CN109318222B - Single-ring mechanism with three one-dimensional rotational degrees of freedom - Google Patents
Single-ring mechanism with three one-dimensional rotational degrees of freedom Download PDFInfo
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- CN109318222B CN109318222B CN201811237082.6A CN201811237082A CN109318222B CN 109318222 B CN109318222 B CN 109318222B CN 201811237082 A CN201811237082 A CN 201811237082A CN 109318222 B CN109318222 B CN 109318222B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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Abstract
The invention discloses a single-ring mechanism with three one-dimensional rotational degrees of freedom, which comprises a rack, wherein a revolute pair R is fixedly connected to the rack11And a revolute pair R21(ii) a Revolute pair R11Is connected with a revolute pair R12Rotational pair R12Connected with a movement by a first connecting rodSubsidiary P13Of moving pair P13Is connected with a revolute pair R through a second connecting rod14Rotational pair R14Is connected with a sliding pair P through a third connecting rod24Of moving pair P24Is connected with a revolute pair R through a fourth connecting rod23Rotational pair R23Is connected with a revolute pair R22Rotational pair R22Through a fifth connecting rod and a revolute pair R21And (4) connecting. The single-ring mechanism with three one-dimensional rotational degrees of freedom has three one-dimensional rotational degrees of freedom, only one drive is needed in a specific one-dimensional rotational motion mode, the control on the mechanism is easy to implement, and the energy consumption is reduced. The mechanism has certain application prospect in the fields of motion simulation, parallel machine tools and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a single-ring mechanism with three one-dimensional rotational degrees of freedom.
Background
Many single-ring mechanisms have the characteristic of motion bifurcation, the existing parallel mechanism with three moving motion modes can realize three-dimensional movement in three directions (x, y and z) under the initial configuration, and after the moving platform performs micro displacement along a certain direction, the degree of freedom of the mechanism is changed into one, and only one-dimensional movement in the direction can be realized. At present, similar to the characteristics of the above mechanisms, mechanisms having three one-dimensional rotational degrees of freedom are not common.
Disclosure of Invention
The invention aims to provide a single ring mechanism with three one-dimensional rotational degrees of freedom.
The technical scheme adopted by the invention is that the single-ring mechanism with three one-dimensional rotational degrees of freedom comprises a rack, wherein a revolute pair R is fixedly connected to the rack11And a revolute pair R21；
Revolute pair R11Is connected with a revolute pair R12Rotational pair R12Is connected with a sliding pair P through a first connecting rod13Of moving pair P13Is connected with a revolute pair R through a second connecting rod14Rotational pair R14Is connected with a sliding pair P through a third connecting rod24Of moving pair P24Is connected with a revolute pair R through a fourth connecting rod23Rotational pair R23Is connected with a revolute pair R22Rotational pair R22Through a fifth connecting rod and a revolute pair R21And (4) connecting.
The invention is also characterized in that:
the frame is an L-shaped connecting rod.
Revolute pair R11And a revolute pair R12Are perpendicular to each other and rotateSub R11And a revolute pair R12Forming a universal hinge.
Sliding pair P13And a revolute pair R12Perpendicular to each other, revolute pair R14Is perpendicular to the revolute pair R11And a revolute pair R12。
Revolute pair R11Axis and revolute pair R23Are collinear, revolute pair R12Axis and revolute pair R22Are parallel to the axis of the rotating pair R14Axis and revolute pair R21Are collinear.
Revolute pair R23And a revolute pair R22Perpendicular to each other and revolute pair R23And a revolute pair R22Forming a universal hinge.
And a revolute pair R12Axis and revolute pair R22Circle with tangent axis and sliding pair P13Axial line and sliding pair P24The intersection points of the axes coincide.
Revolute pair R21And a revolute pair R23And a revolute pair R22Are all vertical.
The invention has the advantages that
The single-ring mechanism with three one-dimensional rotational degrees of freedom has three one-dimensional rotational degrees of freedom, only one drive is needed in a specific one-dimensional rotational motion mode, the control on the mechanism is easy to implement, and the energy consumption is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a single-ring mechanism with three one-dimensional rotational degrees of freedom according to the present invention with three instantaneous rotational degrees of freedom;
FIG. 2 is a schematic structural diagram of a third link having rotational freedom along the Y-axis in a single-ring mechanism having three rotational degrees of freedom in one dimension according to the present invention;
FIG. 3 is a schematic structural diagram of a third link having rotational freedom along the X-axis in a single-ring mechanism having three rotational degrees of freedom in one dimension according to the present invention;
FIG. 4 is a schematic structural diagram of a third link having rotational freedom along the Z-axis in a single-ring mechanism having three rotational degrees of freedom in one dimension according to the present invention; .
