CN107756378B - Plane three-degree-of-freedom rigid body motion tracking mechanism - Google Patents
Plane three-degree-of-freedom rigid body motion tracking mechanism Download PDFInfo
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- CN107756378B CN107756378B CN201711155455.0A CN201711155455A CN107756378B CN 107756378 B CN107756378 B CN 107756378B CN 201711155455 A CN201711155455 A CN 201711155455A CN 107756378 B CN107756378 B CN 107756378B
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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
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Abstract
The invention discloses a plane three-degree-of-freedom rigid motion tracking mechanism, which comprises a base and eleven connecting rods, wherein six connecting rods and the base form a two-degree-of-freedom rotary type imitation graph mechanism, and the connecting rods are connected by adopting conventional revolute pairs. The rigid body motion tracking mechanism is symmetrical about the hinge point O on the base as a whole, and the position and posture of the link 10 and the position and posture of the link 12 are also always symmetrical about the hinge point O. The invention has simple structure and good symmetry, and can be used for constructing a leg mechanism of a multi-foot robot or a multi-degree-of-freedom remote movement center mechanism in a medical robot.
Description
Technical Field
The invention relates to a plane three-degree-of-freedom rigid motion tracking mechanism, and belongs to the field of mechanism design.
Background
A mechanism may be referred to as a rigid motion tracking mechanism if the motion of one member of the mechanism is capable of tracking the rigid motion of the other member of the mechanism, or the position and attitude of two members of the mechanism always maintain a fixed simple mapping (e.g., translation, rotation, reflection, etc.). The rigid motion tracking mechanism can be applied to leg mechanisms of the multi-foot robot, realizes gait synchronization or phase difference between the multi-feet by one fixed phase, and can also be used for constructing a multi-degree-of-freedom remote motion center mechanism in the medical robot.
The planar rigid body motion tracking mechanism may be constructed from a combination of two image simulator mechanisms. The image imitation mechanism is a drawing linkage mechanism which can simply change (such as translation, rotation, zoom and the like) images. Many scholars have studied the construction and application of the imitation chart mechanism and filed related patents such as CN 2013102733591 and CN 2006101651217. A common image simulator mechanism is a Sylvester five-bar image simulator mechanism, as shown in fig. 1, which satisfies the following relationship: the quadrangle ABDE formed by the link AB, the link BD, the link DE, and the link EA is a parallelogram, and Δbcd is similar to Δedf. The point C is an input point, the point E is an output point, and the track drawn by the point C has the following relation with the track drawn by the point E: the former rotates around the point A by an angle of EAB and the latter is obtained after enlarging k=BD/BC times.
The differences between the imitation graph mechanism and the rigid motion tracking mechanism are that: the imitation graph mechanism is used for tracking the motion of a certain point, namely the positions of two points on the mechanism always keep a fixed simple mapping relation; the rigid body motion tracking mechanism is used for tracking the motion of a certain rigid body, namely the position and the gesture of two rigid bodies on the mechanism always keep a fixed simple mapping relation. Because of this feature, the rigid body motion tracking mechanism can be used for the leg mechanism and the remote center of motion mechanism of the multi-legged robot. The invention constructs a plane three-degree-of-freedom rigid motion tracking mechanism based on a rotary-type imitation graph mechanism.
Disclosure of Invention
The invention provides a plane three-degree-of-freedom rigid body motion tracking mechanism based on a graph imitation mechanism, which has simple and compact structure and rotational symmetry and can track arbitrary rigid body motion in a plane.
A plane three-degree-of-freedom rigid body motion tracking mechanism based on a graph imitation mechanism comprises a base (1) and eleven connecting rods, wherein the base and the eleven connecting rods are connected through conventional revolute pairs, and the linkage is shown in fig. 2 and 3. Eleven connecting rods are respectively a connecting rod 2, a connecting rod 3, a connecting rod 4, a connecting rod 5, a connecting rod 6, a connecting rod 7, a connecting rod 8, a connecting rod 9, a connecting rod 10, a connecting rod 11 and a connecting rod 12. Wherein, the connecting rod 2, the connecting rod 3, the connecting rod 4 and the connecting rod 5 form a parallelogram, the connecting rod 5, the connecting rod 6, the connecting rod 7 and the connecting rod 2 also form a parallelogram, and the two parallelograms are all the same. The connecting rod 2 and the connecting rod 5 are connected with each other at the respective midpoints by a revolute pair, and are connected with the base at the points by the revolute pair; the connecting rod 8 is also connected with the base at the middle point thereof through a revolute pair; the lengths of the connecting rod 9 and the connecting rod 11 are equal, and the positions of the hinges are the same; the length of the connecting rod 10 is equal to that of the connecting rod 12, and the positions of the hinges are correspondingly the same.
In the rigid motion tracking mechanism, the connecting rod 2, the connecting rod 3, the connecting rod 4, the connecting rod 5, the connecting rod 6 and the connecting rod 7 form a two-degree-of-freedom rotary imitation graph mechanism together with the base, as shown in fig. 4. The motion characteristics of the imitation graph instrument mechanism are as follows: the line connecting the input point B and the output point E always passes through the fixed point O, and the distances from the point B and the point E to the point O are always equal, i.e. the input point B and the output point E are always symmetrical with respect to the fixed point O.
In the rigid motion tracking mechanism, the position and the posture of the connecting rod 10 and the position and the posture of the connecting rod 12 are always symmetrical about the fixed point O, namely, the connecting rod 12 always tracks the motion of the connecting rod 10. The link 10 or the link 12 in the mechanism of the invention can do any plane movement.
