CN102294693A - Double-freedom degree rotation parallel mechanism - Google Patents
Double-freedom degree rotation parallel mechanism Download PDFInfo
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- CN102294693A CN102294693A CN2011102382721A CN201110238272A CN102294693A CN 102294693 A CN102294693 A CN 102294693A CN 2011102382721 A CN2011102382721 A CN 2011102382721A CN 201110238272 A CN201110238272 A CN 201110238272A CN 102294693 A CN102294693 A CN 102294693A
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Abstract
A double-freedom degree rotation parallel mechanism comprises a first drive motor, a second drive motor and a base, wherein the first and the second drive motors are installed on the base, the parallel mechanism further comprises a first drive rod, a second drive rod, a first connection rod, a second connection rod and a movable platform, the rotating shaft of the first drive motor is fixedly connected with one end of the first drive rod, the other end of the first drive rod is connected with one end of the first connection rod through a revolute pair hinge, and the other end of the first connection rod is connected with one connection side of the movable platform through the revolute pair hinge; and the rotating shaft of the second drive motor is fixedly connected with one end of the second drive rod, the other end of the second drive rod is connected with one end of the second connection rod through the revolute pair hinge, the other end of the second connection rod is fixedly connected with the other connection side of the movable platform, the two connection sides on the movable platform are vertical to each other, and the first and the second drive motors are respectively distributed on the two sides which are vertical to each other in the space. The double-freedom degree rotation parallel mechanism has a simple structure, strong bearing capacity, good machining and assembly technologies.
Description
Technical field
The present invention relates to the robot field, particularly relate to a kind of two freedom rotary parallel mechanism.
Background technology
Advantages such as that parallel robot has is simple in structure, stiffness/weight ratio is big in recent years, become the focus and the focus of robotics research in the world.Early stage parallel robot is the Stewart parallel robot mechanism of 6DOF normally, but weak points such as this mechanism has that working space is little, motion normal solution difficulty and motion coupling.In order to overcome these weak points of 6DOF parallel robot, many researchers have turned to the lower-mobility parallel robot to notice, have advantages such as simple in structure, that working space is bigger.Wherein, two freedom rotary parallel mechanism is a kind of application mechanism very widely, as people such as Gosselin and professors Zhang Lijie a kind of two one-rotation parallel mechanisms are studied, this mechanism is an a kind of plane 5R mechanism, this mechanism requires very high to manufacturing and installation accuracy, 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; Yu Jingjun has proposed a kind of two and has freely rotated and mechanism, but this mechanism exists that motion is dumb, structure is than problems such as complexity; 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 and the bad deficiency of assembly technology for the complex structure, the bearing capacity that overcome existing two freedom rotary parallel mechanism, the invention provides a kind of simple in structure, bearing capacity strong, processing and the good two freedom rotary parallel mechanism of assembly technology.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of two freedom rotary parallel mechanism, comprise first drive motors, second drive motors and pedestal, described first drive motors and second drive motors are installed on the pedestal, described parallel institution also comprises first driving lever, second driving lever, head rod and second connecting rod and moving platform, 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 two freedom rotary parallel mechanism.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1, a kind of two freedom rotary parallel 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 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. two freedom rotary parallel mechanism, comprise first drive motors, second drive motors and pedestal, described first drive motors and second drive motors are installed on the pedestal, it is characterized in that: described parallel institution also comprises first driving lever, second driving lever, head rod and second connecting rod and moving platform, 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 |
|---|---|---|---|
| CN2011102382721A CN102294693A (en) | 2011-08-18 | 2011-08-18 | Double-freedom degree rotation parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102382721A CN102294693A (en) | 2011-08-18 | 2011-08-18 | Double-freedom degree rotation parallel mechanism |
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| Publication Number | Publication Date |
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| CN102294693A true CN102294693A (en) | 2011-12-28 |
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| CN2011102382721A Pending CN102294693A (en) | 2011-08-18 | 2011-08-18 | Double-freedom degree rotation parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284958A (en) * | 2011-08-18 | 2011-12-21 | 浙江工业大学 | Hip joint imitated 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 |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN113977555A (en) * | 2021-11-05 | 2022-01-28 | 浙江大学 | Hydraulic decoupling system for redundant driving of two-degree-of-freedom swing table |
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| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101269465A (en) * | 2008-05-13 | 2008-09-24 | 清华大学 | Main shaft head structure of mobile decoupling parallel A/B shaft |
| CN101559603A (en) * | 2009-05-08 | 2009-10-21 | 浙江工业大学 | Anthropomorphic robot waist joint |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN102284958A (en) * | 2011-08-18 | 2011-12-21 | 浙江工业大学 | Hip joint imitated mechanism |
| CN202219507U (en) * | 2011-08-18 | 2012-05-16 | 浙江工业大学 | A human hip joint simulating mechanism |
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2011
- 2011-08-18 CN CN2011102382721A patent/CN102294693A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2005127475A (en) * | 2003-10-27 | 2005-05-19 | Ntn Corp | Link operating device |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101269465A (en) * | 2008-05-13 | 2008-09-24 | 清华大学 | Main shaft head structure of mobile decoupling parallel A/B shaft |
| CN101559603A (en) * | 2009-05-08 | 2009-10-21 | 浙江工业大学 | Anthropomorphic robot waist joint |
| CN102069503A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Humanoid hip joint mechanism |
| CN102284958A (en) * | 2011-08-18 | 2011-12-21 | 浙江工业大学 | Hip joint imitated mechanism |
| CN202219507U (en) * | 2011-08-18 | 2012-05-16 | 浙江工业大学 | A human hip joint simulating mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284958A (en) * | 2011-08-18 | 2011-12-21 | 浙江工业大学 | Hip joint imitated 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 |
| CN104476540A (en) * | 2014-10-24 | 2015-04-01 | 天津大学 | Novel dual annular guide rail double rotation parallel mechanism |
| CN104308833B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized |
| CN104476540B (en) * | 2014-10-24 | 2016-01-20 | 天津大学 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
| CN113977555A (en) * | 2021-11-05 | 2022-01-28 | 浙江大学 | Hydraulic decoupling system for redundant driving of two-degree-of-freedom swing table |
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Application publication date: 20111228 |