CN109079756A - A kind of 3-freedom parallel mechanism applied to force feedback equipment - Google Patents
A kind of 3-freedom parallel mechanism applied to force feedback equipment Download PDFInfo
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- CN109079756A CN109079756A CN201810973840.4A CN201810973840A CN109079756A CN 109079756 A CN109079756 A CN 109079756A CN 201810973840 A CN201810973840 A CN 201810973840A CN 109079756 A CN109079756 A CN 109079756A
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- passive bound
- connecting rod
- drive link
- force feedback
- rotation axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The present invention relates to a kind of 3-freedom parallel mechanisms applied to force feedback equipment, belong to force feedback equipment technical field, solve the problems, such as that low small existing force feedback equipment power output, large inertia, rigidity, structure and processing and assembling are complicated.The 3-freedom parallel mechanism, including pedestal, three driving branches and a passive bound branch, pedestal are annular structure；Driving branch includes the first drive link and the second drive link, and two drive links are connected by connecting rod ball pair；Passive bound branch includes the first passive bound connecting rod and the second passive bound connecting rod, and two passive bound connecting rods pass through cross axis connection；First drive link is by driving rotation axis to be mounted on the excircle of pedestal, and the second drive link is connect by connector ball pair with the second passive bound connecting rod, and the first passive bound connecting rod is mounted on the inner periphery of pedestal by passive bound rotation axis.3-freedom parallel mechanism of the invention can be widely used for the fields such as three-dimensional modeling, tactile emulation, remote operating, virtual reality.
Description
Technical field
The present invention relates to force feedback equipment technical field more particularly to a kind of Three Degree Of Freedoms applied to force feedback equipment simultaneously
Online structure.
Background technique
Force feedback refers to that in human-computer interaction process, computer responds the input of user, and sets by force feedback
The standby process for acting on user.Currently, force feedback equipment is widely used to three-dimensional modeling, tactile emulation, remote operating, virtually shows
The technical fields such as reality, medical surgery.
Currently, commercial force feedback equipment generallys use serial mechanism or parallel institution, however use serial mechanism force feedback
Equipment has the defects such as power output is small, rigidity is small, pose resolution ratio is low；Force feedback equipment is using most parallel institutions
Delta mechanism, Delta parallel mechanism are the parallel machine for proposing a kind of achievable pure-surface movement in 1985 by clavel earliest
Device people, and using the rotational freedom of parallelogram mechanism constraint moving platform in movement branched chain, Clavel was in 1988
The Delta parallel robot in branch containing spherical four-bar linkage is proposed, the one of three-freedom mobile parallel connection mechanism is considered as
A milestone, the mechanism include 12 ball pairs, 9 revolute pairs and 17 components, are very suitable for completing the taking and placing of small mass objects
Operation, however existing Delta 3-freedom parallel mechanism mostly uses three groups of parallelogram rod pieces as branch, the three of this structure
The connecting rod number of freedom degree parallel connection mechanism is more, structure is complicated, processing and assembly are complicated, and it is relatively large, mechanical rigid that there is also inertia
Spend low problem.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of 3-freedom parallel mechanism applied to force feedback equipment,
Power output to solve the problems, such as existing force feedback equipment is small, inertia is big, rigidity is low, structure and processing and assembling are complicated.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of 3-freedom parallel mechanism applied to force feedback equipment, including pedestal and three driving branches, pedestal be
Annular structure；It further include passive bound branch；
Driving branch includes the first drive link and the second drive link, and the first drive link and the second drive link pass through
The connection of connecting rod ball pair；
Passive bound branch include the first passive bound connecting rod and the second passive bound connecting rod, the first passive bound connecting rod and
Second passive bound connecting rod passes through cross axis connection；
For first drive link by driving rotation axis to be mounted on the excircle of pedestal, the second drive link passes through connector ball
Pair is connect with the second passive bound connecting rod, and the first passive bound connecting rod is mounted on the inner circle of pedestal by passive bound rotation axis
Week.
