revolute pair 4 slide block 5 moving platform 6 second moving platform revolute pair 7 second bow 8 second silent flatform revolute pair 9 moving platform center point P first silent flatform revolute pair axis a first moving platform revolute pair axis b second silent flatform revolute pair axis c second moving platform revolute pair axis d moving platform central axis e
Detailed description of the invention
Describe the present invention below in conjunction with specific embodiment.
Decoupling type two one-rotation parallel mechanism realizing hemisphere and rotate of the present invention, by silent flatform 1, moving platform 6 be connected the first active branched chain of dynamic and static platform and the second active branched chain is formed;
Described moving platform is provided with ring-shaped guide rail;
Described first active branched chain comprises the first silent flatform revolute pair 2, described silent flatform 1 is rotationally connected by one end of the first silent flatform revolute pair 2 and the first bow 3, the other end of described first bow 3 is rotationally connected with slide block 5 by the first moving platform revolute pair 4, and described slide block 5 is slidably matched with the ring-shaped guide rail on moving platform 6;
Described second active branched chain comprises the second silent flatform revolute pair 9, described silent flatform 1 is rotationally connected by the second silent flatform revolute pair 9 and second bow 8 one end, described second bow 8 other end is rotationally connected with fixed block by the second moving platform revolute pair 7, and described fixed block is fixed on moving platform 6;
Described first silent flatform revolute pair axis a and the second silent flatform revolute pair axis c are mutually vertical and intersect at moving platform center point P; Described first moving platform revolute pair axis b and the second moving platform revolute pair axis d and moving platform central axis e intersects at moving platform center point P.
In conjunction with each width figure, the present invention is described in detail more below.
Of the present inventionly as shown in drawings realize decoupling type two one-rotation parallel mechanism that hemisphere rotates by silent flatform 1, moving platform 6 be connected the first active branched chain of dynamic and static platform and the second active branched chain is formed.
Described moving platform 6 is provided with ring-shaped guide rail.Described moving platform 6 is slidably matched with slide block 5, makes described slide block 5 annularly track continuous moving.
Described first active branched chain is made up of the first silent flatform revolute pair 2, first bow 3, first moving platform revolute pair 4 and described slide block 5.Described silent flatform 1 is rotationally connected with one end of described first bow 3 by described first silent flatform revolute pair 2, the other end of described first bow 3 is rotationally connected with described slide block 5 by described first moving platform revolute pair 4, and described slide block 5 is slidably matched with described moving platform 6.
Described second active branched chain is made up of the second silent flatform revolute pair 9, second bow 8 and the second moving platform revolute pair 7.Described silent flatform 1 is connected with described second bow 8 one end by described second silent flatform revolute pair 9, and described second bow 8 other end is rotationally connected with fixed block by described second moving platform revolute pair 7, and described fixed block is fixed on moving platform 6.
First silent flatform revolute pair axis a and the second silent flatform revolute pair axis c are mutually vertical and intersect at moving platform center point P; By moving platform center point P, direction is that the axis in moving platform plane normal direction is called moving platform central axis e, and the first moving platform revolute pair axis b and the second moving platform revolute pair axis d and moving platform central axis e intersects at moving platform center point P.
With the first silent flatform revolute pair 2 and the second silent flatform revolute pair 9 for input queued switches, of the present inventionly realize decoupling type two one-rotation parallel mechanism that hemisphere rotates and can rotate by implementation space two-freedom.Described ring-shaped guide rail and slide block 5 structure can be equal to revolute pair, this revolute pair axis is moving platform central axis e by moving platform center point P, direction, in conjunction with the first silent flatform revolute pair 2 and the first moving platform revolute pair 4, described first active branched chain has Three Degree Of Freedom turning power, its Three Degree Of Freedom fulcrum is moving platform center point P, and three pivot centers overlap with the first silent flatform revolute pair axis a, the first moving platform revolute pair axis b and moving platform central axis e respectively; Under the effect of the second silent flatform revolute pair 9 and the second moving platform revolute pair 7, second active branched chain has two-freedom turning power, its two-freedom fulcrum is moving platform center point P, and two pivot centers overlap with the second silent flatform revolute pair axis c and the second moving platform revolute pair axis d respectively; Because the three rotating centers of the first active branched chain and two centers of rotation of the second active branched chain are moving platform center point P, therefore under the first active branched chain and the second active branched chain acting in conjunction, the space two-freedom that described moving platform 6 can realize moving Platform center point P rotates.Its two-freedom pivot center is described second silent flatform revolute pair axis c and the second moving platform revolute pair axis d.When choosing the first silent flatform revolute pair 2 and the second silent flatform revolute pair 9 as driving, second silent flatform revolute pair 9 directly can control the rotational freedom of moving platform around the second silent flatform revolute pair axis c, moving platform can be controlled by the projection of the first silent flatform revolute pair motion around the rotation of the second moving platform revolute pair axis d, therefore mechanism has the characteristic of mobile decoupling.Prop up interchain arrangement due to mechanism and avoid interference problem between rod member, known by kinematics analysis, mechanism can realize 180 degree without unusual motion.(about the definition of fulcrum and plane of motion can refer to document " Herv é JM.The Lie group of rigid body displacements, a fundamental tool for mechanism design.Mech Mach Theory1999; 34:719-730. " (Herv é JM. rigid body displacement Lie subgroup, Fundamentals of Machine Design instrument. theory of mechanics 1999; 34:719-730. ")
Decoupling type two one-rotation parallel mechanism realizing hemisphere rotation of the present invention is made up of revolute pair and ring-shaped guide rail, revolute pair and ring-shaped guide rail all have complete cycle cornering rate, described mechanism moving platform does not limit by factors such as kinematic pair slewing area, rod member interference, 180 degree of large rotation can be realized and motion process without unusual.Because the layout of mechanism of the present invention revolute pair axis makes the decoupling zero of mechanism kinematic performance section, therefore mechanism is decoupling type two one-rotation parallel mechanism that can realize hemisphere rotation.
