CN205521367U - Three degree of freedom pivoted parallel mechanism - Google Patents
Three degree of freedom pivoted parallel mechanism Download PDFInfo
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- CN205521367U CN205521367U CN201620077712.8U CN201620077712U CN205521367U CN 205521367 U CN205521367 U CN 205521367U CN 201620077712 U CN201620077712 U CN 201620077712U CN 205521367 U CN205521367 U CN 205521367U
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- connecting rod
- follower link
- drive connecting
- revolute pairs
- moving platform
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- 230000015572 biosynthetic process Effects 0.000 claims description 3
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- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 210000000323 shoulder joint Anatomy 0.000 description 1
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Abstract
The utility model provides a three degree of freedom pivoted parallel mechanism, including the base, move platform, drive arrangement, three initiative connecting rod and three driven connection rod. Wherein shared space is independent when three driven connection rod and three initiative link motion, does not produce the interference each other, have complete sphere working space, solved effectively among the prior art when move platform each moving part when doing the sphincteral movement easy interfere and series connection sphere mechanism move produce when the top " is crossed " to the platform block dead problem owing to " universal joint deadlock ".
Description
Technical field
The utility model relates to a kind of minority carrier generation lifetime, the parallel institution that a kind of Three Degree Of Freedom rotates.
Background technology
Spherical mechanism is the bridge of contact plane mechanism and space mechanism, and it is the mechanism of a class specific type.When mechanism kinematic, end effector reference point keeps moving on the sphere of constant distance with fixing point at one.Spherical mechanism has compact conformation, flexibility and reliability, working space is big, be not susceptible to plurality of advantages such as interfering, kinematic calculation is simple, control is easy.Spherical mechanism has important using value in engineering, have broad application prospects, such as wrist joint, mechanical digital formula measuring machine, satellite orientation device, sun tracker, radio telescope, the rotary table of machining and part positioning device as robot in departments such as aerospace, medical treatment, electronics, machineries.In terms of medical engineering, spherical mechanism can be used as laparoscopic surgery robot, flexible eye, the laser scanning device of dentognathic model, the reparation etc. of the injection device of retina anti-coagulants and ankle-joint and shoulder joint in ophthalmologic operation.For promoting and expand the application of spherical mechanism, carry out theoretical and performance and design theory and method thereof the research of spherical mechanism and there is important theory significance and using value.
Structurally there is the inherent shortcoming of " universal joint deadlock " in traditional series connection spherical mechanism, the superposition improved quality because of its driving-chain causes its acceleration undesirable, and owing to the impact of error accumulation often leads to sphere track and localization inaccuracy, the scientific and technological progress demand for high speed accurate positioning equipment increasingly cannot be met.Parallel institution, for serial mechanism, has that rigidity is big, Stability Analysis of Structures, bearing capacity are strong, precision is high, motional inertia is little, inverse kinematic easily sues for peace advantages such as being easy to real-time control, has broad application prospects.
Parallel institution is due to the complexity of its structure, and not only its kinematical equation often exists coupled relation in various degree, is also easier to the interference problem that collides, the most generally cannot realize complete sphere working space during mechanism driving.Thus, the maximization of working space to be pursued when designing parallel institution, the problem such as collision free and Singularity Analysis that it is also contemplated that is to be optimized design to frame for movement, the shape of appropriate design rod member on the premise of not destroying its original motion transfer law, the independence in shared space when moving in the hope of each rod member.
Accordingly, it would be desirable to a kind of new technical scheme is to solve the problems referred to above.
Utility model content
In order to solve the problems of the prior art, the parallel institution that the Three Degree Of Freedom that the utility model avoids each moving component to interfere during providing the rapid movement that a kind of reference center point making moving platform is capable of in complete sphere rotates.
