CN101497198B - Three-freedom degree rotary motion parallel connection mechanism with remote motion centre - Google Patents
Three-freedom degree rotary motion parallel connection mechanism with remote motion centre Download PDFInfo
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- CN101497198B CN101497198B CN2009100738448A CN200910073844A CN101497198B CN 101497198 B CN101497198 B CN 101497198B CN 2009100738448 A CN2009100738448 A CN 2009100738448A CN 200910073844 A CN200910073844 A CN 200910073844A CN 101497198 B CN101497198 B CN 101497198B
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Abstract
The invention belongs to the field of parallel mechanisms and particularly relates to a three-dimension rotation parallel mechanism having a remote motion center, which comprises a fixed platform (1), a movable platform (4), a first motion branch, a second motion branch and a third motion branch, wherein the first motion branch, the second motion branch and the third motion branch connect the fixed platform (1) and the movable platform (4). The first motion branch and the second motion branch have the same structure and both have a lower pivoted arm (2) and an upper pivoted arm (3), the lowerpivoted arms (2) are connected with the fixed platform (1) through first turning pairs (R1) and are connected with the upper pivoted arms (3) through second turning pairs (R2), and the upper pivoted arms (3) are connected with the movable platform (4) through third turning pairs (R3); and the axes of the first turning pairs (R1), the second turning pairs (R2) and the third turning pairs (R3) intersect at the remote motion center (0). The mechanism can realize spatial three-dimension rotation on a fixed point and has the characteristics of simple structure, decoupling of input and output parts, fixed installation of a driving motor and the like.
Description
Technical field
The invention belongs to the parallel institution field, particularly a kind of have a long-range centrostaltic Three dimensional rotation parallel institution.
Background technology
Along with progress of science and technology and multidisciplinary 's mixing together, Robotics more and more is applied in medical domain, and some new requirements continue to bring out.Because Medical Robot and human body coexist as in the same space, this just requires robot harmonious and guarantee being perfectly safe of human body with human body in its course of work.In some special applications, as require to drive sole and carry out Three dimensional rotation around the ankle-joint center, turn in realizing turn up, dorsiflex the sole of the foot bend, abduction in the robot for rehabilitation of anklebone of motion such as receive, or be in the micro-wound surgical operation of representative at laparoscopic technique, the micro-wound surgical operation auxiliary robot that endoscope or other operation tools are rotated by the thorny art otch of trochar.Series connection Three Degree Of Freedom rotating mechanism because its secondary drive motors can not be fixedlyed connected with support relatively, has then increased the inertia of motion parts.The tradition spherical mechanism, though its drive motors can fixedly mount, the design needs can not be satisfied in-house in its gyration center.Mechanism kinematic is centered close to mechanism outside or far-end spatial point, as the special parallel institution that is positioned at the ankle-joint central point of inside of human body or is positioned at mechanism's end is called and has long-range centrostaltic Three dimensional rotation parallel institution, the characteristics of this kind mechanism are to have enough spaces to hold human body or medicine equipment around its long-range centre of motion, its driver can fixedly mount and make that the inertia of end-effector is littler simultaneously, has the applications well prospect.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention proposes a kind of long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism that has, it is different from the centre of motion at in-house traditional spherical mechanism, its three motion branches are not identical, this just makes that this mechanism operating space is little, mechanism's input and output partly decoupled when special exercise.
The technical solution adopted in the present invention is: a kind of have a long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism, this parallel institution comprises fixed platform, moving platform and the first motion branch that connects fixed platform and moving platform, the second motion branch and the 3rd motion branch, the described first motion branch has identical structure with the second motion branch, the first motion branch and the second motion branch include down pivoted arm and last pivoted arm, following pivoted arm is connected by first revolute pair with fixed platform, following pivoted arm is connected by second revolute pair with last pivoted arm, and last pivoted arm is connected by the 3rd revolute pair with moving platform; The axis of described first revolute pair, second revolute pair and the 3rd revolute pair all intersects at the long-range centre of motion.
