CN103433916B - The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel - Google Patents

The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel Download PDF

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CN103433916B
CN103433916B CN201310337873.7A CN201310337873A CN103433916B CN 103433916 B CN103433916 B CN 103433916B CN 201310337873 A CN201310337873 A CN 201310337873A CN 103433916 B CN103433916 B CN 103433916B
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China
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branched chain
movement branched
pair
revolute pair
rod
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CN201310337873.7A
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Chinese (zh)
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CN103433916A (en
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吴钪
于靖军
宗光华
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北京航空航天大学
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Abstract

The invention discloses that the isometrical sphere of a kind of two degrees of freedom is pure rolls rotating mechanism in parallel, relate to robot, sensitive instrument and equipment and machinery manufacturing technology field.Described mechanism is formed primarily of motion platform, fixed pedestal and movement branched chain, can realize motion platform and do around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel rotation.Described motion platform is connected more than three movement branched chain with between fixed pedestal by kinematic pair, and each movement branched chain comprises two or more connecting rod; Each movement branched chain is symmetrical structure, comprises two or more kinematic pair, forms more than 4 frees degree.Rotating mechanism provided by the invention, motion platform working space is large; Compact conformation; Rigidity is large; Mechanism is redundant bondage not, and without mutual internal stress between movement branched chain, precision stability is high; Structure is simple, is convenient to install.These advantages make this rotating mechanism can be widely used in high-performance indicator device field.

Description

The isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel
Technical field
The present invention relates to robot, sensitive instrument and equipment and machinery manufacturing technology field, be specifically related to that the isometrical sphere of a kind of two degrees of freedom is pure rolls rotating mechanism in parallel.
Background technology
Two degrees of freedom rotating mechanism is widely applied in fields such as machine-building, auto industry manufacture, Aero-Space manufacture, robots, comprises the fields such as machine tool chief axis, automobile shaft coupling, aviation sensing platform.Along with technical development, mechanism end load is increasing, and traditional two degrees of freedom rotating mechanism not easily meets design requirement; And two-degree-of-freedoparallel parallel rotating mechanism has the features such as rigidity is large, precision is high, bearing capacity is strong, movement inertia is little because of it, more and more receive publicity and be used widely.Typical case as, G.R.Dunlop devises the parallel radar tracker (CanterburySatelliteTracker) with two rotational freedoms based on Three Degree Of Freedom many hinges parallel institution patent (US4651589); Patent US5893296 and WO99/21070 discloses a kind of two-degree-of-freedoparallel parallel rotating mechanism of four side chains, and is used successfully as the devices such as entertainment fountain; Patent US7478576 and US7472622 all discloses a kind of two-degree-of-freedoparallel parallel rotating mechanism of three side chains.Published mechanism mostly is the parallel institution with redundant constaint, and an interchain for mechanism has with platform stance change and the erection stress of instability, and in high speed motions, dynamic property is bad, and precision stability is poor.
Summary of the invention
The object of this invention is to provide that the isometrical sphere of a kind of two degrees of freedom is pure rolls rotating mechanism in parallel, such mechanism is formed primarily of motion platform, fixed pedestal and movement branched chain, can realize motion platform and do around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel rotation.Comprise more than three movement branched chain between described motion platform and fixed pedestal, each movement branched chain comprises two or more connecting rod; Each movement branched chain is symmetrical structure, comprises two or more kinematic pair, forms more than 4 frees degree; The input of each movement branched chain is connected with fixed pedestal by kinematic pair, and the output of each movement branched chain is connected with motion platform by kinematic pair; Between each movement branched chain, relative position can be about centrosymmetric, so, mechanism both attractive in appearance and between each movement branched chain bearing capacity balanced, application life is long.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls rotating mechanism in parallel, and described each movement branched chain is symmetrical about plane of symmetry II, realizes motion platform and does around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel rotation; Described isometrical sphere refers to: suppose that the mid point of the line of A point and B point is C point, respectively with A point and B point for the centre of sphere, AC or BC is that radius makees ball, and the public tangent plane of two balls is plane of symmetry II;
Described A point is determined by following relation: when the kinematic pair axis co-planar that each movement branched chain is connected with motion platform, and A point is positioned at the center, face that kinematic pair axis that each movement branched chain is connected with motion platform is formed; When the kinematic pair axis that each movement branched chain is connected with motion platform meets at a common point, A point is positioned at this common point place;
Described B point is determined by following relation: when the kinematic pair axis co-planar that each movement branched chain is connected with fixed pedestal, and B point is positioned at the center, face that kinematic pair axis that each movement branched chain is connected with fixed pedestal is formed; When the kinematic pair axis that each movement branched chain is connected with fixed pedestal meets at a common point, B point is positioned at this common point place.
The isometrical sphere of this two degrees of freedom is pure to be rolled rotating mechanism in parallel and only has two rotational freedoms, but has multiple actuation movement side chain, can realize redundant drive, not enough to ensure input torque in high load scenarios.Specifically can install drive motors on the connection kinematic pair of each movement branched chain and fixed pedestal when implementing, only need wherein two drive motors work when load is low and output torque, all the other drive motors be left only make position follower; When load is large, all drive motors all participate in work and output torque, to guarantee having enough rotating torques to drive load to rotate instantaneous.