For reaching above-mentioned purpose, the parallel institution that the utility model Three Degree Of Freedom rotates can adopt the following technical scheme that
The parallel institution that a kind of Three Degree Of Freedom rotates, including pedestal, moving platform, three follower link of connection moving platform, three drive connecting rod connecting follower link and three driving means driving drive connecting rod to rotate；Described pedestal is provided with support, and described three driving means are installed on support, and three driving means form three the first revolute pairs with three drive connecting rod, and these three first revolute pairs lay respectively at three trisection points of same circumference；Described three drive connecting rod form three the second revolute pairs with three follower link junctions；Three follower link junction with moving platform respectively forms three the 3rd revolute pairs, and these three the 3rd revolute pairs lay respectively at three trisection points of same circumference；Totally nine articles of axis of described three the first revolute pairs, three the second revolute pairs and three the 3rd revolute pairs intersect at a point all the time；Described three drive connecting rod and three follower link are arc line shaped, and each follower link is contained in the enveloping solid of drive connecting rod formation of corresponding connection all the time, and moving platform is contained in the enveloping solid that three follower link are formed all the time.
The parallel institution that the utility model Three Degree Of Freedom rotates is by arranging three follower link, three drive connecting rod, and each follower link is contained in the enveloping solid that the drive connecting rod of corresponding connection is formed all the time, moving platform is contained in the enveloping solid that three follower link are formed all the time, make the independence in shared space when three follower link and three drive connecting rod motions, mutually do not produce interference, compared with traditional spherical mechanism in parallel, achieve complete sphere working space, effectively solve the problem stuck due to " universal joint deadlock " produced in prior art when moving platform each moving component when doing spheric motion is easily interfered and spherical mechanism moving platform of connecting " crosses top ".
For reaching above-mentioned purpose, the parallel institution that the utility model Three Degree Of Freedom rotates also can adopt the following technical scheme that
The parallel institution that a kind of Three Degree Of Freedom rotates, including pedestal, moving platform, three follower link of connection moving platform, three drive connecting rod connecting follower link and three driving means driving drive connecting rod to rotate；Described pedestal is provided with support, and described three driving means are installed on support, and three driving means form three the first revolute pairs with three drive connecting rod, and these three first revolute pairs lay respectively at three trisection points of same circumference；Described three drive connecting rod form three the second revolute pairs with three follower link junctions；Three follower link junction with moving platform respectively forms three the 3rd revolute pairs, and these three the 3rd revolute pairs lay respectively at three trisection points of same circumference；Totally nine articles of axis of described three the first revolute pairs, three the second revolute pairs and three the 3rd revolute pairs intersect at a point all the time；Described three drive connecting rod and three follower link are arc line shaped, and each follower link is always positioned in the circumference range that the corresponding drive connecting rod camber line connected is formed, and described moving platform is always positioned in the circumference range that each follower link camber line is formed.
Accompanying drawing explanation
Fig. 1 is the stereogram of the parallel institution that the utility model Three Degree Of Freedom rotates；
Fig. 2 is drive connecting rod and the connection diagram of follower link in the utility model；
Fig. 3 is the stereogram of moving platform；
Fig. 4 is the attitude figure that in the parallel institution that the utility model Three Degree Of Freedom rotates, moving platform normal is positioned at horizontal plane；
Fig. 5 is the attitude figure that in the parallel institution that the utility model Three Degree Of Freedom rotates, moving platform is positioned at working space top.
