CN102284958A - Hip joint imitated mechanism - Google Patents
Hip joint imitated mechanism Download PDFInfo
- Publication number
- CN102284958A CN102284958A CN2011102382098A CN201110238209A CN102284958A CN 102284958 A CN102284958 A CN 102284958A CN 2011102382098 A CN2011102382098 A CN 2011102382098A CN 201110238209 A CN201110238209 A CN 201110238209A CN 102284958 A CN102284958 A CN 102284958A
- Authority
- CN
- China
- Prior art keywords
- drive motors
- connecting rod
- rod
- driving lever
- driving motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a hip joint imitated mechanism which comprises a first driving motor and a second driving motor, a base, a first driving rod, a second driving rod, a first connecting rod, a second connecting rod and a movable platform, wherein the first driving motor and the second driving motor are arranged on the base, a rotating shaft of the first driving motor is fixedly connected with one end of the first driving rod, the other end of the first driving rod is connected with one end of the first connecting rod through a revolute pair hinge, the other end of the first connecting rod is connected with one connecting surface of the movable platform through a revolute pair hinge, a rotating shaft of the second driving motor is fixedly connected with one end of the second driving rod, the other end of the second driving rod is connected with one end of the second connecting rod through a revolute pair hinge, the other end of the second connecting rod is fixedly connected with the other connecting surface of the movable platform, the two connecting surfaces of the movable platform are vertical to each other, and the first driving motor and the second driving motor are respectively arranged on the two surfaces which are spatially vertical to each other. The hip joint imitated mechanism disclosed by the invention has a simple structure, high bearing capacity and good processing and assembling technology.
Description
Technical field
The present invention relates to the anthropomorphic robot field, particularly relate to a kind of two-freedom and rotate anthropomorphic hip joint mechanism.
Background technology
The anthropomorphic robot is the senior developing stage of sophisticated machine people technology, and it integrates multi-door subjects theory and technology such as machinery, electronics, material, computer, sensor, control, is one of present development in science and technology most active fields.A lot of countries have dropped into great amount of manpower and material resources, and it has been carried out research in depth.Wherein, hip joint of anthropomorphic robot is one of difficult point during the anthropomorphic robot designs.Early stage hip joint of anthropomorphic robot adopts cascaded structure usually, has weak points such as complex structure, inertia be big.In order to overcome these weak points, many researchers have turned to two freedom rotary parallel mechanism to notice, have advantages such as simple in structure, that bearing capacity is strong, as people such as Gosselin and professors Zhang Lijie a kind of sphere two one-rotation parallel mechanisms are studied, this mechanism is an a kind of plane 5R mechanism, this mechanism is very high to manufacturing and installation accuracy requirement, otherwise, stuck phenomenon can take place; Professor Zhang Lijie has proposed a kind of redundant two one-rotation parallel mechanisms, problem such as this mechanism exists that complex structure, bearing capacity are little, processing and assembly process process are bad; People such as professor Huang Zhen have proposed a kind of 2-PSS/S parallel institution, and this mechanism adopts the ball pivot form, has limited its angle of rotation, makes the working space of this mechanism less; Once reached good fortune and proposed a kind of decoupling zero two one-rotation parallel mechanisms, there are problems such as bearing capacity is less in this mechanism.
Summary of the invention
, processing less for the complex structure, the bearing capacity that overcome existing two freedom rotary parallel mechanism and the bad deficiency of assembly technology the invention provides a kind of simple in structure, bearing capacity strong, processing and assembly technology are good anthropomorphic hip joint mechanism.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of anthropomorphic hip joint mechanism, comprise first drive motors and second drive motors, pedestal, first driving lever and second driving lever, head rod and second connecting rod and moving platform, described first drive motors and second drive motors are installed on the pedestal, one end of the turning cylinder of first drive motors and first driving lever is connected, the other end of first driving lever links to each other with an end of head rod by the revolute pair hinge, and an other end of head rod links to each other with a joint face of moving platform by the revolute pair hinge; One end of the turning cylinder of second drive motors and second driving lever is connected, the other end of second driving lever links to each other with an end of second connecting rod by the revolute pair hinge, the another one joint face of the other end of thinking connecting rod and moving platform is connected, two joint faces on the moving platform are vertical mutually, and first drive motors and second drive motors are arranged on orthogonal two faces in space.
Beneficial effect of the present invention mainly shows: simple in structure, bearing capacity is strong, compact conformation, inertia are little, mobile decoupling, processing and assembly process process are good, are suitable for fields such as anthropomorphic robot, finish some complicated personifications operations.
Description of drawings
Fig. 1 is the structural representation of anthropomorphic hip joint mechanism.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1, a kind of anthropomorphic hip joint mechanism, comprise first drive motors 1 and second drive motors 8, pedestal 2, first driving lever 3 and second driving lever 6, head rod 4 and second connecting rod 5 and moving platform 7, described first drive motors 1 and second drive motors 8 are installed on the pedestal 2, one end of the turning cylinder of first drive motors 1 and first driving lever 3 is connected, the other end of first driving lever 3 links to each other with an end of head rod 4 by the revolute pair hinge, and an other end of head rod 4 links to each other with a joint face of moving platform 5 by the revolute pair hinge; One end of the turning cylinder of second drive motors and second driving lever 6 is connected, the other end of second driving lever 6 links to each other with an end of second connecting rod 5 by the revolute pair hinge, the another one joint face of the other end of thinking connecting rod 5 and moving platform 5 is connected, two joint faces on the moving platform 5 are vertical mutually, and first drive motors 1 and second drive motors 8 are arranged on orthogonal two faces in space.