As a kind of optimal way of the present invention, described the 3rd motion branch comprises stub axle, goes up connecting rod, lower link and following stub axle, wherein: the following stub axle in the 3rd motion branch is connected by the 4th revolute pair with fixed platform, following stub axle is connected by the 5th revolute pair with lower link, lower link is connected by the 6th revolute pair with last connecting rod, last connecting rod is connected by the 7th revolute pair with last stub axle, and last stub axle is connected by the 8th revolute pair with moving platform; The axis of described the 4th revolute pair and the 8th revolute pair all intersects at the long-range centre of motion; The axis of described the 5th revolute pair, the 6th revolute pair and the 7th revolute pair is parallel to each other, and respectively with the axis normal of the 4th revolute pair and the 8th revolute pair.
As another kind of optimal way of the present invention, described the 3rd motion branch comprises stub axle, goes up connecting rod, lower link and following stub axle, wherein: the following stub axle in the 3rd motion branch is connected by the 4th revolute pair with fixed platform, following stub axle is connected by the 5th revolute pair with lower link, lower link is connected by moving sets with last connecting rod, last connecting rod is connected by the 7th revolute pair with last stub axle, and last stub axle is connected by the 8th revolute pair with moving platform; The axis of described the 4th revolute pair and the 8th revolute pair all intersects at the long-range centre of motion; The axis of the 5th revolute pair and the 7th revolute pair is parallel to each other, the axis normal of the 5th revolute pair axis and the 4th revolute pair, the axis normal of the 5th revolute pair axis and moving sets, the axis normal of the 8th revolute pair axis and the 7th revolute pair, the axis of the 7th revolute pair and the axis normal of moving sets.
Provided by the invention have a long-range centrostaltic parallel institution, made full use of the design feature of parallel institution, be positioned at the spatial point of mechanism outside or far-end by setting, it is the long-range centre of motion, this point can be positioned at inside of human body, as the ankle-joint central point, also can be positioned at mechanism's end, making to have enough spaces to hold human body or medicine equipment.In addition, because this mechanism can realize Three dimensional rotation around the long-range centre of motion, simple in structure, control is relatively easy, under the long-range more centrostaltic fields of needs good application prospects is arranged.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is carried out further specific description in detail.
Fig. 1 is the structural representation of embodiment 1;
Fig. 2 is the structure diagram of embodiment 1;
Fig. 3 is the structural representation of embodiment 2;
Fig. 4 is the structure diagram of embodiment 2.
The specific embodiment
Present embodiment have long-range centrostaltic 3-freedom parallel mechanism as depicted in figs. 1 and 2, this mechanism is by fixed platform 1, moving platform 4 is formed with three motion branches that are connected two platforms, in these three the motion branches, the first motion branch is identical with the structure of the second motion branch, and the 3rd motion branch is different with them.Following pivoted arm 2 is connected by the first revolute pair R1 with fixed platform 1, and following pivoted arm 2 is connected by the second revolute pair R2 with last pivoted arm 3, and last pivoted arm 3 is connected by the 3rd revolute pair R3 with moving platform 4.The axis of described three revolute pair R1, R2 and R3 all intersects at long-range centre of motion O.The first revolute pair R1 that links to each other with fixed platform 1 is as driving.
In the 3rd motion branch, following stub axle 8 is connected by the 4th revolute pair R4 with fixed platform 1, following stub axle 8 is connected by the 5th revolute pair R5 with lower link 7, lower link 7 is connected by moving sets P with last connecting rod 6, last connecting rod 6 is connected by the 6th revolute pair R6 with last stub axle 5, and last stub axle 5 is connected by the 8th revolute pair R8 with moving platform 4; The axis of described the 4th revolute pair R4 and the 8th revolute pair R8 all intersects at long-range centre of motion O.The axis of the 5th revolute pair R5, the 6th revolute pair R6 and the 7th revolute pair R7 is parallel to each other, the axis normal of the axis of the 5th revolute pair R5 and the 4th revolute pair R4, the axis normal of the axis of the 7th revolute pair R7 and the 8th revolute pair R8.The 4th revolute pair R4 that links to each other with fixed platform 1 is as driving.
