CN110434840A - A kind of Three Degree Of Freedom broad sense sphere parallel mechanism - Google Patents
A kind of Three Degree Of Freedom broad sense sphere parallel mechanism Download PDFInfo
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- CN110434840A CN110434840A CN201910868664.2A CN201910868664A CN110434840A CN 110434840 A CN110434840 A CN 110434840A CN 201910868664 A CN201910868664 A CN 201910868664A CN 110434840 A CN110434840 A CN 110434840A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 61
- 210000004233 talus Anatomy 0.000 claims description 35
- 241001061264 Astragalus Species 0.000 claims description 25
- 235000006533 astragalus Nutrition 0.000 claims description 25
- 241001468684 Diplocardia Species 0.000 claims description 24
- 210000003423 ankle Anatomy 0.000 claims description 14
- 210000000459 calcaneus Anatomy 0.000 claims description 11
- 210000002303 tibia Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 8
- 230000003993 interaction Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010060820 Joint injury Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Toys (AREA)
Abstract
The present invention is a kind of Three Degree Of Freedom broad sense sphere parallel mechanism, comprising: moving platform, silent flatform and branch；There are two the rotation centre ofs sphere not being overlapped for parallel institution tool, respectively determine the centre of sphere and the dynamic centre of sphere, the collectively regarded as moving platform moving centre of sphere does the spheric motion that freedom degree is 1, and the dynamic centre of sphere does the spheric motion that freedom degree is 2 around the centre of sphere is determined；Three Degree Of Freedom broad sense sphere parallel mechanism branch has two types, it is respectively as follows: the ABAA type branch of the movement for controlling the moving platform moving centre of sphere and the ABA type branch for controlling the dynamic centre of sphere around the movement for determining the centre of sphere, ABA type branch has two, and ABAA type branch has one；All branches are made of A type connecting rod and Type B connecting rod, A type connecting rod is spherical surface connecting rod, and the axial line of both ends of the hole intersects at a point, and Type B connecting rod is double centre of sphere spherical surface connecting rods, all B bars determine the centre of sphere of determining that the centre of sphere is overlapped composition parallel institution, and all B bars move the dynamic centre of sphere that the centre of sphere is overlapped composition parallel institution.The mechanical flexibility degree and kinematic accuracy are high.
Description
Technical field
The present invention relates to mechanical engineering fields, and in particular to a kind of Three Degree Of Freedom broad sense sphere parallel mechanism can apply to
The rehabilitation training of ankle-joint.
Background technique
With the continuous development in medical treatment healthy field and robot field, more and more healthy robots enter people's
The visual field.Healthy robot not only can help joint injury patient to make rehabilitation exercise, can be also used for the training of sportsman
With the joint correction with elderly population.It is excellent that existing healing robot generally has that rigidity is big, bearing capacity is strong, flexibility ratio is high
Point.However, being directed to the complexity of human body joint motion, it has been difficult to improve the fitting essence of healing robot using existing mechanism
Degree eliminates human-computer interaction power, and the mechanism of healthy robot is designed to encounter biggish bottleneck.It is with robot for rehabilitation of anklebone
Example, for most of configuration based on dexterous eye mechanism (three-degree-of-freedom spherical parallel mechanism), which has a moving platform,
One silent flatform and three branches, there are two spherical surface connecting rods and three revolute pairs to constitute for each straight chain, and the institute of the mechanism
There is revolute pair rotary middle spindle that can give space that model of human ankle is a little equivalent to standard spherical pair, and model of human ankle is
Human body one of joint the most complicated, includes shin bone, fibula, astragalus, nut bone and calcaneum etc., if be simply reduced to
Standard spherical pair can then generate biggish human-computer interaction power.To solve problems, propose that one kind can sufficiently be fitted ankle-joint
The new mechanism of movement is very significant.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of Three Degree Of Freedom broad sense spherical surface
Parallel institution provides basic theory foundation for the design of novel rehabilitation of anklebone humanoid robot.The mechanism has enough flexibility ratios
With kinematic accuracy, have many advantages, such as simple, dexterous, changeable, adaptable.