Rotating mechanism provided by the invention has the following advantages:
(1) motion platform working space large (be generally ± 60 °, maximumly to reach ± 90 °); (2) compact conformation; (3) rigidity is large; (4) mechanism's not redundant bondage, without mutual internal stress between movement branched chain, precision stability is high; (5) structure is simple, is convenient to install.These advantages make this rotating mechanism can be widely used in high-performance indicator device field.
Accompanying drawing explanation
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism overall structure schematic diagram in parallel to Fig. 1;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll movement branched chain symmetrical structure schematic diagram in rotating mechanism in parallel to Fig. 2;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism first example structure schematic diagram in parallel to Fig. 3;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism second example structure schematic diagram in parallel to Fig. 4;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 3rd example structure schematic diagram to Fig. 5;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 4th example structure schematic diagram to Fig. 6;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 5th example structure schematic diagram to Fig. 7;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 6th example structure schematic diagram to Fig. 8;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 7th example structure schematic diagram to Fig. 9;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 8th example structure schematic diagram to Figure 10;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel 9th example structure schematic diagram to Figure 11;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism in parallel tenth example structure schematic diagram to Figure 12;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 11 example structure schematic diagram in parallel to Figure 13;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 12 example structure schematic diagram in parallel to Figure 14;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 13 example structure schematic diagram in parallel to Figure 15;
To be that the isometrical sphere of two degrees of freedom of the present invention is pure roll rotating mechanism the 14 example structure schematic diagram in parallel to Figure 16.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
In all embodiments, described R irepresent a revolute pair, P irepresent a moving sets, U irepresent that a universal joint containing two crossing pivot centers is secondary, C irepresent a cylindrical pair, Pa irepresent that a parallel four-bar be made up of four revolute pairs is secondary, S irepresent a ball pair, i is natural number.
The isometrical sphere of two degrees of freedom provided by the invention is pure rolls rotating mechanism in parallel, as shown in Figure 1, comprises motion platform 1, fixed pedestal 2, first movement branched chain 3, second movement branched chain 4, the 3rd movement branched chain 5; Motion platform 1 is connected with the two ends of the first movement branched chain 3, second movement branched chain 4, the 3rd movement branched chain 5 by kinematic pair respectively with fixed pedestal 2.First movement branched chain 3, second movement branched chain 4, the 3rd movement branched chain 5(can also comprise the more movement branched chain such as the 4th movement branched chain 6) can be the movement branched chain that structure is identical, also can only componental movement branched structure be identical.Also different physical dimensions can be had, as long as meet some requirements between identical movement branched chain.On the moving end that fixed pedestal 2 can be arranged on the equipment such as lathe or in executing agency, motion platform 1 installs rotary cutter or sensor of interest, so, motion platform 1 can realize relatively and fixed pedestal 2 ± 60 °, maximumly to reach ± the working space of 90 °, namely can realize machining or the application such as target following and detection.
The condition of described movement branched chain structure demand fulfillment is: there is a plane of symmetry II in each movement branched chain, the kinematic pair in movement branched chain is all symmetrical up and down about this plane of symmetry II, as shown in Figure 2, and revolute pair R 3with R 2the intersection point D of axis extended line, revolute pair R 1with R 2the intersection point E of axis extended line, revolute pair R 3with R 1the intersection point F of extended line of axis, three intersection points form a plane isosceles triangle DEF, and wherein: D point is summit, the long DE of waist equals the long DF of waist; Plane of symmetry II is called with C point with the vertical bisector plane that base EF is normal through D point.Between motion platform 1 and fixed pedestal 2, the plane of symmetry II of all movement branched chain overlaps, and forms a public plane of symmetry.
Annexation between described movement branched chain and motion platform 1 or fixed pedestal 2 can be the secondary or cylindrical pair of revolute pair, moving sets, universal joint; Also identical kinematic pair can be adopted to connect, to simplify structure, save manufacturing cost.
Described movement branched chain and motion platform 1 can realize that the isometrical sphere of two degrees of freedom around fixed pedestal 2 is pure rolls motion, and as shown in Figure 1, A point and B point are the centre of sphere of two hemisphere, and C point is the contact point of two hemisphere; The centre of sphere of the hemisphere at motion platform 1 place is A point, and radius is the distance L of A point and C point aC; The centre of sphere of the hemisphere at fixed pedestal 2 place is B point, and radius is the distance L of B point and C point bC; And L aC=L bC; Planar I I is the public tangent plane of C point excessively of two contact hemisphere, is called plane of symmetry II.The isometrical sphere of two degrees of freedom provided by the invention is pure rolls rotating mechanism in parallel when moving, motion platform 1 is just as being fixed on hemisphere A, fixed pedestal 2 is just as being fixed on hemisphere B, two hemisphere spheres do and roll motion without the pure of slippage, two dome contact points are C point, and because which form, motion platform 1 is pure relative to the isometrical sphere of fixed pedestal 2 rolls in parallel rotation.