Detailed description of the invention
Refer to shown in Fig. 1 to Fig. 5, the utility model discloses the parallel institution that a kind of Three Degree Of Freedom rotates, including pedestal 1, moving platform 2, connect three follower link 3 of moving platform 2, three drive connecting rod 4 connecting follower link 3 and three driving means 5 (driving means in present embodiment is servomotor or stepper motor) driving drive connecting rod 4 to rotate.Described pedestal 1 is provided with support 11, and described three driving means 5 are installed on support 11, and three driving means 5 and three drive connecting rod 4 form three the first revolute pairs 61, and these three the first revolute pairs 61 lay respectively at three trisection points of same circumference.Described three drive connecting rod 4 and three follower link 3 junctions form three the second revolute pairs 62；Three follower link 3 junction with moving platform 2 respectively forms three the 3rd revolute pairs 63, and these three the 3rd revolute pairs 63 lay respectively at three trisection points of same circumference.Totally nine articles of axis of 61, three the second revolute pairs 62 of described three the first revolute pairs and three the 3rd revolute pairs 63 intersect at a point all the time.Described three drive connecting rod 4 and three follower link 3 are arc line shaped, and each follower link 3 is contained in the enveloping solid of drive connecting rod 4 formation of corresponding connection all the time, and moving platform 2 is contained in the enveloping solid that three follower link 3 are formed all the time.Imply that: each follower link 3 is always positioned in the circumference range that corresponding drive connecting rod 4 camber line connected is formed, and described moving platform 2 is always positioned in the circumference range that each follower link 3 camber line is formed.Such design makes the rapid movement that the reference center point of moving platform 2 is capable of in complete sphere, and its moving platform 2 can move continuously when " crossing top ".Certainly, in order to enable reference center point rapid movement in complete sphere of moving platform 2, the position of described pedestal 1 can not to moving platform 2 and actively, follower link cause interference, do not repeat them here.In this scenario, the space independence that 3, three drive connecting rod 4 of three follower link are shared when moving, mutually do not produce interference, and adjust pedestal 1 and the position of moving platform 2 and size also will not to actively, the motion of follower link cause interference, effectively solve each moving component in prior art and easily interfere and the problem stuck due to " universal joint deadlock " of generation time spherical mechanism moving platform of connect " crosses top ".And by the displaying of 2 three poses of moving platform in Fig. 1, Fig. 4, Fig. 5, moving platform 2 is capable of sphere working space bottom, horizontal level, the location on top.
Described moving platform 2 includes three connecting portions 22 extended obliquely outside flat main part 21 and main body 21, described three connecting portions 22 connect three follower link 3 respectively, effectively make good use of the space of each position of moving platform 2, further such that the independence in shared space when 3, three drive connecting rod 4 of three follower link are moved, the most do not produce interference.
Refer to shown in Fig. 2 and Fig. 3 in the present embodiment, link design becomes 1/4th ellipses, both the interference and collision problem of drive connecting rod 2 and motor 5 main shaft had been avoided, it also avoid the interference and collision problem between follower link 3 and moving platform 4, thus realize the global face working space of moving platform 4 reference center point.In order to avoid interference with problem, in present embodiment, the design radius of curvature of preferred drive connecting rod 2 and follower link 3 has a following relation:
r21>r22+d2
r31>r32+d3
r22>r31+d3
The camber line formed during wherein r21 is drive connecting rod 2 and the radius of curvature of first adjacent one end of revolute pair 61；R22 is the camber line and the radius of curvature of second adjacent one end of revolute pair 62 formed in drive connecting rod 2；D2 is the thickness of drive connecting rod 2.R31 is the camber line and the radius of curvature of second adjacent one end of revolute pair 62 formed in follower link 3；R32 is the camber line and the radius of curvature of the 3rd adjacent one end of revolute pair 63 formed in follower link 3；D3 is the thickness of follower link 3.It addition, the distance r4 < r32 of described 3rd 63 to three the 3rd revolute pair crossing point of axes of revolute pair.Described support 11 is obliquely outward from pedestal 1, and described driving means 5 is installed on outside support 11, and described drive connecting rod 2 is installed on inside support 11.
Claims (6)
1. the parallel institution that a Three Degree Of Freedom rotates, it is characterised in that: include pedestal, moving platform, three follower link of connection moving platform, three drive connecting rod connecting follower link and three driving means driving drive connecting rod to rotate；Described pedestal is provided with support, and described three driving means are installed on support, and three driving means form three the first revolute pairs with three drive connecting rod, and these three first revolute pairs lay respectively at three trisection points of same circumference；Described three drive connecting rod form three the second revolute pairs with three follower link junctions；Three follower link junction with moving platform respectively forms three the 3rd revolute pairs, and these three the 3rd revolute pairs lay respectively at three trisection points of same circumference；Totally nine articles of axis of described three the first revolute pairs, three the second revolute pairs and three the 3rd revolute pairs intersect at a point all the time；Described three drive connecting rod and three follower link are arc line shaped, and each follower link is contained in the enveloping solid of drive connecting rod formation of corresponding connection all the time, and moving platform is contained in the enveloping solid that three follower link are formed all the time.
The parallel institution that Three Degree Of Freedom the most according to claim 1 rotates, it is characterised in that: described moving platform includes that three connecting portions extended obliquely outside flat main part and main body, described three connecting portions connect three follower link respectively.