Further, cross axle include square crossing setting horizontal rotating shaft and vertical rotation axis, horizontal rotating shaft with
Passive bound rotation axis is parallel.
Further, the second passive bound connecting rod is fixedly installed connector, and connector connects perpendicular to the second passive bound
The section of rod axis is round, equilateral triangle or regular hexagon.
Further, connector ball pair is three and is evenly distributed on the periphery of connector；
Driving rotation axis is three and is evenly distributed on the excircle of pedestal.
Further, groove is arranged in the inner periphery of pedestal, and passive bound rotation axis is arranged in the groove；
The center of circle that straight line determined by the center of groove and the axle center of one of driving rotation axis passes through pedestal.
Further, passive bound rotation axis is parallel with by the driving rotation axis of straight line.
Further, the length of the second drive link is greater than the length of the first drive link；
The length of second passive bound connecting rod is greater than the length of the first passive bound connecting rod.
Further, the second drive link is made of carbon fibre material.
Further, the first drive link is square pole, and the second drive link is circular pin.
Further, the first passive bound connecting rod, the second passive bound connecting rod are square pole.
The present invention has the beneficial effect that:
A) 3-freedom parallel mechanism provided by the invention applied to force feedback equipment has four branches, wherein three
Branch is driving branch, and every driving branch all has a revolute pair and two ball pairs, and revolute pair is driving pair, further includes
One passive bound branch, there are three revolute pairs for tool, and 3-freedom parallel mechanism design structure of the invention is skillfully constructed, with tradition
It is compared using the 3-freedom parallel mechanism of three branches, 3-freedom parallel mechanism of the invention has big power output, small used
The advantages that amount, high rigidity, high position accuracy, high response speed.
B) 3-freedom parallel mechanism provided by the invention applied to force feedback equipment, every branch include two companies
Bar, overcome existing 3-freedom parallel mechanism branch be four side structures connecting rod quantity is more, complicated defect, this hair
The branch connecting rod quantity of bright 3-freedom parallel mechanism is few, and compact-sized, processing and assembling is simple, reduces production cost,
It is with a wide range of applications.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the structural schematic diagram of the 3-freedom parallel mechanism in embodiment；
The structural schematic diagram of the passive bound branch of 3-freedom parallel mechanism in Fig. 2 embodiment.
Appended drawing reference:
1, pedestal；2, branch is driven；2-1, drive link one；2-2, drive link two；2-3, connecting rod ball pair；2-4, driving
Rotation axis；3, passive bound branch；3-1, passive bound connecting rod one；3-2, passive bound connecting rod two；3-3, cross axle；3-4, quilt
Moving constraint rotation axis；4, connector；5, connector ball pair.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
A specific embodiment of the invention discloses a kind of three applied to force feedback equipment as shown in Figure 1 to Figure 2
Freedom degree parallel connection mechanism, including pedestal 1 and three driving branches 2, pedestal 1 are annular structure；It further include passive bound branch
3；Driving branch 2 includes two 2-2 of one 2-1 of drive link and drive link, and one 2-1 of drive link and two 2-2 of drive link pass through
Connecting rod ball secondary 2-3 connection；Passive bound branch 3 includes two 3-2 of one 3-1 of passive bound connecting rod and passive bound connecting rod, passively about
One 3-1 of beam connecting rod is connected with two 3-2 of passive bound connecting rod by cross axle 3-3；One 2-1 of drive link passes through driving rotation axis 2-
4 are mounted on the excircle of pedestal 1, and two 2-2 of drive link is connect by connector ball pair 5 with two 3-2 of passive bound connecting rod, passively
Constraint one 3-1 of connecting rod is mounted on the inner periphery of pedestal 1 by passive bound rotation axis 3-4.