Described centre of sphere A point is determined by following relation: when the kinematic pair axis that each movement branched chain is connected with motion platform 1 or center co-planar, and A point is positioned at kinematic pair axis that each movement branched chain is connected with motion platform 1 or the center, face that center is formed; When the kinematic pair axis that each movement branched chain is connected with motion platform 1 meets at a common point, A point is positioned at this common point place.
Described centre of sphere B point is determined by following relation: when the kinematic pair axis that each movement branched chain is connected with fixed pedestal 2 or center co-planar, and B point is positioned at kinematic pair axis that each movement branched chain is connected with fixed pedestal 2 or the center, face that center is formed; When the kinematic pair axis that each movement branched chain is connected with fixed pedestal 2 meets at a common point, B point is positioned at this common point place.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment one of rotating mechanism in parallel as shown in Figure 3, comprises motion platform 101, fixed pedestal 102, first movement branched chain 103, second movement branched chain 104 and the 3rd movement branched chain 105; Motion platform 101 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 4, R 6and R 8, three revolute pair axis meet at a common point; Fixed pedestal 102 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 1, R 5and R 7, three revolute pair axis meet at a common point; First movement branched chain 103 is made up of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, revolute pair R 2and R 3connecting rod in formation, R 3and R 4connecting rod in formation; R 1be connected with fixed pedestal 102, R 4be connected with motion platform 101, revolute pair R 1with revolute pair R 2be arranged in the both sides of connecting rod; Second movement branched chain 104 is made up of two connecting rods, comprises three kinematic pairs, is followed successively by R 5, S 1and R 6, revolute pair R 5with ball secondary S 1form lower link, revolute pair R 6with ball secondary S 1connecting rod in formation, revolute pair R 5be connected with fixed pedestal 102, revolute pair R 6be connected with motion platform 101, revolute pair R 5with revolute pair R 6be positioned at ball secondary S 1two ends; 3rd movement branched chain 105 is made up of two connecting rods, comprises three kinematic pairs, is followed successively by R 7, S 2and R 8, revolute pair R 7with ball secondary S 2form lower link, revolute pair R 8with ball secondary S 2connecting rod in formation, revolute pair R 7be connected with fixed pedestal 102, revolute pair R 8be connected with motion platform 101, revolute pair R 7with revolute pair R 8be positioned at ball secondary S 2two ends; Wherein, revolute pair R in the first movement branched chain 103 2with revolute pair R 3crossing point of axes, ball secondary S in the second movement branched chain 104 1central point and the 3rd movement branched chain 105 in ball secondary S 2central point form plane of symmetry II;
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment two of rotating mechanism in parallel as shown in Figure 4, comprises motion platform 201, fixed pedestal 202, first movement branched chain 203, second movement branched chain 204 and the 3rd movement branched chain 205; Motion platform 201 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 4, R 6and R 8, three revolute pair axis co-planar and intersecting between two; Fixed pedestal 202 is provided with three revolute pair links, and respectively with three movement branched chain form three revolute pair R 1, R 5and R 7, three revolute pair axis co-planar and intersecting between two; First movement branched chain 203 is made up of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, R 2and R 3connecting rod in formation, R 3and R 4connecting rod in formation; R 1be connected with fixed pedestal 202, R 4be connected with motion platform 201; Second movement branched chain 204 is made up of two connecting rods, comprises three kinematic pairs, is followed successively by R 5, S 1and R 6, revolute pair R 5with ball secondary S 1form lower link, revolute pair R 6with ball secondary S 1connecting rod in formation, revolute pair R 5be connected with fixed pedestal 202, revolute pair R 6be connected with motion platform 201; 3rd movement branched chain 205 is made up of two connecting rods, comprises three kinematic pairs, is followed successively by R 7, S 2and R 8, revolute pair R 7with ball secondary S 2form lower link, revolute pair R 8with ball secondary S 2connecting rod in formation, revolute pair R 7be connected with fixed pedestal 202, revolute pair R 8be connected with motion platform 201; Wherein, revolute pair R in the first movement branched chain 203 2with revolute pair R 3crossing point of axes, ball secondary S in the second movement branched chain 204 1central point and the 3rd movement branched chain 205 in ball secondary S 2central point form plane of symmetry II;