In the figure, 1 is a frame, 2 is a revolute pair R11And 3. revolute pair R 124. first connecting rod, 5. sliding pair P 136. second connecting rod, 7. revolute pair R 148. third connecting rod, 9. sliding pair P 2410, fourth connecting rod, 11, revolute pair R 2312. revolute pair R 2213, fifth connecting rod, 14, revolute pair R21。
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
A single-ring mechanism with three one-dimensional rotational degrees of freedom, as shown in figure 1, comprises a frame 1 in an L shape and a connecting rod shape, wherein one end of the frame 1 is fixedly connected with a revolute pair R 112, the other end of the frame 1 is fixedly connected with a revolute pair R 2114；
As shown by the dotted circle in fig. 1 as the revolute pair R 123 axis and revolute pair R 2212, establishing a three-dimensional coordinate system with the center of the dotted circle as the origin, and rotating pair R 112 and revolute pair R 2311 are all along the Y-axis direction and a revolute pair R 123 and revolute pair R 2212 are all along the X-axis direction and a revolute pair R 147 and revolute pair R 2114 are all along the Z-axis direction, and a moving pair P 135 axes and sliding pair P24The intersection point of the 9 axes is superposed with the intersection point of the dotted line circle and the Z axis; in the mechanism having three one-dimensional rotational degrees of freedom shown in fig. 1, the third link 8 has three instantaneous degrees of freedom, and the third link 8 can make instantaneous rotation about the X, Y, Z axis as a rotation axis with the origin of coordinates as a rotation center.
When the mechanism with three one-dimensional rotational degrees of freedom is used, the revolute pair R is connected with the revolute pair R 112 and revolute pair R 2114 as a rotary drive pair, a moving pair P 135 as a moving driving pair, and a third link 8 as an output mechanism, and controls a revolute pair R at an initial machine position shown in FIG. 1112. Revolute pair R 2114 and a sliding pair P 135, making the revolute pair R 112 rotating and locking revolute pair R 2114. Sliding pair P 135. After the third connecting rod 8 rotates along the Y axis, the machine position shown in figure 2 is obtained, at this time, the third connecting rod 8 only has one-dimensional rotational freedom along the Y axis, and at this time, the revolute pair R is controlled112, the one-dimensional rotation motion of the third connecting rod 8 in the Y-axis direction can be realized.
Will rotate pair R 112 and revolute pair R 2114 as a rotary drive pair, a moving pair P 135 as a moving driving pair, and a third link 8 as an output mechanism, and controls a revolute pair R at an initial machine position shown in FIG. 1112. Revolute pair R 2114 and a sliding pair P 135, making the sliding pair P 135 moving and locking revolute pairR 112 and revolute pair R 2114, the third connecting rod 8 rotates along the X axis to obtain the mechanism configuration shown in figure 3, and in the configuration, the revolute pair R 2311 do not pass through the rotation center O and move the pair P 135 and sliding pair P24The point of intersection of 9 is on the dashed circle in fig. 3, when the third link 8 has only one-dimensional rotational freedom along the X-axis, when the sliding pair P is controlled135, the one-dimensional rotation motion of the third connecting rod 8 along the X axis can be realized.
Will rotate pair R 112 and revolute pair R 2114 as a rotary drive pair, a moving pair P 135 as a moving driving pair, and a third link 8 as an output mechanism, and controls a revolute pair R at an initial machine position shown in FIG. 1112. Revolute pair R 2114 and a sliding pair P 135, making the revolute pair R 2114 turn and lock the revolute pair R 112 and a sliding pair P 135, at the moment, the revolute pair R 2311 passing through the rotation center O and the revolute pair R 2212 do not cooperate with the revolute pair R 112, the third connecting rod 8 only has one-dimensional rotational freedom degree along the Z axis at the moment, and controls the revolute pair R21And 14, one-dimensional rotation motion of the third connecting rod 8 along the Z axis can be realized.
The single-ring mechanism with three one-dimensional rotational degrees of freedom has an instantaneous three-dimensional spherical rotational degree of freedom, three driving pairs are controlled to enable the mechanism to be in three different one-dimensional rotational motion modes after leaving an initial configuration, and the corresponding motion modes can be controlled by controlling different single driving pairs;
the single-ring mechanism with three one-dimensional rotational degrees of freedom has three one-dimensional rotational degrees of freedom, only one drive is needed in a specific one-dimensional rotational motion mode, the control on the mechanism is easy to implement, and the energy consumption is reduced. The mechanism has certain application prospect in the fields of motion simulation, parallel machine tools and the like.