Present embodiment have long-range centrostaltic 3-freedom parallel mechanism as shown in Figure 3 and Figure 4, the structure of the structure of present embodiment and embodiment 1 is basic identical, different places be among the embodiment 1 that connecting rod 6 and lower link 7 are to be connected by the 6th revolute pair R6 that axis is parallel to the 5th revolute pair R5 and the 7th revolute pair R7 axis.Going up connecting rod 6 in the present embodiment is to be connected with the moving sets P of the 7th revolute pair R7 axis in the 5th revolute pair R5 by axis normal with lower link 7.
Provided by the invention have a long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism, made full use of the design feature of parallel institution, because this mechanism can realize Three dimensional rotation around the long-range centre of motion, and it is simple in structure, control is relatively easy, can have under the long-range more centrostaltic occasions of needs and well quote prospect.
The specific embodiment of the present invention is not limited only to the form among the embodiment, according to content disclosed by the invention, the person of ordinary skill in the field can also take other concrete mode to implement, such as the stub axle Hooke in mechanism hinge being changed into vertical mutually but disjoint two revolute pairs of axis, therefore, embodiment can not be interpreted as it is the specific embodiment that the present invention only can implement.
Claims (3)
1. one kind has long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism, this parallel institution comprises fixed platform (1), moving platform (4) and connects the first motion branch of fixed platform (1) and moving platform (4), the second motion branch and the 3rd motion branch, it is characterized in that:
The described first motion branch has identical structure with the second motion branch, the first motion branch and the second motion branch include down pivoted arm (2) and last pivoted arm (3), following pivoted arm (2) is connected by first revolute pair (R1) with fixed platform (1), following pivoted arm (2) is connected by second revolute pair (R2) with last pivoted arm (3), and last pivoted arm (3) is connected by the 3rd revolute pair (R3) with moving platform (4);
Described the 3rd motion branched structure is different from the structure of first branch and second branch, comprise stub axle (5), go up connecting rod (6), lower link (7) and following stub axle (8), following stub axle (8) is connected by the 4th revolute pair (R4) with fixed platform (1), following stub axle (8) is connected by the 5th revolute pair (R5) with lower link (7), last connecting rod (6) is connected by the 7th revolute pair (R7) with last stub axle (5), and last stub axle (5) is connected by the 8th revolute pair (R8) with moving platform (4);
The axis of described first revolute pair (R1), second revolute pair (R2), the 3rd revolute pair (R3) the 4th revolute pair (R4) and the 8th revolute pair (R8) all intersects at the long-range centre of motion (O).
2. according to claim 1 have a long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism, it is characterized in that:
In described the 3rd motion branch, lower link (7) is connected by the 6th revolute pair (R6) with last connecting rod (6), the axis of the 5th revolute pair (R5), the 6th revolute pair (R6) and the 7th revolute pair (R7) is parallel to each other, and respectively with the axis normal of the 4th revolute pair (R4) and the 8th revolute pair (R8).