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment three of rotating mechanism in parallel as shown in Figure 5, comprises motion platform 301, fixed pedestal 302, first movement branched chain 303, second movement branched chain 304, the 3rd movement branched chain 305 and the 4th movement branched chain 306; Motion platform 301 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 303, second movement branched chain 304, the 3rd movement branched chain 305) form three revolute pair R 2, R 4and R 6, three revolute pair axis co-planar and intersecting between two; Fixed pedestal 302 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 303, second movement branched chain 304, the 3rd movement branched chain 305) form three revolute pair R 1, R 3and R 5, three revolute pair axis co-planar and intersecting between two; First movement branched chain 303, second movement branched chain 304 and the 3rd movement branched chain 305 structure similar, by two connecting rods composition, but in movement branched chain, the length of connecting rod can according to embody rule Foreground selection different size; For the first movement branched chain 303, include three kinematic pairs, be followed successively by R 1, S 2and R 2, revolute pair R 1with ball secondary S 2form lower link, revolute pair R 2with ball secondary S 2connecting rod in formation, revolute pair R 1be connected with fixed pedestal 302, revolute pair R 2be connected with motion platform 301; Side chain centered by 4th movement branched chain 306, is only made up of a connecting rod, comprises two kinematic pairs, is followed successively by U 1and S 1; Universal joint secondary U 1be connected with fixed pedestal 302, and universal joint secondary U 1be centrally located at R 1, R 3and R 5in the plane that axis is formed, ball secondary S 1be connected with motion platform 301, and ball secondary S 1be centrally located at R 2, R 4and R 6in the plane that axis is formed; Wherein, ball secondary S in the first movement branched chain 303 2central point, ball secondary S in the second movement branched chain 304 3central point and the 3rd movement branched chain 305 in ball secondary S 4central point form plane of symmetry II;
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment four of rotating mechanism in parallel as shown in Figure 6, comprises motion platform 401, fixed pedestal 402, first movement branched chain 403, second movement branched chain 404, the 3rd movement branched chain 405 and the 4th movement branched chain 406; Motion platform 401 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 403, second movement branched chain 404, the 3rd movement branched chain 405) form three revolute pair R 2, R 4and R 6, three revolute pair axis meet at a common point; Fixed pedestal 402 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 403, second movement branched chain 404, the 3rd movement branched chain 405) form three revolute pair R 1, R 3and R 5, three revolute pair axis meet at a common point; First movement branched chain 403, second movement branched chain 404 and the 3rd movement branched chain 405 structure similar, by two connecting rods composition; For the first movement branched chain 403, include three kinematic pairs, be followed successively by R 1, S 2and R 2, revolute pair R 1with ball secondary S 2form lower link, revolute pair R 2with ball secondary S 2connecting rod in formation, revolute pair R 1be connected with fixed pedestal 402, revolute pair R 2be connected with motion platform 401, revolute pair R 1with revolute pair R 2be positioned at ball secondary S 2two ends; Side chain centered by 4th movement branched chain 406, is only made up of a connecting rod, comprises two kinematic pairs, is followed successively by U 1and S 1; Universal joint secondary U 1be connected with fixed pedestal 402, and be centrally located at R 1, R 3and R 5in the common intersection of axis, ball secondary S 1be connected with motion platform 401, and be centrally located at R 2, R 4and R 6in the common intersection of axis; Wherein, ball secondary S in the first movement branched chain 403 2central point, ball secondary S in the second movement branched chain 404 3central point and the 3rd movement branched chain 405 in ball secondary S 4central point form plane of symmetry II;
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment five of rotating mechanism in parallel as shown in Figure 7, comprises motion platform 501, fixed pedestal 502, first movement branched chain 503, second movement branched chain 504, the 3rd movement branched chain 505 and the 4th movement branched chain 506; Motion platform 501 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 503, second movement branched chain 504, the 3rd movement branched chain 505) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 502 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 503, second movement branched chain 504, the 3rd movement branched chain 505) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; First movement branched chain 503, second movement branched chain 504 and the 3rd movement branched chain 505 structure similar, by two connecting rods composition; For the first movement branched chain 503, include three kinematic pairs, be followed successively by C 1, R 1and C 2, revolute pair R 1with cylindrical pair C 1form lower link, revolute pair R 1with cylindrical pair C 2connecting rod in formation, cylindrical pair C 1be connected with fixed pedestal 502, cylindrical pair C 2be connected with motion platform 501, cylindrical pair C 1with cylindrical pair C 2axis co-planar and with revolute pair R 1meet at a common point; Side chain centered by 4th movement branched chain 506, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 502, ball secondary S 2be connected with motion platform 501; Wherein, revolute pair R in the first movement branched chain 503 1axis, revolute pair R in the second movement branched chain 504 2axis and the 3rd movement branched chain 505 in revolute pair R 3axis co-planar and form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment six of rotating mechanism in parallel as shown in Figure 8, comprises motion platform 601, fixed pedestal 602, first movement branched chain 603, second movement branched chain 604, the 3rd movement branched chain 605 and the 4th movement branched chain 606; Motion platform 601 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 603, second movement branched chain 604, the 3rd movement branched chain 605) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 602 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 603, second movement branched chain 604, the 3rd movement branched chain 605) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; First movement branched chain 603, second movement