The parallel institution that Three Degree Of Freedom the most according to claim 2 rotates, it is characterised in that: the design radius of curvature of drive connecting rod (2) and follower link (3) has a following relation:
r21>r22+d2
r31>r32+d3
r22>r31+d3
The camber line formed during wherein r21 is drive connecting rod and the radius of curvature of the adjacent one end of the first revolute pair；R22 is the camber line and the radius of curvature of the adjacent one end of the second revolute pair formed in drive connecting rod；D2 is the thickness of drive connecting rod；R31 is the camber line and the radius of curvature of the adjacent one end of the second revolute pair formed in follower link；R32 is the camber line and the radius of curvature of the 3rd adjacent one end of revolute pair formed in follower link；D3 is the thickness of follower link.
The parallel institution that Three Degree Of Freedom the most according to claim 3 rotates, it is characterised in that: the distance r4 < r32 of described 3rd revolute pair to three the 3rd revolute pair crossing point of axes.
The parallel institution that Three Degree Of Freedom the most as claimed in any of claims 1 to 4 rotates, it is characterised in that: described support stretches out from basement tilt, and described driving means is installed on stent outer, and described drive connecting rod is installed on inside support.
6. the parallel institution that a Three Degree Of Freedom rotates, it is characterised in that: include pedestal, moving platform, three follower link of connection moving platform, three drive connecting rod connecting follower link and three driving means driving drive connecting rod to rotate；Described pedestal is provided with support, and described three driving means are installed on support, and three driving means form three the first revolute pairs with three drive connecting rod, and these three first revolute pairs lay respectively at three trisection points of same circumference；Described three drive connecting rod form three the second revolute pairs with three follower link junctions；Three follower link junction with moving platform respectively forms three the 3rd revolute pairs, and these three the 3rd revolute pairs lay respectively at three trisection points of same circumference；Totally nine articles of axis of described three the first revolute pairs, three the second revolute pairs and three the 3rd revolute pairs intersect at a point all the time；Described three drive connecting rod and three follower link are arc line shaped, and each follower link is always positioned in the circumference range that the corresponding drive connecting rod camber line connected is formed, and described moving platform is always positioned in the circumference range that each follower link camber line is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620077712.8U CN205521367U (en) | 2016-01-26 | 2016-01-26 | Three degree of freedom pivoted parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620077712.8U CN205521367U (en) | 2016-01-26 | 2016-01-26 | Three degree of freedom pivoted parallel mechanism |
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| CN205521367U true CN205521367U (en) | 2016-08-31 |
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| CN201620077712.8U Expired - Fee Related CN205521367U (en) | 2016-01-26 | 2016-01-26 | Three degree of freedom pivoted parallel mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN112829849A (en) * | 2021-01-12 | 2021-05-25 | 北京交通大学 | Four-foot walking robot |
| CN114055436A (en) * | 2021-11-19 | 2022-02-18 | 苏州大学 | Portable full-coupling parallel connection type continuum mechanical arm |
| CN115816434A (en) * | 2022-11-23 | 2023-03-21 | 南开大学 | Series-parallel robot and surgical equipment |
| CN117260988A (en) * | 2023-09-06 | 2023-12-22 | 中国矿业大学 | Multi-parallel optical mirror surface processing device |
-
2016
- 2016-01-26 CN CN201620077712.8U patent/CN205521367U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN112829849A (en) * | 2021-01-12 | 2021-05-25 | 北京交通大学 | Four-foot walking robot |
| CN112829849B (en) * | 2021-01-12 | 2022-03-08 | 北京交通大学 | Four-foot walking robot |
| CN114055436A (en) * | 2021-11-19 | 2022-02-18 | 苏州大学 | Portable full-coupling parallel connection type continuum mechanical arm |
| CN115816434A (en) * | 2022-11-23 | 2023-03-21 | 南开大学 | Series-parallel robot and surgical equipment |
| CN117260988A (en) * | 2023-09-06 | 2023-12-22 | 中国矿业大学 | Multi-parallel optical mirror surface processing device |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20180126 |
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| CF01 | Termination of patent right due to non-payment of annual fee |