The technical solution that the present invention solves the technical problem is to provide a kind of Three Degree Of Freedom broad sense sphere parallel mechanism,
It include: moving platform, silent flatform and branch；It is characterized in that,
Parallel institution tool respectively determines the centre of sphere and the dynamic centre of sphere there are two the rotation centre of sphere that is not overlapped, and two centre ofs sphere it
Between distance be an adjustable definite value, the collectively regarded as moving platform moving centre of sphere does the spheric motion that freedom degree is 1, moves the centre of sphere around fixed
The centre of sphere does the spheric motion that freedom degree is 2；Three Degree Of Freedom broad sense sphere parallel mechanism branch has two types, is respectively as follows: use
In the ABAA type branch of the movement of the control moving platform moving centre of sphere and for controlling ABA type branch of the dynamic centre of sphere around the movement for determining the centre of sphere
Chain, ABA type branch have two, and ABAA type branch has one；All branches are made of A type connecting rod and Type B connecting rod, A type connecting rod
Axial line for spherical surface connecting rod, both ends of the hole intersects at a point, and Type B connecting rod is broad sense spherical surface connecting rod, is considered as double centre of sphere spherical surfaces
There are two the broad sense centre ofs sphere for connecting rod, i.e. Type B connecting rod tool, and respectively B bar determines the centre of sphere and B bar moves the centre of sphere, defines the two of Type B connecting rod herein
The line segment that a broad sense centre of sphere is connected to is " diplocardia line segment ", and the length of " diplocardia line segment " is " diplocardia away from ", same parallel institution
In all Type B connecting rods " diplocardia away from " it is equal, and " the diplocardia line segment " of all Type B connecting rods of motion process is completely coincident always,
I.e. all B bars determine the centre of sphere of determining that the centre of sphere is overlapped composition parallel institution, and all B bars move the dynamic ball that the centre of sphere is overlapped composition parallel institution
The heart.
The application of above-mentioned Three Degree Of Freedom broad sense sphere parallel mechanism, the parallel institution are applied to robot for rehabilitation of anklebone
In, in the robot for rehabilitation of anklebone scantling design based on above-mentioned parallel institution, according to the parameter of patient's astragalus, determine
The average relative rotation centre of sphere between patient's shin bone and astragalus and the average relative rotation centre of sphere between astragalus and calcaneum, and count
Two rotation the distance between centre ofs sphere parameters are calculated, " diplocardia away from " of parallel institution is determined according to this distance parameter, is realized quasi- in movement
Relative motion and model of human ankle movement sufficiently fitting, i.e. parallel machine during conjunction between parallel institution moving platform and silent flatform
Structure move the centre of sphere be overlapped always with astragalus with the average relative rotation centre of sphere of calcaneum, parallel institution determine the centre of sphere always with shin bone and astragalus
The average relative rotation centre of sphere be overlapped.Relative to traditional 3-freedom parallel mechanism (dexterous eye mechanism), broad sense parallel connection mechanism pair
The fitting of ankle motion is more accurate, reasonable, and fitting effect increases significantly.
Compared with prior art, the beneficial effects of the invention are that:
Present invention firstly provides broad sense sphere parallel mechanism configurations, give the branching types of broad sense parallel connection spherical mechanism,
Giving the building method of B connecting rod and the connection type of branch and dynamic and static platform, mechanism tool is there are two rotating the centre of sphere, and one
To determine the centre of sphere, one is the dynamic centre of sphere, and the dynamic centre of sphere does two-freedom rotation relative to the centre of sphere is determined, and the moving platform moving centre of sphere makees one freely
Degree rotation.The features such as mechanism had both had parallel institution bearing capacity strong, and motor dexterity is high, and can be with fitting part cascade machine
The movement of structure.