branched chain 604 and the 3rd movement branched chain 605 structure similar, by two connecting rods composition; For the first movement branched chain 603, include three kinematic pairs, be followed successively by C 1, S 3and C 2, ball secondary S 3with cylindrical pair C 1form lower link, ball secondary S 3with cylindrical pair C 2connecting rod in formation, cylindrical pair C 1be connected with fixed pedestal 602, cylindrical pair C 2be connected with motion platform 601, cylindrical pair C 1with cylindrical pair C 2axis co-planar and meet at ball secondary S 3central point; Side chain centered by 4th movement branched chain 606, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 602, ball secondary S 2be connected with motion platform 601; Wherein, ball secondary S in the first movement branched chain 603 3central point, ball secondary S in the second movement branched chain 604 5central point and the 3rd movement branched chain 605 in ball secondary S 4central point form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment seven of rotating mechanism in parallel as shown in Figure 9, comprises motion platform 701, fixed pedestal 702, first movement branched chain 703, second movement branched chain 704, the 3rd movement branched chain 705 and the 4th movement branched chain 706; Motion platform 701 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 703, second movement branched chain 704, the 3rd movement branched chain 705) form three moving sets P 2, P 6and P 4, three moving sets axis meet at a common point; Fixed pedestal 702 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 703, second movement branched chain 704, the 3rd movement branched chain 705) form three moving sets P 1, P 5and P 3, three moving sets axis meet at a common point; First movement branched chain 703, second movement branched chain 704 and the 3rd movement branched chain 705 structure similar, by two connecting rods composition; For the first movement branched chain 703, include three kinematic pairs, be followed successively by P 1, S 3and P 2, ball secondary S 3with moving sets P 1form lower link, ball secondary S 3with moving sets P 2connecting rod in formation, moving sets P 1be connected with fixed pedestal 702, moving sets P 2be connected with motion platform 701, moving sets P 1with moving sets P 2axis co-planar and meet at ball secondary S 3central point; Side chain centered by 4th movement branched chain 706, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 702, ball secondary S 2be connected with motion platform 701; Wherein, ball secondary S in the first movement branched chain 703 3central point, ball secondary S in the second movement branched chain 704 5central point and the 3rd movement branched chain 705 in ball secondary S 4central point form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment eight of rotating mechanism in parallel as shown in Figure 10, comprises motion platform 801, fixed pedestal 802, first movement branched chain 803, second movement branched chain 804, the 3rd movement branched chain 805 and the 4th movement branched chain 806; Motion platform 801 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 803, second movement branched chain 804, the 3rd movement branched chain 805) form three revolute pair R 3, R 9and R 6, three revolute pair axis meet at a common point; Fixed pedestal 802 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 803, second movement branched chain 804, the 3rd movement branched chain 805) form three revolute pair R 1, R 7and R 4, three revolute pair axis meet at a common point; First movement branched chain 803, second movement branched chain 804 and the 3rd movement branched chain 805 structure similar, by four connecting rods composition; For the first movement branched chain 803, include five kinematic pairs, be followed successively by R 1, P 1, R 2, P 2and R 3, revolute pair R 1with moving sets P 1form lower link, revolute pair R 2with moving sets P 1connecting rod one in formation, revolute pair R 2with moving sets P 2connecting rod two in formation, revolute pair R 3with moving sets P 2connecting rod in formation, revolute pair R 1be connected with fixed pedestal 802, revolute pair R 3be connected with motion platform 801, moving sets P 1with moving sets P 2axis co-planar and with revolute pair R 2meet at a common point; Side chain centered by 4th movement branched chain 806, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 802, ball secondary S 2be connected with motion platform 801; Wherein, revolute pair R in the first movement branched chain 803 2axis, revolute pair R in the second movement branched chain 804 8axis and the 3rd movement branched chain 805 in revolute pair R 5axis co-planar and form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment nine of rotating mechanism in parallel as shown in figure 11, comprises motion platform 901, fixed pedestal 902, first movement branched chain 903, second movement branched chain 904, the 3rd movement branched chain 905 and the 4th movement branched chain 906; Motion platform 901 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 903, second movement branched chain 904, the 3rd movement branched chain 905) form three cylindrical pair C 1, C 3and C 2, three cylindrical pair axis meet at a common point; Fixed pedestal 902 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 903, second movement branched chain 904, the 3rd movement branched chain 905) form three moving sets P 1, P 3and P 2, three moving sets axis meet at a common point; First movement branched chain 903, second movement branched chain 904 and the 3rd movement branched chain 905 structure similar, by two connecting rods composition; For the first movement branched chain 903, include three kinematic pairs, be followed successively by P 1, S 3and C 1, ball secondary S 3with moving sets P 1form lower link, ball secondary S 3with cylindrical pair C 1connecting rod in formation, moving sets P 1be connected