3. according to claim 1 have a long-range centrostaltic Three Degree Of Freedom one-rotation parallel mechanism, it is characterized in that:
In described the 3rd motion branch, lower link (7) is connected by moving sets (P) with last connecting rod (6), the axis of the 5th revolute pair (R5) and the 7th revolute pair (R7) is parallel to each other, the axis normal of the 5th revolute pair (R5) axis and the 4th revolute pair (R4), the axis normal of the 5th revolute pair (R5) axis and moving sets (P), the axis normal of the 8th revolute pair (R8) axis and the 7th revolute pair (R7), the axis normal of the axis of the 7th revolute pair (R7) and moving sets (P).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100738448A CN101497198B (en) | 2009-02-24 | 2009-02-24 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
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| CN2009100738448A CN101497198B (en) | 2009-02-24 | 2009-02-24 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
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| CN101497198A CN101497198A (en) | 2009-08-05 |
| CN101497198B true CN101497198B (en) | 2011-01-05 |
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| CN2009100738448A Expired - Fee Related CN101497198B (en) | 2009-02-24 | 2009-02-24 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275163B (en) * | 2011-07-08 | 2013-07-17 | 常州大学 | Spherical parallel movement mechanism |
| CN102275162A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical surface parallel operation device |
| CN102360165B (en) * | 2011-09-28 | 2013-06-26 | 浙江大学 | 3-PSR-V parallel mechanism for adjusting immersion units |
| CN102530120A (en) * | 2011-12-28 | 2012-07-04 | 燕山大学 | Six-user requirement specification (URS) six-foot walking robot |
| CN102626920B (en) * | 2012-03-22 | 2014-07-23 | 燕山大学 | Non-concurrent axis symmetric three-dimensional-rotation parallel mechanism with two-degree of freedom planar subchains |
| CN104325457B (en) * | 2014-10-24 | 2016-05-04 | 天津大学 | A kind of symmetric form three one-rotation parallel mechanisms |
| CN104325456B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | A kind of novel two one-rotation parallel mechanisms |
| CN104308835A (en) * | 2014-10-24 | 2015-01-28 | 天津大学 | Plane-symmetry three-rotating parallel connection mechanism |
| CN104942829B (en) * | 2015-07-02 | 2017-04-19 | 上海交通大学 | 2T3R five-degree-of-freedom rotation and movement complete decoupling parallel mechanism |
| CN107050763B (en) * | 2017-06-14 | 2022-12-06 | 韶关星火创客科技有限公司 | Novel ankle joint rehabilitation robot and control method thereof |
| CN107584512B (en) * | 2017-07-31 | 2020-10-20 | 南京航空航天大学 | Composite Hooke's hinge based on flexible mechanism |
| CN108908295B (en) * | 2018-07-16 | 2021-07-27 | 西安工程大学 | Partial decoupling RPR parallel mechanism |
| CN109015602B (en) * | 2018-08-29 | 2020-08-21 | 燕山大学 | Three-translation 2CPR-URU parallel mechanism |
| CN110539293B (en) * | 2019-10-15 | 2020-10-30 | 湖北理工学院 | Four-degree-of-freedom parallel mechanism |
| CN112917509B (en) * | 2021-01-28 | 2022-05-27 | 浙江大学 | Three-degree-of-freedom mechanical arm driven based on spherical parallel mechanism |
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| US20040054438A1 (en) * | 2000-09-11 | 2004-03-18 | Brogaardh Torgny | Manipulator to move an object in the space with at least tree arms |
| US20040086351A1 (en) * | 2002-11-06 | 2004-05-06 | Kim Jong Won | Micro-motion machine and micro-element fabricating machine using a 3 degree of freedom parallel mechanism |
| CN2700063Y (en) * | 2003-12-16 | 2005-05-18 | 广东工业大学 | Three freedom degree moving parallel robot mechanism |
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| US20040054438A1 (en) * | 2000-09-11 | 2004-03-18 | Brogaardh Torgny | Manipulator to move an object in the space with at least tree arms |
| US20040086351A1 (en) * | 2002-11-06 | 2004-05-06 | Kim Jong Won | Micro-motion machine and micro-element fabricating machine using a 3 degree of freedom parallel mechanism |
| CN2700063Y (en) * | 2003-12-16 | 2005-05-18 | 广东工业大学 | Three freedom degree moving parallel robot mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN103624559B (en) * | 2013-11-25 | 2016-05-04 | 燕山大学 | A kind of two rotate full decoupled parallel institution |
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| CN101497198A (en) | 2009-08-05 |
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