Claims (1)
1. The single-ring mechanism with three one-dimensional rotational degrees of freedom is characterized by comprising a rack (1), wherein the rack (1) is an L-shaped connecting rod, and the rack (1)) On which a revolute pair R is fixedly connected11(2) And a revolute pair R21（14）；
The revolute pair R11(2) Is connected with a revolute pair R12(3) Said revolute pair R11(2) Axial direction and revolute pair R12(3) Are perpendicular to each other, and the revolute pair R11(2) And a revolute pair R12(3) Forming a universal hinge; revolute pair R12(3) A sliding pair P is connected with the first connecting rod (4)13(5) Said sliding pair P13(5) Is connected with a revolute pair R through a second connecting rod (6)14(7) Said revolute pair R14(7) A sliding pair P is connected with the third connecting rod (8)24(9) Said sliding pair P24(9) A revolute pair R is connected with the fourth connecting rod (10)23(11) Said revolute pair R23(11) Is connected with a revolute pair R22(12) Said revolute pair R23(11) Axial direction and revolute pair R22(12) Are perpendicular to each other, and the revolute pair R23(11) And a revolute pair R22(12) Form a universal hinge, the revolute pair R22(12) Through a fifth connecting rod (13) and a revolute pair R21(14) Connecting;
the sliding pair P13(5) Axial direction and revolute pair R12(3) Are perpendicular to each other, and the revolute pair R14(7) Is perpendicular to the revolute pair R11(2) In the axial direction of the said revolute pair R14(7) Is perpendicular to the revolute pair R12(3) The axial direction of (a);
the revolute pair R11(2) Axis and revolute pair R23(11) Are collinear, said revolute pair R12(3) Axial direction and revolute pair R22(12) Are parallel to the axial direction of the rotating pair R14(7) Axis and revolute pair R21(14) Are collinear;
and the revolute pair R12(3) Axis and revolute pair R22(12) All tangent to the axis ofSliding pair P13(5) Axial line and sliding pair P24(9) The intersection points of the axes are overlapped;
the revolute pair R21(14) Axial direction and revolute pair R23(11) Is perpendicular to the axial direction of the rotating pair R21(14) Axial direction and revolute pair R22(12) The axial direction of the connecting rod is vertical;
to rotate with the revolute pair R12(3) Axis and revolute pair R22(12) The center of a circle with tangent axes is used as an origin to establish a three-dimensional coordinate system, and the revolute pair R11(2) And a revolute pair R23(11) All along the Y-axis direction, a revolute pair R12(3) And a revolute pair R22(12) All along the X-axis direction, a revolute pair R14(7) And a revolute pair R21(14) All along the Z-axis direction, move the pair P13(5) Axial line and sliding pair P24(9) The intersection point of the axes is coincided with the intersection point of the dotted line circle and the Z axis, the third connecting rod (8) has three instantaneous degrees of freedom, and the third connecting rod (8) can instantaneously rotate by taking the coordinate origin as a rotation center and taking the X, Y, Z axis as a rotating shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811237082.6A CN109318222B (en) | 2018-10-23 | 2018-10-23 | Single-ring mechanism with three one-dimensional rotational degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811237082.6A CN109318222B (en) | 2018-10-23 | 2018-10-23 | Single-ring mechanism with three one-dimensional rotational degrees of freedom |
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| CN109318222A CN109318222A (en) | 2019-02-12 |
| CN109318222B true CN109318222B (en) | 2021-09-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101780670B (en) * | 2009-01-19 | 2011-09-14 | 上海工程技术大学 | Two-rotation one-movement-freedom-degree decoupling parallel mechanism |
| DE102014116845B4 (en) * | 2014-11-18 | 2016-07-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a movement limit |
| CN107097211A (en) * | 2017-04-19 | 2017-08-29 | 中国地质大学（武汉） | The two layers liang of symmetrical linkage unit of ring and the big folding ratio umbrella development agency based on this |
| CN107398891A (en) * | 2017-08-16 | 2017-11-28 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN108621130B (en) * | 2018-04-19 | 2020-08-25 | 西安工程大学 | Parallel mechanism with two motion modes of 2R1T and 2T1R |
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Effective date of registration: 20211230 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |
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