CN1631612A - Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide - Google Patents
Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide Download PDFInfo
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- CN1631612A CN1631612A CN 200510023149 CN200510023149A CN1631612A CN 1631612 A CN1631612 A CN 1631612A CN 200510023149 CN200510023149 CN 200510023149 CN 200510023149 A CN200510023149 A CN 200510023149A CN 1631612 A CN1631612 A CN 1631612A
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Abstract
The invention discloses a sphere surface three degrees of freedom parallel attitude control mechanism with ring track including a ring track linked with moving platform by three branch mechanisms of the same structure. Each branch is formed by that one end of primary connects rod links with the ball joint at one edge of the moving platform or with primary rotor pair and the other end links with secondary rotor pair; one end of the secondary connection rod links with secondary rotor pair and the other end links with sliding block, the three sliding blocks is installed on the ring track moving along the track. All the rotor axis of rotor pairs in each branch cross the same point. The invention is able to acquire sphere three dimension rotating and is easy to control, of low motion weight, large working space, fine dynamic performance, high rigidity and simple structure, especially the 360 degrees' rotating around the Z axis. It is adapted to kinds of attitude control devices.
Description
Technical field
The invention belongs to machinery manufacturing technology field, particularly a kind of spherical three-degree-of-freedom of band shape guide rail attitude coutrol mechanism in parallel.
Background technology
Parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more, compares with serial mechanism, and parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in the aspect such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor except that parallel robot.
Spherical three-degree-of-freedom parallel mechanism is a class very important in the lower-mobility parallel institution, can realize three rotational freedoms around mechanism's center of rotation.This mechanism can be used as joints such as the waist, shoulder, hip, wrist of robot, also can be used for satellite antenna and camera positioning device, has important use and is worth.Spherical three-degree-of-freedom parallel mechanism is representative with the 3-3R sphere parallel mechanism, and its architectural characteristic meets at a bit for the axis of all revolute pairs, and its moving platform can be realized freely rotating around this intersection point.Research to spherical three-degree-of-freedom parallel mechanism both at home and abroad acquires a great achievement, the video camera automatic positioning equipment that is called " dexterous eye " based on angle bench-type sphere parallel mechanism that the seminar that leads as Canadian professor Gosselin develops; Domestic professor Huang Tian of University Of Tianjin leader's the development 3-3R of seminar numerical control turntable etc.
Summary of the invention
The object of the present invention is to provide a kind of spherical three-degree-of-freedom attitude coutrol mechanism in parallel of band shape guide rail, have complete symmetrical structure and good kinematics performance, high rigidity and bigger working space; But the sphere Three dimensional rotation of implementation space particularly can realize the rotation around 360 degree of Z axle.
The technical solution adopted for the present invention to solve the technical problems is: comprise that ring-shaped guide rail is respectively by three identical in structure branches, be connected with the moving platform above the ring-shaped guide rail, said each branch is that an end of first connecting rod is connected with the ball pivot at an angle of moving platform respectively, or be connected with first revolute pair, the other end of the first connecting rod of each branch is connected with second revolute pair respectively, one end of the second connecting rod of each branch is connected with second revolute pair respectively, the other end of the second connecting rod of each branch is connected with separately slide block respectively, three slide blocks all are contained on the ring-shaped guide rail, three slide blocks can only move along ring-shaped guide rail, and the axes intersect of all revolute pairs in three branches is in a bit.
The useful effect that the present invention has is: moving platform of the present invention can be realized the sphere Three dimensional rotation, have the control of being easy to, moving-mass is low, working space is big, dynamic property is good, have the rigidity height, characteristics such as simple in structure, particularly can realize to be widely used as various attitude-control devices around the rotation of Z axle 360 degree.
Description of drawings
Fig. 1 is the spherical three-degree-of-freedom of first a kind of band shape guide rail attitude coutrol mechanism schematic diagram in parallel;
Fig. 2 is the spherical three-degree-of-freedom of second a kind of band shape guide rail attitude coutrol mechanism schematic diagram in parallel.
Among the figure: 1, ring-shaped guide rail, 2, slide block, 3, connecting rod, 4, revolute pair, 5, connecting rod, 6, ball pivot, 7, moving platform, 8, revolute pair.
The specific embodiment
Fig. 1 is first embodiment of the present invention, promptly the ring-shaped guide rail 1 of this mechanism is respectively by three identical in structure branches, be connected with the moving platform 7 above the ring-shaped guide rail 1, said each branch is that an end of first connecting rod 5 is connected with the ball pivot 6 at an angle of moving platform 7 respectively, the other end of the first connecting rod 5 of each branch is connected with second revolute pair 4 respectively, one end of the second connecting rod 3 of each branch is connected with second revolute pair 4 respectively, the other end of the second connecting rod 3 of each branch is connected with separately slide block 2 respectively, three slide blocks 2 all are contained on the ring-shaped guide rail 1, three slide blocks 2 can only move along ring-shaped guide rail 1, and the axis of all three revolute pairs meets at a bit in three branches.
