CN209425435U - A kind of pure one-rotation parallel mechanism of two degrees of freedom - Google Patents
A kind of pure one-rotation parallel mechanism of two degrees of freedom Download PDFInfo
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- CN209425435U CN209425435U CN201920114960.9U CN201920114960U CN209425435U CN 209425435 U CN209425435 U CN 209425435U CN 201920114960 U CN201920114960 U CN 201920114960U CN 209425435 U CN209425435 U CN 209425435U
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Abstract
A kind of pure one-rotation parallel mechanism of two degrees of freedom of the utility model design is made of two sub-chains of two platforms of moving platform, fixed platform and connection.First sub-chain is hybrid motion chain, and the second revolute pair of connecting again behind the loop circuit formed by the single open chain that the first cylindrical pair, first movement pair and the first universal hinge are constituted with the first revolute pair forms, and controls a rotational freedom of moving platform；Second sub-chain is single open chain, is made of the second cylindrical pair, the second prismatic pair and the second universal hinge, which control another rotational freedoms of moving platform.It is in one-to-one control planning between the output speed of mechanism moving platform and main diarthrodial input speed, the kinematic decoupling for solving general parallel institution is poor, the problem of control design case difficulty since the velocity Jacobian matrix of the mechanism is diagonal matrix.
Description
Technical field
The utility model relates to space mechanism, robot field more particularly to a kind of pure rotating parallels of two degrees of freedom
Structure.
Background technique
Relative to serial mechanism, parallel institution is with compact-sized, rigidity is big, bearing capacity is strong, precision is high, cumulative errors
The advantages that small, is widely used in each field.Parallel institution can be divided into six-degree-of-freedom parallel connection mechanism and minority carrier generation lifetime,
Compared with six-degree-of-freedom parallel connection mechanism, minority carrier generation lifetime has structure simple, and cost is relatively low for processing and manufacturing, working space
The advantages that big, wherein the pure one-rotation parallel mechanism of two degrees of freedom is one important branch of minority carrier generation lifetime, medical instrument,
Before the field that video camera, telescope positioning, antenna and solar panel etc. need pose to adjust has very big application
Scape.However, at present all there is the trajectory planning difficulty by coupling caused by strong and be not easy in most of two one-rotation parallel mechanism
The disadvantages of control, such as application No. is CN201610305762.1 it is a kind of there are the rotations of the two degrees of freedom of two continuous rotation axis simultaneously
The Chinese utility model patent of online structure and application No. is a kind of four branches of CN201310605981.8 without junction point two degrees of freedom
The Chinese utility model patent of one-rotation parallel mechanism.Therefore, design that a kind of decoupling is good, the simple pure rotation of two degrees of freedom of control
Parallel institution is necessary.
Utility model content
The purpose of this utility model is to design a kind of pure rotation complete solution decoupling parallel mechanism of two degrees of freedom, solves existing two rotation
The coupling of parallel institution is strong, the technical problems such as control difficulty.
To achieve the goals above, the technical solution adopted in the utility model is:
A kind of pure one-rotation parallel mechanism of two degrees of freedom, including moving platform, fixed platform and the first branch for connecting two platforms
Kinematic chain and the second sub-chain, the first sub-chain are hybrid motion chain, and the second sub-chain is single open chain；
First sub-chain is connected in series by loop circuit structure and the second revolute pair, and the loop circuit structure is by one
One cylindrical pair, a first movement are secondary and a first universal single open chain structure constituted of cutting with scissors is formed with first revolute pair,
To realize that moving platform does flip-flop movement around the first revolute pair axis；First cylindrical pair and the first revolute pair are installed in described
On fixed platform, the axis of the first cylindrical pair is vertical direction, and the pivot center of the first revolute pair is horizontal direction；Described first
Prismatic pair passes through first connecting rod and second connecting rod respectively and connect with one end of the first cylindrical pair and the first universal hinge, and first is universal
The other end of hinge, the first revolute pair and the second revolute pair are separately mounted to the end of T shape connecting rod；The first universal hinge has two
The pivot center of a perpendicular pivot center, the first universal hinge being connected with second connecting rod is parallel with the axis of the first cylindrical pair
And perpendicular to the mobile axis of prismatic pair, the pivot center for the first universal hinge being connected with T shape connecting rod and turning for the first revolute pair
Parallel and perpendicular to the pivot center of the second revolute pair, the second revolute pair is mounted on the moving platform shaft line；
Second sub-chain is made of second cylindrical pair, second prismatic pair and a second universal hinge, institute
It states the second cylindrical pair to be mounted on the fixed platform, and the axis of the second cylindrical pair and the pivot center of the first revolute pair are parallel,
And both perpendicular to the axis of the first cylindrical pair, the second universal hinge is mounted on the moving platform, and there are two mutually hang down tool
Straight pivot center, the second prismatic pair pass through third connecting rod respectively and connect the second cylindrical pair and the second universal hinge with fourth link,
The universal hinge pivot center of second to be connected with fourth link is parallel to the axis of the second cylindrical pair and the movement with the second prismatic pair
Axis is vertical, and the universal hinge pivot center of second to be connected with moving platform is parallel to the pivot center of the second revolute pair, dynamic to realize
Platform does flip-flop movement around the pivot center of the second revolute pair.