When implementation, three driving branches 2 drive by motor or by other drivers, are preferably driven by motor, motor
Drive drive link one 2-1, three one 2-1 of drive link of three driving branches 2 that two 2-2 of drive link is driven to move jointly,
To realize that passive bound branch 3 is moved under the drive of driving branch 2, the fortune function track of passive bound branch 3 is sky
Between quadrangle.Passive bound branch 3 of the invention has three degree of freedom, and three driving branches 2 all have 7 degree of freedom, drives
Dynamic branch 2 is connect by connector ball pair 5 with passive bound branch 3, and having parallel institution of the invention, there are three freedom of motion
Degree.
Compared with prior art, the 3-freedom parallel mechanism provided in this embodiment applied to force feedback equipment, has
Four branches, wherein three branches are driving branch 2, every driving branch 2 is including two connecting rods, a revolute pair and two
Ball pair, wherein revolute pair is that driving is secondary, further includes a passive bound branch 3, revolute pair that there are three tools, the present embodiment provides
Parallel institution, four branches include two connecting rods, overcome existing 3-freedom parallel mechanism branch be four side structures
Connecting rod quantity is more, complicated defect, therefore the structure of parallel institution of the invention is more compact, reduces connecting rod number
Amount, mitigates the inertia of parallel institution.3-freedom parallel mechanism design structure of the invention is skillfully constructed, and structure is more compact, has
There are big power output, small inertia, high rigidity, high position accuracy, high response speed, simultaneous processing assembly technology is simple, energy
Production cost is enough significantly reduced, is with a wide range of applications.
In order to improve the accuracy of parallel institution, cross axle 3-3 includes the horizontal rotating shaft of square crossing setting and vertical
Rotation axis, horizontal rotating shaft is parallel with passive bound rotation axis 3-4, thereby ensures that the accuracy of parallel institution.The present embodiment
In cross axle 3-3, passive bound rotation axis 3-4 be passive pair.
For the ease of realizing the connection of three drivings branches 2 and passive bound branch 3, on two 3-2 of passive bound connecting rod
It is fixedly installed connector 4, it is contemplated that the high symmetry of parallel institution, connector is perpendicular to two 3-2 axis of passive bound connecting rod
The section of line is rotational symmetry figure, preferably circular, equilateral triangle or regular hexagon, and there are three connector ball pairs 5, three companies
Fitting ball pair 5 is evenly distributed on the periphery of connector 4, three connectors that three driving branches 2 are connect with passive bound branch 3
In the same plane, and the secondary 5 place planes of three connector balls are vertical with the axis of two 3-2 of passive bound connecting rod for ball pair 5, and three
Connector ball pair 5 is uniformly distributed in 120 ° on the same circumference；Driving rotation axis 2-4 is evenly distributed on the excircle of pedestal 1, protects
It has demonstrate,proved the revolute pairs of three driving branches 2 in the same plane, and has been uniformly distributed on the same circumference in 120 °, can guarantee each
The power for driving branch 2 to drive passive bound branch 3 is more balanced, improves the accuracy and stability of parallel institution.This implementation
In example, three driving rotation axis 2-4 are driving pair, and three 5 and three connecting rod ball secondary 2-3 of connector ball pair are passive pair.
In order to increase the space of passive bound branch 3, groove, passive bound rotation axis is arranged in the inner periphery of pedestal 1
3-4 is arranged in the groove, and on the one hand this structure setting simplifies the structure of parallel institution, on the other hand, straight in 1 inner periphery of pedestal
In the case that diameter is certain, the length of one 3-1 of passive bound connecting rod is longer, the motion profile model of one end 3-1 of passive bound connecting rod
It encloses more extensively, to increase the space of passive bound branch 3.