Fig. 2 is second embodiment of the present invention, promptly the ring-shaped guide rail 1 of this mechanism is respectively by three identical in structure branches, be connected with the moving platform 7 above the ring-shaped guide rail 1, said each branch is that an end of first connecting rod 5 is connected with first revolute pair 8 at an angle of moving platform 7 respectively, the other end of the first connecting rod 5 of each branch is connected with second revolute pair 4 respectively, one end of the second connecting rod 3 of each branch is connected with second revolute pair 4 respectively, the other end of the second connecting rod 3 of each branch is connected with separately slide block 2 respectively, three slide blocks 2 all are contained on the ring-shaped guide rail 1, three slide blocks 2 can only move along ring-shaped guide rail 1, and the axis of all six revolute pairs in three branches meets at a bit.
More than independent driver all is housed on each slide block 2.
Spherical three-degree-of-freedom involved in the present invention attitude coutrol mechanism in parallel has complete symmetrical structure and good kinematics performance, high rigidity and bigger working space; But the sphere Three dimensional rotation of implementation space particularly can realize the rotation around 360 degree of Z axle.
Claims (1)
1, a kind of spherical three-degree-of-freedom of band shape guide rail attitude coutrol mechanism in parallel, it is characterized in that: ring-shaped guide rail (1) is respectively by three identical in structure branches, be connected with the moving platform (7) above the ring-shaped guide rail (1), said each branch is that an end of first connecting rod (5) is connected with the ball pivot (6) at an angle of moving platform (7) respectively, or be connected with first revolute pair (8), the other end of the first connecting rod of each branch (5) is connected with second revolute pair (4) respectively, one end of the second connecting rod of each branch (3) is connected with second revolute pair (4) respectively, the other end of the second connecting rod of each branch (3) is connected with separately slide block (2) respectively, three slide blocks (2) all are contained on the ring-shaped guide rail (1), three slide blocks (2) can only move along ring-shaped guide rail (1), and the axes intersect of all revolute pairs in three branches is in a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100231492A CN100363151C (en) | 2005-01-04 | 2005-01-04 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100231492A CN100363151C (en) | 2005-01-04 | 2005-01-04 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1631612A true CN1631612A (en) | 2005-06-29 |
| CN100363151C CN100363151C (en) | 2008-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100231492A Expired - Fee Related CN100363151C (en) | 2005-01-04 | 2005-01-04 | Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide |
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| CN (1) | CN100363151C (en) |
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| CN100348376C (en) * | 2005-12-06 | 2007-11-14 | 河北工业大学 | Two-free-degree decoupling spherical parallel mechanism |
| CN102275163A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Spherical parallel movement mechanism |
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
| CN103158157A (en) * | 2013-04-01 | 2013-06-19 | 天津工业大学 | Simulated joint mechanism with radial direction buffering function |
| CN103286771A (en) * | 2013-05-23 | 2013-09-11 | 天津大学 | Spatial three-rotational-freedom parallel connecting mechanism |
| CN103753234A (en) * | 2014-01-03 | 2014-04-30 | 清华大学 | Novel multi-axis linkage device |
| CN104057443A (en) * | 2014-07-10 | 2014-09-24 | 北华航天工业学院 | Planar two-degree-of-freedom parallel robot mechanism capable of rotating by 360 degrees |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
| CN104308834A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Symmetric three-rotation parallel mechanism |
| CN104308833A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation |
| CN104325457A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel symmetric three-rotation parallel mechanism |
| CN104325456A (en) * | 2014-10-24 | 2015-02-04 | 天津大学 | Novel two-rotation parallel mechanism |
| CN104493825A (en) * | 2014-10-29 | 2015-04-08 | 北京理工大学 | Cooperating device for micro-nano operating robot and operating method for microinjection |
| CN104985591A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN105291092A (en) * | 2015-11-11 | 2016-02-03 | 山东理工大学 | Self-centering three-rotation parallel robot with plane pair |
| CN105563516A (en) * | 2016-03-24 | 2016-05-11 | 褚宏鹏 | Spherical two-freedom-degree robot joint having large work space |
| CN105583558A (en) * | 2016-03-24 | 2016-05-18 | 褚宏鹏 | Novel two-rotation welding robot joint |
| CN105598952A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Large-working space spherical two-rotation parallel mechanism |
| CN105599003A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Novel two-rotation robot joint |
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| CN105598997A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Spherical two-degree-of-freedom parallel robot joint |
| CN105619391A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Two-degree-of-freedom in-parallel mechanism |
| CN105619448A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Multi-branched-chain coupling two-rotation robot joint |
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| CN114603538A (en) * | 2022-05-16 | 2022-06-10 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical 3R rotation parallel mechanism |
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| CN102275163A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Spherical parallel movement mechanism |
| CN102275163B (en) * | 2011-07-08 | 2013-07-17 | 常州大学 | Spherical parallel movement mechanism |
| CN102773856A (en) * | 2012-08-29 | 2012-11-14 | 江西省机械科学研究所 | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion |
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| CN105619448A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Multi-branched-chain coupling two-rotation robot joint |
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| CN113950395A (en) * | 2019-06-05 | 2022-01-18 | 国立大学法人九州工业大学 | Link actuating device |
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| CN111687886A (en) * | 2020-06-28 | 2020-09-22 | 上海道简机电科技有限公司 | 3-DOF bionic eye movement device based on magnetic suspension driving and movement method thereof |
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| CN114603538A (en) * | 2022-05-16 | 2022-06-10 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical 3R rotation parallel mechanism |
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