Three Degree Of Freedom broad sense sphere parallel mechanism of the present invention can apply among the healthy Robot Design of model of human ankle, no
It is only more in line with the characteristics of motion of model of human ankle, dexterity is high, and it is more accurate, reasonable to be fitted, and manufacturing cost is lower, knot
Structure is simple, easy to control.Relative to traditional 3-freedom parallel mechanism, which has significantly been weakened in fit procedure
Since model of human ankle astragalus has the human-computer interaction power generated, solves traditional 3-freedom parallel mechanism from mechanism configuration
It is fitted the problem of ankle motion interactive performance difference, more adaptable, structure is simple, low in cost.
For the present invention compared with existing chair type ectoskeleton and spring assist support ectoskeleton, the present invention has stronger adaptation
Property, each joint freedom degrees more meet human body reality, human body lower limbs can be supported to stablize support under arbitrarily complicated posture.With it is existing
Drive-type ectoskeleton is compared, and the present invention has the advantages such as low cost, low weight, low energy consumption, benefit operation, the spy being convenient for carrying
Point can support it is waited outdoors to work under other complex working conditions.
The present invention is easy to use, easy to operate, movement is flexible, and weight bearing ability is strong, securely and reliably, adapts to various people.
Detailed description of the invention
Fig. 1 is the overall structure diagram of an embodiment of the present invention.
In figure, 1, No.1 branch；11, No.1 branch No.1 connecting rod；12, No. two connecting rods of No.1 branch；13, No.1 branch three
Number connecting rod；14, No.1 branch No.1 axis；15, No. two axis of No.1 branch；16, No. three axis of No.1 branch；17, No.1 branch four
Axis；2, No. two branches；21, No. two branch No.1 connecting rods；22, No. two connecting rods of No. two branches；23, No. three connecting rods of No. two branches；24,
No. two branch No.1 axis；25, No. two axis of No. two branches；26, No. three axis of No. two branches；27, No. four axis of No. two branches；3, No. three branch
Chain；31, No. three branch No.1 connecting rods；32, No. two connecting rods of No. three branches；33, No. three connecting rods of No. three branches；34, No. three branches four
Number connecting rod；35, No. three branch No.1 axis；36, No. two axis of No. three branches；37, No. three axis of No. three branches；38, No. three branch four
Axis；39, No. five axis of No. three branches；4, silent flatform；5, moving platform；
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the application processed.
Three Degree Of Freedom broad sense sphere parallel mechanism of the present invention, comprising: moving platform, silent flatform and branch；Three Degree Of Freedom broad sense
There are two the rotation centre ofs sphere that are not overlapped for sphere parallel mechanism tool, respectively determine the centre of sphere and the dynamic centre of sphere, and between two centre ofs sphere away from
From for an adjustable definite value, collectively regarded as the moving platform moving centre of sphere does the spheric motion that freedom degree is 1, and the dynamic centre of sphere is done around the centre of sphere is determined
The spheric motion that freedom degree is 2, therefore Three Degree Of Freedom broad sense sphere parallel mechanism has 3 freedom degrees, can sufficiently adapt to, match ankle
Joint freedom degrees；Three Degree Of Freedom broad sense sphere parallel mechanism branch has two types, is respectively as follows: ABAA type branch and ABA type
Branch, two of them ABA type branch mainly control the dynamic centre of sphere around the movement for determining the centre of sphere, and an ABAA type branch mainly controls dynamic flat
The movement of the platform moving centre of sphere；All branches of Three Degree Of Freedom broad sense sphere parallel mechanism are made of A type connecting rod and Type B connecting rod, A
Type connecting rod is spherical surface connecting rod, and the axial line of both ends of the hole intersects at a point, and Type B connecting rod is broad sense spherical surface connecting rod, and Type B connecting rod exists
Double centre of sphere spherical surface connecting rods are considered as in broad sense parallel connection mechanism, i.e. for Type B connecting rod tool there are two the broad sense centre of sphere, respectively B bar determines ball
The heart and B bar move the centre of sphere, and the axial line of the both ends of the hole of Type B connecting rod not necessarily intersects in space, define two of Type B connecting rod herein
The line segment that the broad sense centre of sphere is connected to is " diplocardia line segment ", and the length of " diplocardia line segment " is " diplocardia away from ", and parallel institution requires same
" diplocardia away from " of all Type B connecting rods in one parallel institution must be equal, and " the diplocardia line segment " of all Type B connecting rods of motion process
Always it is completely coincident, i.e., all B bars determine the centre of sphere of determining that the centre of sphere is overlapped composition parallel institution, and all B bars move the centre of sphere and are overlapped composition
The dynamic centre of sphere of parallel institution.