In the present embodiment, straight line determined by the axle center of the center of groove and one of driving rotation axis 2-4 passes through base
The center of circle of seat 1, groove is the position of 1 inner periphery of pedestal can there are two types of set-up modes, such as groove and positioned at 1 excircle top of pedestal
Straight line determined by the driving rotation axis 2-4 in portion passes through the center of circle of pedestal 1, and first way is that groove is arranged far from top
Drive 1 inner periphery of pedestal of rotation axis 2-4；The second way is that groove is positioned close to the pedestal of top drive rotation axis 2-4
1 inner periphery, preferably first way are arranged far from the structure of 1 inner periphery of pedestal of 1 top drive rotation axis 2-4 of pedestal, and
The distribution of weight of online structure is more balanced, it is easier to control, to improve accuracy, while the design of this structure efficiently avoids
The same position stress of 1 circumference of pedestal is concentrated or inside and outside discontinuity equalization causes pedestal 1 to be broken, to extend pedestal 1
Service life, improve the economic cost of parallel institution on the whole.
In order to guarantee the accuracy of parallel institution, passive bound rotation axis 3-4 and the driving rotation axis 2-4 by straight line are flat
Row, the driving force size that this structure ensure that three driving branches 2 are applied to passive bound branch 3 is identical, passive bound branch 3
Stress more balance, improve the stability of parallel institution.
In order to improve the driving effect of driving branch 2, the length of one 2-1 of drive link is unsuitable too long, because in driving electricity
Under conditions of machine output power is certain, one 2-1 of drive link is longer relative to two 2-2 of drive link, is transferred to drive link two
Power on 2-2 is smaller, it is preferable that the length of two 2-2 of drive link is greater than the length of one 2-1 of drive link, passive bound connecting rod
The length of two 3-2 is greater than the length of one 3-1 of passive bound connecting rod, therefore under conditions of driving motor output power is certain, energy
Enough guarantee that two 2-2 of drive link has enough driving forces, overcomes that not easy to control using high-power driving motor, stability is poor
Defect, therefore it is that be able to achieve the accurate control of parallel institution that the parallel institution of the present embodiment, which need not use high-power driving motor,
System.
In order to mitigate the inertia of parallel institution, for three driving branches 2, since the both ends of two 2-2 of drive link are
Ball pair, therefore two 2-2 of drive link is two power bars, material two 2-2 of drive link big using light weight, tension and compression rigidity, preferably
Carbon fibre materials can either increase the mechanical stiffness of parallel institution, and can mitigate the inertia of parallel institution.One 2-1 of drive link
It is made of steel material or carbon fibre materials.
In the present embodiment, one 2-1 of drive link is square pole, and two 2-2 of drive link is circular pin, two 2-2 of drive link
The side of one end 2-1 of drive link is mounted on by connecting rod ball secondary 2-3, this structure can be avoided generation rotation interference, make to drive
The rotation of dynamic connecting rod one 2-1 and two is more smooth；One 3-1 of passive bound connecting rod, two 3-2 of passive bound connecting rod are square pole,
Square pole can prevent the relative rotation of connector 4, moreover it is possible to avoid parallel institution at work since the driving of driving branch 2 is led
Connector 4 is caused to generate sliding relative to passive bound connecting rod, to influence accuracy.
In order to avoid connector 4 is mobile relative to passive bound connecting rod 3-1 or rotation, connector 4 and passive bound connect
Bar 3-1 is integrally formed or is welded to connect, and can be effectively prevented from the generation of relative movement, ensure that kinematic accuracy.Connector 4
It can also be removably attachable on two 3-2 of passive bound connecting rod, such as snap connection, card is set on two 3-2 of passive bound connecting rod
Portion processed, limiting unit, fastening part and limiting unit cooperation limitation connector 4 are arranged on connector 4 and two 3-2 of passive bound connecting rod is generated
Relative movement or rotation, connector 4 is fixed on two 3-2 of passive bound connecting rod, it is preferred that fastening part have it is multiple, therefore connect
The different location in two 3-2 of passive bound connecting rod can be set in part 4, can satisfy different demands, improves answering for parallel institution
Use popularity.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of 3-freedom parallel mechanism applied to force feedback equipment, including pedestal and three driving branches, feature exist
In the pedestal is annular structure；
It further include passive bound branch；
The driving branch includes the first drive link and the second drive link, first drive link and the second drive link
It is connected by connecting rod ball pair；
The passive bound branch includes the first passive bound connecting rod and the second passive bound connecting rod, and first passive bound connects
Bar and the second passive bound connecting rod pass through cross axis connection；
For first drive link by driving rotation axis to be mounted on the excircle of pedestal, second drive link passes through connection
Part ball pair is connect with the second passive bound connecting rod, and the first passive bound connecting rod is mounted on pedestal by passive bound rotation axis
Inner periphery.