The second cylindrical pair in the first cylindrical pair and second sub-chain in first sub-chain
For driving pair, and with linear input being actively entered for mechanism of two cylindrical pairs.
Compared with prior art, the utility model has the beneficial effects that
One sub-chain of the utility model controls a rotational freedom of moving platform, another branch's movement
Chain controls another rotational freedom of moving platform, and the speed Jacobian matrix of the mechanism is diagonal matrix, therefore mechanism platform is defeated
Out between speed and main diarthrodial input speed there are one-to-one control planning, greatly reduce each sub-chain it
Between influence each other, solve decoupling existing for conventional parallel mechanism is poor, working space is small, control difficulty it is big the problems such as.?
There is good development prospect in the fields such as industrial robot, parallel machine, aerospace.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Marked in the figure: 1, fixed platform, 2, moving platform, L1, the first sub-chain, L2, the second sub-chain, C1,
One cylindrical pair, C2, the second cylindrical pair, P1, first movement pair, P2, the second prismatic pair, I -1, first connecting rod, I -2, second connecting rod,
I -3, T shape connecting rod, U1, the first universal hinge, U2, the second universal hinge, R1, the first revolute pair, R2, the second revolute pair, II -1,
Three-link, II -2, fourth link.
Specific embodiment
With reference to the accompanying drawing, by specific embodiment, the technical solution of the utility model is described further.
The pure one-rotation parallel mechanism of the two degrees of freedom of the utility model is by between two platforms of fixed platform 1, moving platform 2 and connection
Two sub-chains L1, L2 composition.Wherein, the first sub-chain L1 is hybrid motion chain, by first cylindrical pair
The loop circuit that the single open chain and the first revolute pair R1 that C1, one first movement secondary P1 and one the first universal hinge U1 are constituted are formed is simultaneously
The second revolute pair R2 that connects is formed, and wherein first movement secondary P1 passes through first connecting rod I -1 and second connecting rod I -2 and the first circle respectively
Column secondary C1 is connected with one end of the first universal hinge U1, the other end, the first revolute pair R1 and the second revolute pair of the first universal hinge U1
R2 is connected with T shape connecting rod I -3 simultaneously, can control moving platform 2 around the rotation axis of the first revolute pair R1 of the first sub-chain L1
Line does flip-flop movement.
In addition, in the axis of the first cylindrical pair C1 in the first sub-chain L1 and the first universal hinge U1 and second connecting rod
Mobile axis of I -2 connected pivot center U1-1 parallel and perpendicular to first movement secondary P1, the rotation axis of the first revolute pair R1
Line in the first universal hinge U1 and the pivot center U1-2 that is connected of T shape connecting rod I -3 parallel and perpendicular to the second revolute pair R2 turn
Shaft line, and the pivot center U1-1 and pivot center U1-2 in the first universal hinge U1 are mutually perpendicular to.
Second sub-chain L2 is single open chain, by a second cylindrical pair C2, one second prismatic pair P2 and one the
Two universal hinge U2 compositions, controllable moving platform 2 are overturn around the pivot center of the second revolute pair R2 of the first sub-chain L1
Movement, wherein the second prismatic pair P2 passes through third connecting rod II -1 and fourth link II -2 and the second cylindrical pair C2 and the 20000th respectively
It is connected to hinge U2, the axis of the second cylindrical pair C2 universal is cut with scissors in U2 and the pivot center U2-1 that is connected of fourth link II -2 with second
Parallel and perpendicular to the mobile axis of the second prismatic pair P2.