In the robot for rehabilitation of anklebone scantling design based on above-mentioned parallel institution, according to the ginseng of patient's astragalus
Number, it may be determined that the average relative rotation centre of sphere between patient's shin bone and astragalus and the average relative rotation between astragalus and calcaneum
The centre of sphere, and can calculate the distance between two centre ofs sphere parameter can determine " diplocardia away from " of broad sense parallel connection mechanism according to this parameter, realize
Relative motion and model of human ankle movement sufficiently fitting, i.e. machine during motion fitting between mechanism moving platform and silent flatform
Structure moves the centre of sphere and is overlapped always with astragalus with the average relative rotation centre of sphere of calcaneum, and mechanism determines the centre of sphere and puts down always with shin bone and astragalus
It is overlapped with respect to the rotating ball heart.
Model of human ankle moves more reasonable equivalent model are as follows: is cooperatively connected between shin bone lower surface and astragalus upper surface
It is considered as spherical pair, is cooperatively connected between astragalus lower surface and calcaneum upper surface and is considered as spherical pair, between two spherical pair centre of sphere
Distance is a constant, which is determined by user's astragalus relative dimensions parameter.On the basis of the equivalent model, for preferably
It is fitted model of human ankle movement, proposes Three Degree Of Freedom broad sense sphere parallel mechanism configuration, it can effective solution tradition spherical surface company
The problem of the man-machine interaction difference of the insoluble robot for rehabilitation of anklebone of linkage sets for novel robot for rehabilitation of anklebone
Meter scheme provides important theoretical foundation.
When the mechanism, which is applied to robot for rehabilitation of anklebone, to be designed, not only sufficiently to meet model of human ankle movement
Freedom degree and space, the transient motion that be also sufficiently fitted between ankle-joint astragalus and calcaneum, i.e., simultaneously be fitted shin bone with
Movement between astragalus, astragalus and calcaneum sufficiently eliminates traditional spherical mechanism and is difficult to the people as caused by ankle-joint astragalus eliminated
Machine reciprocal force.
Three Degree Of Freedom broad sense sphere parallel mechanism configuration of the invention is not only used in ankle-joint, it can also be used to accurate
The fields such as operation, accurate maintenance.The distance between two centre ofs sphere (determining the centre of sphere and the dynamic centre of sphere) are adjustable definite value in the application, are
Finger can arbitrarily select this apart from size in mechanism configuration design process, not limited by other scantlings, still, once ruler
It can not be changed after very little determining manufacture completely.The A type connecting rod size provided in configuration is not all identical, and Type B connecting rod size is not yet
It is certain all identical, but " diplocardia away from " of all Type B connecting rods must be equal.