The above description of this invention is only schematic, instead of restrictive, so embodiments of the present invention are not limited to above-mentioned detailed description of the invention.If those of ordinary skill in the art enlightens by it, when not departing from present inventive concept and claim institute protection domain, making other change or modification, all belonging to protection scope of the present invention.
Claims (1)
1. can realize decoupling type two one-rotation parallel mechanism that hemisphere rotates, it is characterized in that: it is made up of the first active branched chain of the dynamic and static platform of silent flatform, moving platform and connection and the second active branched chain;
Described moving platform is provided with ring-shaped guide rail;
Described first active branched chain comprises the first silent flatform revolute pair, described silent flatform is rotationally connected by one end of the first silent flatform revolute pair and the first bow, the other end of described first bow is rotationally connected by the first moving platform revolute pair and slide block, and the ring-shaped guide rail on described slide block and moving platform is slidably matched;
Described second active branched chain comprises the second silent flatform revolute pair, described silent flatform is rotationally connected by the second silent flatform revolute pair and second bow one end, the described second bow other end is rotationally connected by the second moving platform revolute pair and fixed block, and described fixed block is fixed on moving platform;
The pivot center of described first silent flatform revolute pair and the second silent flatform revolute pair is mutually vertical and intersect at moving platform central point; Described first moving platform revolute pair axis and the second moving platform revolute pair axis and moving platform central axis intersect at moving platform central point.
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| CN201410577159.XA CN104308833B (en) | 2014-10-24 | 2014-10-24 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
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| CN201410577159.XA CN104308833B (en) | 2014-10-24 | 2014-10-24 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
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| CN104308833A true CN104308833A (en) | 2015-01-28 |
| CN104308833B CN104308833B (en) | 2016-01-20 |
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Cited By (11)
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| CN104742151A (en) * | 2015-04-07 | 2015-07-01 | 哈尔滨工业大学深圳研究生院 | Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method |
| CN105261257A (en) * | 2015-11-13 | 2016-01-20 | 中国民航大学 | Four-degree-of-freedom series-parallel flight simulator motion platform capable of realizing 360-degree rolling movement |
| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| WO2018072247A1 (en) * | 2016-10-17 | 2018-04-26 | 中国科学院深圳先进技术研究院 | Parallel mechanism with three links and three degrees of freedom |
| CN108145695A (en) * | 2017-12-27 | 2018-06-12 | 中国地质大学（武汉） | A kind of micro-wound operation robot in parallel with high deflection capacity |
| CN108161901A (en) * | 2017-12-27 | 2018-06-15 | 中国地质大学（武汉） | A kind of two turns of parallel institutions with high deflection capacity |
| CN108189014A (en) * | 2018-03-30 | 2018-06-22 | 四川大学 | A kind of 3-dof parallel robot suitable for spherical surface processing |
| 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 |
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN112720421A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with telescopic rod |
| CN112720420A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
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Cited By (18)
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| CN104742151B (en) * | 2015-04-07 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method |
| CN104742151A (en) * | 2015-04-07 | 2015-07-01 | 哈尔滨工业大学深圳研究生院 | Modular double-degree-of-freedom spherical joint and snake-shaped robot and movement control method |
| CN105261257A (en) * | 2015-11-13 | 2016-01-20 | 中国民航大学 | Four-degree-of-freedom series-parallel flight simulator motion platform capable of realizing 360-degree rolling movement |
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| CN106426109A (en) * | 2016-11-25 | 2017-02-22 | 河北工业大学 | Decoupling two-degree-of-freedomparallel mechanism capable of achieving full-spherical work space |
| CN108145695A (en) * | 2017-12-27 | 2018-06-12 | 中国地质大学（武汉） | A kind of micro-wound operation robot in parallel with high deflection capacity |
| CN108161901A (en) * | 2017-12-27 | 2018-06-15 | 中国地质大学（武汉） | A kind of two turns of parallel institutions with high deflection capacity |
| CN108145695B (en) * | 2017-12-27 | 2020-05-01 | 中国地质大学（武汉） | Parallel minimally invasive surgery robot with high deflection capacity |
| CN108189014B (en) * | 2018-03-30 | 2024-05-17 | 四川大学 | Three-degree-of-freedom parallel robot suitable for spherical surface machining |
| CN108189014A (en) * | 2018-03-30 | 2018-06-22 | 四川大学 | A kind of 3-dof parallel robot suitable for spherical surface processing |
| 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 |
| CN110406652A (en) * | 2019-07-12 | 2019-11-05 | 天津大学 | A kind of two-freedom degree joint for the latent device of deep-sea multi-joint |
| CN112720420A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
| CN112720421B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Double-guide-rail type planar robot with telescopic rod |
| CN112720420B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Double-guide-rail type planar robot with parallelogram |
| CN112720421A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Double-guide-rail type planar robot with telescopic rod |
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