with fixed pedestal 902, cylindrical pair C 1be connected with motion platform 901, moving sets P 1with cylindrical pair C 1axis co-planar and meet at ball secondary S 3central point; Side chain centered by 4th movement branched chain 906, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 902, ball secondary S 2be connected with motion platform 901; Wherein, ball secondary S in the first movement branched chain 903 3central point, ball secondary S in the second movement branched chain 904 5central point and the 3rd movement branched chain 905 in ball secondary S 4central point form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment ten of rotating mechanism in parallel as shown in figure 12, comprises motion platform 1001, fixed pedestal 1002, first movement branched chain 1003, second movement branched chain 1004, the 3rd movement branched chain 1005 and the 4th movement branched chain 1006; Motion platform 1001 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1003, second movement branched chain 1004, the 3rd movement branched chain 1005) form three cylindrical pair C 1, C 3and C 2, three cylindrical pair axis meet at a common point; Fixed pedestal 1002 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1003, second movement branched chain 1004, the 3rd movement branched chain 1005) form three moving sets P 1, P 3and P 2, three moving sets axis meet at a common point; First movement branched chain 1003, second movement branched chain 1004 and the 3rd movement branched chain 1005 structure similar, by two connecting rods composition; For the first movement branched chain 1003, include three kinematic pairs, be followed successively by P 1, U 1and C 1, universal joint secondary U 1with moving sets P 1form lower link, universal joint secondary U 1with cylindrical pair C 1connecting rod in formation, moving sets P 1be connected with fixed pedestal 1002, cylindrical pair C 1be connected with motion platform 1001, moving sets P 1with cylindrical pair C 1axis co-planar and meet at universal joint secondary U 1central point; Side chain centered by 4th movement branched chain 1006, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 1002, ball secondary S 2be connected with motion platform 1001; Wherein, universal joint secondary U in the first movement branched chain 1003 1central point, universal joint secondary U in the second movement branched chain 1004 3central point and the 3rd movement branched chain 1005 in universal joint secondary U 2central point form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment 11 of rotating mechanism in parallel as shown in figure 13, comprises motion platform 1101, fixed pedestal 1102, first movement branched chain 1103, second movement branched chain 1104, the 3rd movement branched chain 1105 and the 4th movement branched chain 1106; Motion platform 1101 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1103, second movement branched chain 1104, the 3rd movement branched chain 1105) form three moving sets P 2, P 6and P 4, three moving sets axis meet at a common point; Fixed pedestal 1102 is provided with three moving sets links, and respectively with three movement branched chain (the first movement branched chain 1103, second movement branched chain 1104, the 3rd movement branched chain 1105) form three moving sets P 1, P 5and P 3, three moving sets axis meet at a common point; First movement branched chain 1103, second movement branched chain 1104 and the 3rd movement branched chain 1105 structure similar, by four connecting rods composition; For the first movement branched chain 1103, include five kinematic pairs, be followed successively by P 1, R 1, R 2, R 3and P 2, revolute pair R 1with moving sets P 1form lower link, roating sphere secondary R 2with revolute pair R 1connecting rod one in formation, revolute pair R 2with revolute pair R 3connecting rod two in formation, revolute pair R 3with moving sets P 2connecting rod in formation, revolute pair R 1, R 2and R 3axis meet at R 2a common point on axis, moving sets P 1be connected with fixed pedestal 1102, moving sets P 2be connected with motion platform 1101, moving sets P 1with moving sets P 2axis co-planar and meet at revolute pair R 1, R 2and R 3the common point of axis; Side chain centered by 4th movement branched chain 1106, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 1102, ball secondary S 2be connected with motion platform 1101; Wherein, revolute pair R in the first movement branched chain 1103 2axis, revolute pair R in the second movement branched chain 1104 8axis and the 3rd movement branched chain 1105 in revolute pair R 5axis form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment 12 of rotating mechanism in parallel as shown in figure 14, comprises motion platform 1201, fixed pedestal 1202, first movement branched chain 1203, second movement branched chain 1204, the 3rd movement branched chain 1205 and the 4th movement branched chain 1206; Motion platform 1201 is provided with the secondary link of three universal joints, and respectively with three movement branched chain (the first movement branched chain 1203, second movement branched chain 1204, the 3rd movement branched chain 1205) form three universal joint secondary U 2, U 6and U 4; Fixed pedestal 1202 is provided with the secondary link of three universal joints, and respectively with three movement branched chain (the first movement branched chain 1203, second movement branched chain 1204, the 3rd movement branched chain 1205) form three universal joint secondary U 1, U 5and U 3; First movement branched chain 1203, second movement branched chain 1204 and the 3rd movement branched chain 1205 structure similar, by two connecting rods composition; For the first movement branched chain 1203, include three kinematic pairs, be followed successively by U 1, R 1and U 2, revolute pair R 1with universal joint secondary U 1form lower link, revolute pair R 1with universal joint secondary U 2connecting rod in