Embodiment 1
The present embodiment Three Degree Of Freedom broad sense sphere parallel mechanism (referring to Fig. 1) is by 5, two silent flatform 4, moving platform ABA types
Branch (No.1 branch 1 and No. two branches 2) and an ABAA type closed loop branch (No. three branches 3) are constituted；Silent flatform 4 is with three
The axle center space of lines of the spherical surface connecting rod of a revolute pair, i.e., possessed three side through-holes intersects at a bit；Moving platform 5 be with
The axle center space of lines of the spherical surface connecting rod of three revolute pairs, i.e., possessed three side through-holes intersects at a bit.No.1 branch 1 is
ABA type branch, wherein No.1 branch No.1 connecting rod 11 is A type connecting rod, and No. two connecting rods 12 of No.1 branch are Type B connecting rod, No.1 branch
No. three connecting rods 13 of chain are A type connecting rod；Pass through between the upper end hole of No. three connecting rods 13 in No.1 branch hole and No.1 branch of moving platform 5
No. four connections of axis 17 of No.1 branch cooperatively form revolute pair；The lower stomidium of No. three connecting rods 13 of No.1 branch and No. two connecting rods of No.1 branch
12 upper end hole cooperatively forms revolute pair by No. three connections of axis 16 of No.1 branch；The lower stomidium of No. two connecting rods 12 of No.1 branch with
The upper end hole of No.1 branch No.1 connecting rod 11 cooperatively forms revolute pair by No. two connections of axis 15 of No.1 branch；No.1 branch No.1
The lower stomidium of connecting rod 11 is connect by No.1 branch No.1 axis 14 with the No.1 branch hole of silent flatform 4 and cooperatively forms revolute pair；
No. two branches 2 are ABA type branch, wherein No. two branch No.1 connecting rods 21 are A type connecting rod；No. two companies of No. two branches
Bar 22 is Type B connecting rod；No. three connecting rods 23 of No. two branches are A type connecting rod；No. two branch holes of moving platform 5 and No. three companies of No. two branches
The upper end hole of bar 23 cooperatively forms revolute pair by No. four connections of axis 27 of No. two branches；The lower stomidium of No. three connecting rods 23 of No. two branches
It is connect with the upper end hole of No. two connecting rods 22 of No. two branches by No. three axis 26 of No. two branches and cooperatively forms revolute pair；No. two branches two
The lower stomidium of number connecting rod 22 is connect by No. two axis 25 of No. two branches with the upper end hole of No. two branch No.1 connecting rods 21 and is cooperatively formed
Revolute pair；The lower stomidium of No. two branch No.1 connecting rods 21 and No. two branch holes of silent flatform 4 are connected by No. two branch No.1 axis 24
It connects and cooperatively forms revolute pair；
No. three branches 3 are ABAA type branch, wherein No. three branch No.1 connecting rods 31 are A type connecting rod；No. two companies of No. three branches
Bar 32 is A type connecting rod；No. three connecting rods 33 of No. three branches are Type B connecting rod；No. four connecting rods 34 of No. three branches are A type connecting rod；Moving platform 5
No. three branch holes and the upper end hole of No. four connecting rods 34 of No. three branches connect by No. five axis 39 of No. three branches and cooperatively form rotation
It is secondary；The upper end hole of No. three connecting rods 33 of lower stomidium and No. three branches of No. four connecting rods 34 of No. three branches passes through No. four axis 38 of No. three branches
Connection cooperatively forms revolute pair；The upper end hole of No. two connecting rods 32 of lower stomidium and No. three branches of No. three connecting rods 33 of No. three branches passes through
No. three connections of axis 37 of No. three branches cooperatively form revolute pair；The lower stomidium of No. two connecting rods 32 of No. three branches and No. three branch No.1s connect
The upper end hole of bar 31 cooperatively forms revolute pair by No. two connections of axis 36 of No. three branches；The lower stomidium of No. three branch No.1 connecting rods 31
It is connect with No. three branch holes of silent flatform 4 by No. three branch No.1 axis 35 and cooperatively forms revolute pair；
No.1 branch No.1 axis 14, No. two axis 25 of the branch of branch No.1 axis 24, two of No. two axis of No.1 branch 15, two,
The axle center space of lines of No. two axis of 35, No. three branches of No. three branch No.1 axis No. three axis 37 of 36, No. three branches intersects at a bit, this point
As Three Degree Of Freedom broad sense sphere parallel mechanism determines the centre of sphere；17, No. two No. three axis 16 of No.1 branch, No. four axis of No.1 branch branch
The axial space of 26, No. two branches of No. three axis of chain No. four axis No. four axis of 27, No. three branches No. five axis 39 of 38, No. three branches intersects at
A bit, this point is the dynamic centre of sphere of Three Degree Of Freedom broad sense sphere parallel mechanism.