2. the 3-freedom parallel mechanism according to claim 1 applied to force feedback equipment, which is characterized in that described ten
Word axis includes that the horizontal rotating shaft of square crossing setting and vertical rotation axis, the horizontal rotating shaft and passive bound rotation axis are put down
Row.
3. the 3-freedom parallel mechanism according to claim 1 applied to force feedback equipment, which is characterized in that described
Two passive bound connecting rods are fixedly installed connector, section of the connector perpendicular to the second passive bound connecting rod axis
For round, equilateral triangle or regular hexagon.
4. the 3-freedom parallel mechanism according to claim 3 applied to force feedback equipment, which is characterized in that the company
Fitting ball pair is three and is evenly distributed on the periphery of the connector；
The driving rotation axis is three and is evenly distributed on the excircle of the pedestal.
5. the 3-freedom parallel mechanism according to claim 1 applied to force feedback equipment, which is characterized in that the base
Groove is arranged in the inner periphery of seat, and the passive bound rotation axis is arranged in the groove；
Straight line determined by the center of the groove and the axle center of one of them driving rotation axis passes through the circle of the pedestal
The heart.
6. the 3-freedom parallel mechanism according to claim 5 applied to force feedback equipment, which is characterized in that the quilt
Moving constraint rotation axis is parallel with by the driving rotation axis of the straight line.
7. the 3-freedom parallel mechanism according to claim 1 applied to force feedback equipment, which is characterized in that described
The length of two drive links is greater than the length of first drive link；
The length of the second passive bound connecting rod is greater than the length of the first passive bound connecting rod.
8. the 3-freedom parallel mechanism according to claim 1 applied to force feedback equipment, which is characterized in that described
Two drive links are made of carbon fibre material.
9. the 3-freedom parallel mechanism according to claim 1-8 applied to force feedback equipment, feature exist
In first drive link is square pole, and second drive link is circular pin.
10. -9 described in any item 3-freedom parallel mechanisms applied to force feedback equipment, feature exist according to claim 1
In the first passive bound connecting rod, the second passive bound connecting rod are square pole.
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| CN201810973840.4A CN109079756B (en) | 2018-08-24 | 2018-08-24 | Three-degree-of-freedom parallel mechanism applied to force feedback equipment |
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|---|---|---|---|
| CN201810973840.4A CN109079756B (en) | 2018-08-24 | 2018-08-24 | Three-degree-of-freedom parallel mechanism applied to force feedback equipment |
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| CN109079756B CN109079756B (en) | 2020-07-24 |
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| CN109664278A (en) * | 2019-02-01 | 2019-04-23 | 北京众绘虚拟现实技术研究院有限公司 | A kind of medical simulation freedom degree parallel connection device for force feedback |
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| CN109857250A (en) * | 2019-01-10 | 2019-06-07 | 安徽师范大学 | Device for force feedback under a kind of reality environment |
| CN112318549A (en) * | 2020-10-21 | 2021-02-05 | 天津大学 | Two-degree-of-freedom high-rigidity robot |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112318549B (en) * | 2020-10-21 | 2022-05-13 | 天津大学 | Two-degree-of-freedom high-rigidity robot |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
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