If a revolute pair is added at the end point I of the connecting rod 10 to connect the base, the connecting rod 10 rotates around the I, and the connecting rod 12 correspondingly rotates around the fixed point L, the phase angles are 180 degrees different, and the mechanism is a remote movement center mechanism; if the link 10 is moved in translation, the link 12 is also moved in translation in the opposite direction. Namely: the movement of the links 10 and 12 is always symmetrical about the fixed point O.
Since such a rigid motion tracking mechanism has symmetry about the fixed hinge point O, static balance of the mechanism can be achieved.
Drawings
FIG. 1 is a schematic diagram of a Sylvester image imitation mechanism.
Fig. 2 is a three degree of freedom rigid body motion tracking mechanism of the present invention.
Fig. 3 is another state of the three degree of freedom rigid body motion tracking mechanism of the present invention.
Fig. 4 is a two-degree-of-freedom image simulator mechanism included in the three-degree-of-freedom rigid motion tracking mechanism of the present invention.
1-Base, 2-link 2, 3-link 3, 4-link 4, 5-link 5, 6-link 6, 7-link 7, 8-link 8, 9-link 9, 10-link 10, 11-link 11, 12-link 12.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 2 and 3, the present invention is a planar three-degree-of-freedom rigid motion tracking mechanism, which comprises a base and eleven connecting rods, wherein the eleven connecting rods are respectively a connecting rod 2, a connecting rod 3, a connecting rod 4, a connecting rod 5, a connecting rod 6, a connecting rod 7, a connecting rod 8, a connecting rod 9, a connecting rod 10, a connecting rod 11 and a connecting rod 12. In this rigid motion tracking mechanism, the link 2, the link 3, the link 4, the link 5, the link 6, and the link 7 together with the base constitute a two-degree-of-freedom rotary-type image simulator mechanism, as shown in fig. 4. The input point is B, and the output point is E. The connecting rod 2 and the connecting rod 5 are connected at the respective midpoints by a revolute pair, and are connected with the base at the point by the revolute pair (i.e. point O), and the other connecting rods are also connected by a conventional revolute pair. Each rod piece in the graph imitation mechanism meets the following relation: AB. CD. FE, BC. AF. DE. The six links thus constitute parallelogram ABCO and parallelogram ODEF. The motion characteristics of the imitation graph instrument mechanism are as follows: the line connecting the input point B and the output point E always passes through the fixed point O, and the distances from the point B and the point E to the point O are always equal, i.e. the input point B and the output point E are always symmetrical with respect to the fixed point O. Thus, the graph drawn by the input point B is rotated 180 degrees around the point O to obtain the graph drawn by the point E.
The invention adds the connecting rod 8, the connecting rod 9, the connecting rod 10, the connecting rod 11, the connecting rod 12 and a plurality of revolute pairs on the basis of the graph imitation mechanism. The connecting rod 8 is connected with the base at the middle point thereof through a revolute pair. The links 9, 10, 11 and 12 also satisfy the following relationship: gh=jk, hb=ke, bi=el. Therefore, the end point I of the link 10 and the end point L of the link 12 are always symmetrical about the fixed point O, and the position and posture of the link 10 and the position and posture of the link 12 are also always symmetrical about the fixed point O, i.e., the link 12 always tracks the movement of the link 10. The link 10 or the link 12 in the mechanism of the invention can do any plane movement.
Claims (2)
1. A plane three-degree-of-freedom rigid body motion tracking mechanism is characterized in that: the mechanism comprises a base (1) and eleven connecting rods, wherein the eleven connecting rods are respectively a connecting rod 2, a connecting rod 3, a connecting rod 4, a connecting rod 5, a connecting rod 6, a connecting rod 7, a connecting rod 8, a connecting rod 9, a connecting rod 10, a connecting rod 11 and a connecting rod 12; the connecting rod 2, the connecting rod 3, the connecting rod 4 and the connecting rod 5 form a parallelogram, the connecting rod 5, the connecting rod 6, the connecting rod 7 and the connecting rod 2 form a parallelogram, and the two parallelograms are congruent; the connecting rod 2 and the connecting rod 5 are connected at the respective midpoints by a revolute pair, and are connected with the base by the revolute pair at the point, wherein the point is a fixed hinge fulcrum O; the connecting rod 2, the connecting rod 3, the connecting rod 4, the connecting rod 5, the connecting rod 6 and the connecting rod 7 form a two-degree-of-freedom rotary imitation graph mechanism together with the base; the connecting rod 8 is also connected with the base at the middle point thereof through a revolute pair; the connecting rod 9 is connected with the connecting rod 8 at one end through a revolute pair, the connecting rod 11 is connected with the connecting rod 8 at the other end through a revolute pair, and the lengths of the connecting rod 9 and the connecting rod 11 are equal; the connecting rod 10 is connected with the connecting rod 9 at the end part through a revolute pair, and the connecting rod 12 is connected with the connecting rod 11 at the end part through a revolute pair; the connecting rods 10, 3 and 4 are hinged on the common point B, and the connecting rods 12, 6 and 7 are hinged on the common point E; the length of the connecting rod 10 is equal to that of the connecting rod 12, and the distance from the end part to the position of the hinge is also equal; when the link 10 is driven externally to perform any planar rigid motion, the link 12 correspondingly performs a similar planar rigid motion.
2. The planar three degree of freedom rigid motion tracking mechanism of claim 1 wherein the end point I of the link 10 and the end point L of the link 12 in the mechanism are always symmetrical about the fixed pivot point O, and the position and posture of the link 10 and the position and posture of the link 12 are also always symmetrical about the fixed pivot point O.
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| CN107756378B true CN107756378B (en) | 2024-06-11 |
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