The working principle of Three Degree Of Freedom broad sense sphere parallel mechanism is as follows:
The branch No.1 connecting rod 31 of branch No.1 connecting rod 21, three of No.1 branch No.1 connecting rod 11, two is used as Three Degree Of Freedom
Three driving links of broad sense sphere parallel mechanism, three rotation angles relative to silent flatform 4 are the input quantity of the mechanism,
I.e. there are three spatial degrees of freedom (dynamic two degrees of freedom spheric motion of the centre of sphere around centering, moving platform movings for the moving platform tool of the mechanism
The single-degree-of-freedom spheric motion of the centre of sphere)；No.1 branch No.1 connecting rod 11 and No. two branch No.1 connecting rods 21 drive No.1 branch respectively
No. two connecting rods 22 of No. two connecting rods 12 of chain and No. two branches, due to 11, No. two silent flatform 4, No.1 branch No.1 connecting rod branch No.1s
Connecting rod 21 is A type spherical surface connecting rod, therefore limits the " B of No. two connecting rods 22 of No. two connecting rods 12 of Type B connecting rod No.1 branch and No. two branches
Bar determines the centre of sphere " it coincides with a bit；Since " diplocardia away from " of all Type B connecting rods of the spherical surface parallel connected link mechanism of broad sense is equal, and it is dynamic
No. three connecting rods 33 of platform No. three connecting rods 23 of 5, No. two branches and No. three branches are A type spherical surface connecting rod, therefore limit Type B connecting rod one
" B bar moves the centre of sphere " of number No. two connecting rods 22 of No. two connecting rods 12 of branch and No. two branches coincides with a bit, at this time No.1 branch two
Movement between No. two connecting rods 22 of connecting rod 12 and No. two branches is the relative rotation of " diplocardia line segment " after coincidence；It is quiet at this time
Platform 4, No.1 branch No.1 connecting rod 11, No. two connecting rods of No.1 branch No. two connecting rods 22 of 12, No. two branches and No. two branch No.1s
Spherical five-bar mechanisms are constituted between connecting rod 21, spherical five-bar mechanisms freedom degree is 2, i.e. No.1 branch No.1 connecting rod 11 and No. two
The input angle of branch No.1 connecting rod 21 determines " the dynamic centre of sphere " spatial position of Three Degree Of Freedom broad sense sphere parallel mechanism, simultaneously
Illustrate that the dynamic centre of sphere has 2 freedom degrees；No. three branch No.1 connecting rods No. two connecting rods 32 of 31, No. three branches are that A type spherical surface connects
Bar, thus which limit " B bar determines the centre of sphere " of the connecting rod 33 of branch three of Type B connecting rod three with No. two connecting rods 12 of No.1 branch and two
" B bar determines the centre of sphere " of number No. two connecting rods 22 of branch is overlapped；No. four connecting rods 34 of No. three branches, No. three connecting rods of No.1 branch 13, two
No. three connecting rods 23 of branch and moving platform 5 are A type spherical surface connecting rod, and which limit " the B of Type B connecting rod No. three connecting rods 33 of No. three branches
Bar moves the centre of sphere " it is overlapped with " B bar moves the centre of sphere " of No. two connecting rods 22 of No. two connecting rods 12 of No.1 branch and No. two branches；Therefore No. three branch
The spatial movement of No. three connecting rods 33 of chain is the rotation around " diplocardia line segment "；If driving link No.1 branch No.1 connecting rod 11 and No. two branch
The input of chain No.1 connecting rod 21 is given, then " diplocardia line segment " spatial pose of broad sense sphere parallel mechanism is fixed；Silent flatform at this time
4,31, No. three branches of No. three branch No.1 connecting rods connecting rod 33 of branch three of No. two connecting rods 32, three composition spherical four-bar linkage, four
Linkage has 1 freedom degree, i.e. No. three branch No.1 connecting rods 31 drive No. three branches three by No. two connecting rods 32 of No. three branches
Number connecting rod 33 is rotated around " the diplocardia line segment " of coincidence；No. three connecting rods 33 of No. three branches are by No. four connecting rods 34 of No. three branches in A type
Under the limitation of No. three connecting rods 23 of No. three connecting rods 13 of connecting rod No.1 branch and No. two branches, moving platform 5 is driven to make ball around " the dynamic centre of sphere "
Face movement.