In the first cylindrical pair C1, the first revolute pair R1 and the second sub-chain L2 in the first sub-chain L1
The second cylindrical pair C2 be installed on fixed platform 1, and the axis of the first cylindrical pair C1 be vertical axis, the first revolute pair R1 turn
The axis of shaft line and the second cylindrical pair C2 are horizontal axis, the axis of the second cylindrical pair C2 in the second sub-chain L2 with
The pivot center of the first revolute pair R1 in first sub-chain L1 is parallel, and both perpendicular in the first sub-chain L1
The first cylindrical pair C1 axis.Second in the second revolute pair R2 and the second sub-chain L2 in first sub-chain L1
Universal hinge U2 is installed on mechanism moving platform 2, and the pivot center of the second revolute pair R2 in the first sub-chain L1 is parallel
The pivot center U2-2 being connected in the described second universal hinge U2 with moving platform 2.
In addition, the first cylindrical pair C1 and the second cylindrical pair in the first sub-chain L1 and the second sub-chain L2
C2 is driving pair, and with linear input being actively entered for mechanism of two cylindrical pair C1, C2.
Claims (2)
1. a kind of pure one-rotation parallel mechanism of two degrees of freedom, it is characterised in that: including two platforms of moving platform, fixed platform and connection
First sub-chain and the second sub-chain, the first sub-chain are hybrid motion chain, and the second sub-chain is single
Open chain；
First sub-chain is connected in series by loop circuit structure and the second revolute pair, and the loop circuit structure is by one first circle
The single open chain structure that column is secondary, a first movement is secondary and a first universal hinge is constituted is formed with first revolute pair, with reality
Existing moving platform does flip-flop movement around the first revolute pair axis；First cylindrical pair and the first revolute pair are installed in described allocate
On platform, the axis of the first cylindrical pair is vertical direction, and the pivot center of the first revolute pair is horizontal direction；The first movement
It is secondary to be connect respectively by first connecting rod and second connecting rod with one end of the first cylindrical pair and the first universal hinge, the first universal hinge
The other end, the first revolute pair and the second revolute pair are separately mounted to the end of T shape connecting rod；There are two phases for the first universal hinge tool
The pivot center of vertical pivot center, the first universal hinge being connected with second connecting rod is parallel and vertical with the axis of the first cylindrical pair
Directly in the mobile axis of prismatic pair, the pivot center for the first universal hinge being connected with T shape connecting rod and the rotation axis of the first revolute pair
Parallel and perpendicular to the pivot center of the second revolute pair, the second revolute pair is mounted on the moving platform line；
Second sub-chain is made of second cylindrical pair, second prismatic pair and a second universal hinge, and described the
Two cylindrical pairs are mounted on the fixed platform, and the axis of the second cylindrical pair and the pivot center of the first revolute pair are parallel, and same
When perpendicular to the first cylindrical pair axis, the second universal hinge is mounted on the moving platform, and is had there are two perpendicular
Pivot center, the second prismatic pair pass through third connecting rod respectively and connect the second cylindrical pair and the second universal hinge with fourth link, with
The second connected universal hinge pivot center of double leval jib is parallel to the axis of the second cylindrical pair and the mobile axis with the second prismatic pair
Vertically, the universal hinge pivot center of second to be connected with moving platform is parallel to the pivot center of the second revolute pair, to realize moving platform
Pivot center around the second revolute pair does flip-flop movement.
2. the pure one-rotation parallel mechanism of a kind of two degrees of freedom according to claim 1, it is characterised in that: the first branch fortune
The second cylindrical pair in the first cylindrical pair and second sub-chain in dynamic chain is driving pair, and with two cylindrical pairs
Linear input is being actively entered for mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920114960.9U CN209425435U (en) | 2019-01-23 | 2019-01-23 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920114960.9U CN209425435U (en) | 2019-01-23 | 2019-01-23 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209425435U true CN209425435U (en) | 2019-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920114960.9U Withdrawn - After Issue CN209425435U (en) | 2019-01-23 | 2019-01-23 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
-
2019
- 2019-01-23 CN CN201920114960.9U patent/CN209425435U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531552A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
| CN109531552B (en) * | 2019-01-23 | 2024-03-22 | 河南科技大学 | Two-degree-of-freedom pure rotation parallel mechanism |
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Granted publication date: 20190924 Effective date of abandoning: 20240322 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190924 Effective date of abandoning: 20240322 |
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| AV01 | Patent right actively abandoned |