formation, universal joint secondary U 1be connected with fixed pedestal 1202, universal joint secondary U 2be connected with motion platform 1201; Side chain centered by 4th movement branched chain 1206, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 1202, ball secondary S 2be connected with motion platform 1201; Wherein, revolute pair R in the first movement branched chain 1203 1axis, revolute pair R in the second movement branched chain 1204 3axis and the 3rd movement branched chain 1205 in revolute pair R 2axis form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment 13 of rotating mechanism in parallel as shown in figure 15, comprises motion platform 1301, fixed pedestal 1302, first movement branched chain 1303, second movement branched chain 1304, the 3rd movement branched chain 1305 and the 4th movement branched chain 1306; Motion platform 1301 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1303, second movement branched chain 1304, the 3rd movement branched chain 1305) form three cylindrical pair C 2, C 6and C 4, three cylindrical pair axis meet at a common point; Fixed pedestal 1302 is provided with three cylindrical pair links, and respectively with three movement branched chain (the first movement branched chain 1303, second movement branched chain 1304, the 3rd movement branched chain 1305) form three cylindrical pair C 1, C 5and C 3, three cylindrical pair axis meet at a common point; First movement branched chain 1303, second movement branched chain 1304 and the 3rd movement branched chain 1305 structure similar, by two connecting rods composition; For the first movement branched chain 1303, include three kinematic pairs, be followed successively by C 1, U 1and C 2, universal joint secondary U 1with cylindrical pair C 1form lower link, universal joint secondary U 1with cylindrical pair C 2connecting rod in formation, cylindrical pair C 1be connected with fixed pedestal 1302, cylindrical pair C 2be connected with motion platform 1301, cylindrical pair C 1with cylindrical pair C 2axis co-planar and meet at universal joint secondary U 1central point; Side chain centered by 4th movement branched chain 1306, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 1302, ball secondary S 2be connected with motion platform 1301; Wherein, universal joint secondary U in the first movement branched chain 1303 1central point, universal joint secondary U in the second movement branched chain 1304 3central point and the 3rd movement branched chain 1305 in universal joint secondary U 2central point form plane of symmetry II.
The isometrical sphere of two degrees of freedom of the present invention is pure rolls the embodiment 14 of rotating mechanism in parallel as shown in figure 16, comprises motion platform 1401, fixed pedestal 1402, first movement branched chain 1403, second movement branched chain 1404, the 3rd movement branched chain 1405 and the 4th movement branched chain 1406; Motion platform 1401 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 1403, second movement branched chain 1404, the 3rd movement branched chain 1405) form three revolute pair R 3, R 9and R 6, three revolute pair axis meet at a common point; Fixed pedestal 1402 is provided with three revolute pair links, and respectively with three movement branched chain (the first movement branched chain 1403, second movement branched chain 1404, the 3rd movement branched chain 1405) form three revolute pair R 1, R 7and R 4, three revolute pair axis meet at a common point; First movement branched chain 1403, second movement branched chain 1404 and the 3rd movement branched chain 1405 structure similar, by four connecting rods composition; For the first movement branched chain 1403, include five kinematic pairs, be followed successively by R 1, Pa 1, R 2, Pa 2and R 3, revolute pair R 1with parallel four-bar secondary Pa 1form lower link, revolute pair R 2with parallel four-bar secondary Pa 1connecting rod one in formation, revolute pair R 2with parallel four-bar secondary Pa 2connecting rod two in formation, revolute pair R 3with parallel four-bar secondary Pa 2connecting rod in formation, revolute pair R 1be connected with fixed pedestal 1402, revolute pair R 3be connected with motion platform 1401, parallel four-bar secondary Pa 1with parallel four-bar secondary Pa 2axis co-planar and with revolute pair R 2meet at a common point; Side chain centered by 4th movement branched chain 1406, is only made up of a connecting rod, comprises two ball pairs, is followed successively by S 1and S 2; Ball secondary S 1be connected with fixed pedestal 1402, ball secondary S 2be connected with motion platform 1401; Wherein, revolute pair R in the first movement branched chain 1403 2axis, revolute pair R in the second movement branched chain 1404 8axis and the 3rd movement branched chain 1405 in revolute pair R 5axis form plane of symmetry II.
4th movement branched chain of above-described embodiment three and embodiment four also can adopt two ends to be the central motion side chain of ball secondary S;
4th movement branched chain of above-described embodiment five, embodiment six, embodiment seven, embodiment eight, embodiment nine, embodiment ten, embodiment 11, embodiment 12, embodiment 13 and embodiment 14 also can adopt one end to be ball secondary S, and the other end is the central motion side chain of universal joint secondary U;
In above-described embodiment six, embodiment nine and embodiment 13, movement branched chain contains redundant degree of freedom, is conducive to installation and the assembling of parallel institution;
Movement branched chain similar in above-described embodiment can have not identical connecting rod size, as long as to meet in same movement branched chain connecting rod size about plane of symmetry symmetric condition;
In above-described embodiment, each movement branched chain is all containing a plane of symmetry, and each movement branched chain plane of symmetry in each embodiment overlaps.