To sum up, corner input control " the dynamic ball of driving link No.1 branch No.1 connecting rod 11 and No. two branch No.1 connecting rods 21
There are two freedom degrees around its tool of the spheric motion of " determining the centre of sphere " for the heart ", when the mechanism is designed for model of human ankle healing robot
When middle, the mainly relative motion between fitting user's ankle-joint shin bone and astragalus；The corner of No. three branch No.1 connecting rods 31
Input control moving platform 5 has 1 freedom degree around the spheric motion of " the dynamic centre of sphere ", is mainly fitted user's ankle-joint astragalus
Relative motion between calcaneum；The mechanism integrally has 3 freedom degrees, therefore broad sense sphere parallel mechanism is relative to spherical surface parallel connected
Mechanism, more can accurately be fitted ankle motion, significantly reduce the human-computer interaction power due to caused by mechanism configuration.
The position in the hole of moving platform and connecting rod cooperation, can be considered as oblique aperture, the axis in three of them hole in the present embodiment
Space is met at a bit, as shown in Figure 1.Silent flatform is similarly.Position of opening and all scantlings are in order to meet on mechanism rod
The junction relationship of all revolute pair axial lines.
The present invention does not address place and is suitable for the prior art.
Claims (2)
1. a kind of Three Degree Of Freedom broad sense sphere parallel mechanism, comprising: moving platform, silent flatform and branch；It is characterized in that,
Parallel institution tool respectively determines the centre of sphere and the dynamic centre of sphere, and between two centre ofs sphere there are two the rotation centre of sphere not being overlapped
Distance is an adjustable definite value, and the collectively regarded as moving platform moving centre of sphere does the spheric motion that freedom degree is 1, and the dynamic centre of sphere is around determining the centre of sphere
Do the spheric motion that freedom degree is 2；Three Degree Of Freedom broad sense sphere parallel mechanism branch has two types, is respectively as follows: for controlling
Brake the platform moving centre of sphere movement ABAA type branch and for controlling ABA type branch of the dynamic centre of sphere around the movement for determining the centre of sphere,
ABA type branch has two, and ABAA type branch has one；All branches are made of A type connecting rod and Type B connecting rod, and A type connecting rod is ball
The axial line of face connecting rod, both ends of the hole intersects at a point, and Type B connecting rod is considered as double centre of sphere spherical surface connecting rods in broad sense parallel connection mechanism,
I.e. there are two the broad sense centre ofs sphere for Type B connecting rod tool, and respectively B bar determines the centre of sphere and B bar moves the centre of sphere, and two for defining Type B connecting rod herein are wide
The line segment that the adopted centre of sphere is connected to is " diplocardia line segment ", and the length of " diplocardia line segment " is " diplocardia away from ", in same parallel institution
" diplocardia away from " of all Type B connecting rods is equal, and " the diplocardia line segment " of all Type B connecting rods of motion process is completely coincident always, i.e. institute
The centre of sphere of determining that centre of sphere coincidence forms parallel institution is determined by B bar, and all B bars move the dynamic centre of sphere that the centre of sphere is overlapped composition parallel institution.
2. a kind of application of parallel institution described in claim 1, which is applied in robot for rehabilitation of anklebone, root
According to the parameter of patient's astragalus, the average relative rotation centre of sphere between patient's shin bone and astragalus is determined and between astragalus and calcaneum
The centre of sphere is averagely relatively rotated, and calculates the distance between two rotation centre ofs sphere parameter, parallel institution is determined according to this distance parameter
" diplocardia away from " realizes relative motion during motion fitting between parallel institution moving platform and silent flatform and model of human ankle
Movement sufficiently fitting, i.e. parallel institution move the centre of sphere and are overlapped always with astragalus with the average relative rotation centre of sphere of calcaneum, parallel institution
Determine the centre of sphere to be overlapped with shin bone with the average relative rotation centre of sphere of astragalus always.
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