The rotation that first drive motors, 1 drive first driving lever 3 and head rod 4 produce around first drive motors, 1 axial direction, can drive the rotation that moving platform 5 produces around first drive motors, 1 axial direction, the rotation that second drive motors, 8 drive second driving levers 6 and second connecting rod 5 produce around second drive motors, 8 axial directions, can drive the rotation that moving platform 5 produces around second drive motors, 8 axial directions, and the revolute pair hinge at head rod 4 two ends is spatially vertical mutually with the revolute pair hinge of second connecting rod, 5 one ends, can adapt to any rotation on the space.Therefore, under the driving by first drive motors 1 and second drive motors 8, can realize two rotations of moving platform 5.
The technical scheme of present embodiment also can be applied on other two freedom rotary parallel mechanisms.
The described content of the embodiment of this specification only is enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention also reach in those skilled in the art conceive according to the present invention the equivalent technologies means that can expect.
Claims (1)
1. anthropomorphic hip joint mechanism, it is characterized in that: comprise first drive motors and second drive motors, pedestal, first driving lever and second driving lever, head rod and second connecting rod and moving platform, described first drive motors and second drive motors are installed on the pedestal, one end of the turning cylinder of first drive motors and first driving lever is connected, the other end of first driving lever links to each other with an end of head rod by the revolute pair hinge, and an other end of head rod links to each other with a joint face of moving platform by the revolute pair hinge; One end of the turning cylinder of second drive motors and second driving lever is connected, the other end of second driving lever links to each other with an end of second connecting rod by the revolute pair hinge, the another one joint face of the other end of second connecting rod and moving platform is connected, two joint faces on the moving platform are vertical mutually, and first drive motors and second drive motors are arranged on orthogonal two faces in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102382098A CN102284958A (en) | 2011-08-18 | 2011-08-18 | Hip joint imitated mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102382098A CN102284958A (en) | 2011-08-18 | 2011-08-18 | Hip joint imitated mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102284958A true CN102284958A (en) | 2011-12-21 |
Family
ID=45331837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102382098A Pending CN102284958A (en) | 2011-08-18 | 2011-08-18 | Hip joint imitated mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102284958A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN109514595A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4932806A (en) * | 1989-03-21 | 1990-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compliant joint |
| CN101254147A (en) * | 2008-03-25 | 2008-09-03 | 浙江大学 | Dermaskeleton with two freedom degree hip-joint accessory movement |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN202219507U (en) * | 2011-08-18 | 2012-05-16 | 浙江工业大学 | A human hip joint simulating mechanism |
-
2011
- 2011-08-18 CN CN2011102382098A patent/CN102284958A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4932806A (en) * | 1989-03-21 | 1990-06-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Compliant joint |
| CN101254147A (en) * | 2008-03-25 | 2008-09-03 | 浙江大学 | Dermaskeleton with two freedom degree hip-joint accessory movement |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN202219507U (en) * | 2011-08-18 | 2012-05-16 | 浙江工业大学 | A human hip joint simulating mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294693A (en) * | 2011-08-18 | 2011-12-28 | 浙江工业大学 | Double-freedom degree rotation parallel mechanism |
| CN109514595A (en) * | 2018-12-28 | 2019-03-26 | 清华大学 | A kind of two-freedom parallel connection articulation mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101249651B (en) | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism | |
| CN106426096A (en) | Large turning angle two-rotation-and-one-movement parallel mechanism | |
| CN101698300B (en) | Large-working space parallel robot mechanism | |
| CN101104269A (en) | Robot shoulder joint | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN102501243A (en) | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom | |
| CN102837308A (en) | Robot | |
| CN105397802A (en) | Four-degree-of-freedom coaxial outputting mechanism | |
| CN106963160A (en) | A kind of four-freedom hybrid motion platform and dynamic simulating device | |
| CN103406908A (en) | Force feedback hand controller with three degrees of freedom rotation | |
| CN202428447U (en) | Two-freedom-degree robot neck joint | |
| CN202219507U (en) | A human hip joint simulating mechanism | |
| CN102294693A (en) | Double-freedom degree rotation parallel mechanism | |
| CN102284958A (en) | Hip joint imitated mechanism | |
| CN105364910B (en) | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving | |
| CN102166754B (en) | Two-degree-of-freedom shoulder joint mechanism for robot | |
| CN106272344A (en) | There is the Hex Delta robot of three two turns of five degree of freedom of shifting | |
| CN102069503B (en) | Humanoid hip joint mechanism | |
| CN110539293B (en) | Four-degree-of-freedom parallel mechanism | |
| CN101780671A (en) | Decoupling parallel mechanism | |
| CN108714887B (en) | Spatial parallel mechanism with three degrees of freedom | |
| CN105522559A (en) | Four-degree-of-freedom parallel mechanism | |
| CN201034620Y (en) | Multiple freedom degree movement attitude angle detection mechanism | |
| CN101530969B (en) | Redundancy actuating mechanism with dynamic stability | |
| CN107351064A (en) | A kind of Novel two-freedom-degree parallel robot of apery wrist joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20111221 |