Claims (1)

1. the isometrical sphere of two degrees of freedom is pure rolls rotating mechanism in parallel, it is characterized in that: described mechanism is made up of motion platform, fixed pedestal and movement branched chain, described motion platform is connected more than three movement branched chain with between fixed pedestal by kinematic pair, described each movement branched chain is symmetrical about plane of symmetry II, realizes motion platform and does around fixed pedestal that the isometrical sphere of two degrees of freedom is pure rolls in parallel rotation; Described isometrical sphere refers to: suppose that the mid point of the line of A point and B point is C point, respectively with A point and B point for the centre of sphere, AC or BC is that radius makees ball, and the public tangent plane of two balls is plane of symmetry II;
Described A point is determined by following relation: when the kinematic pair axis co-planar that each movement branched chain is connected with motion platform, and A point is positioned at the center, face that kinematic pair axis that each movement branched chain is connected with motion platform is formed; When the kinematic pair axis that each movement branched chain is connected with motion platform meets at a common point, A point is positioned at this common point place;
Described B point is determined by following relation: when the kinematic pair axis co-planar that each movement branched chain is connected with fixed pedestal, and B point is positioned at the center, face that kinematic pair axis that each movement branched chain is connected with fixed pedestal is formed; When the kinematic pair axis that each movement branched chain is connected with fixed pedestal meets at a common point, B point is positioned at this common point place;
Described each movement branched chain comprises two or more connecting rod, comprises more than three kinematic pairs, forms more than 4 frees degree;
Described mechanism also comprises a center side chain, and described center side chain is be connected to connecting rod between A point and B point by kinematic pair, and described kinematic pair is that ball is secondary or universal joint is secondary;
The connection kinematic pair of each movement branched chain and fixed pedestal installs drive motors;
Kinematic pair between described movement branched chain and motion platform or fixed pedestal is more than one in the secondary or cylindrical pair of revolute pair, moving sets, universal joint;
Symmetrical structure centered by between described more than three movement branched chain;
Described more than three movement branched chain are combined by more than one following movement branched chain, are specially:
The first, movement branched chain is made up of three connecting rods, includes four revolute pairs, is followed successively by R 1, R 2, R 3and R 4, revolute pair R 1and R 2form lower link, revolute pair R 2and R 3connecting rod in formation, R 3and R 4connecting rod in formation;
The second, movement branched chain is made up of two connecting rods, comprises three kinematic pairs, is followed successively by R 1, S 1and R 2, revolute pair R 1with ball secondary S 1form lower link, revolute pair R 2with ball secondary S 1connecting rod in formation;
The third, movement branched chain is made up of two connecting rods, includes three kinematic pairs, is followed successively by C 1, R 1and C 2, revolute pair R 1with cylindrical pair C 1form lower link, revolute pair R 1with cylindrical pair C 2connecting rod in formation;
4th kind, movement branched chain is made up of two connecting rods, includes three kinematic pairs, is followed successively by C 1, S 1and C 2, ball secondary S 1with cylindrical pair C 1form lower link, ball secondary S 1with cylindrical pair C 2connecting rod in formation;
5th kind, movement branched chain is made up of two connecting rods, includes three kinematic pairs, is followed successively by P 1, S 1and P 2, ball secondary S 1with moving sets P 1form lower link, ball secondary S 1with moving sets P 2connecting rod in formation;
6th kind, movement branched chain is made up of four connecting rods, includes five kinematic pairs, is followed successively by R 1, P 1, R 2, P 2and R 3, revolute pair R 1with moving sets P 1form lower link, revolute pair R 2with moving sets P 1connecting rod one in formation, revolute pair R 2with moving sets P 2connecting rod two in formation, revolute pair R 3with moving sets P 2connecting rod in formation;
7th kind, movement branched chain is made up of four connecting rods, includes five kinematic pairs, is followed successively by P 1, R 1, R 2, R 3and P 2, revolute pair R 1with moving sets P 1form lower link, roating sphere secondary R 2with revolute pair R 1connecting rod one in formation, revolute pair R 2with revolute pair R 3connecting rod two in formation, revolute pair R 3with moving sets P 2connecting rod in formation;
8th kind, the movement branched chain forming mechanism is made up of two connecting rods, includes three kinematic pairs, is followed successively by U 1, R 1and U 2, revolute pair R 1with universal joint secondary U 1form lower link, revolute pair R 1with universal joint secondary U 2connecting rod in formation;
9th kind, movement branched chain is made up of two connecting rods, includes three kinematic pairs, is followed successively by C 1, U 1and C 2, universal joint secondary U 1with cylindrical pair C 1form lower link, universal joint secondary U 1with cylindrical pair C 2connecting rod in formation;
Tenth kind, movement branched chain is made up of four connecting rods, includes five kinematic pairs, is followed successively by R 1, Pa 1, R 2, Pa 2and R 3, revolute pair R 1with parallel four-bar secondary Pa 1form lower link, revolute pair R 2with parallel four-bar secondary Pa 1connecting rod one in formation, revolute pair R 2with parallel four-bar secondary Pa 2connecting rod two in formation, revolute pair R 3with parallel four-bar secondary Pa 2connecting rod in formation;
Described R irepresent a revolute pair, P irepresent a moving sets, U irepresent that a universal joint containing two crossing pivot centers is secondary, C irepresent a cylindrical pair, Pa irepresent that a parallel four-bar be made up of four revolute pairs is secondary, S irepresent a ball pair, i is natural number.
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