CN103831818A - Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving - Google Patents
Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving Download PDFInfo
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- CN103831818A CN103831818A CN201410064502.0A CN201410064502A CN103831818A CN 103831818 A CN103831818 A CN 103831818A CN 201410064502 A CN201410064502 A CN 201410064502A CN 103831818 A CN103831818 A CN 103831818A
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Abstract
The invention discloses a cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving, and belongs to the technical field of robots. The cube rod mechanism comprises an X-axis first rigid body a1, an X-axis second rigid body a2, an X-axis third rigid body a3, an X-axis fourth rigid body a4, a Y-axis first rigid body c1, a Y-axis second rigid body c2, a Y-axis third rigid body c3, a Y-axis fourth rigid body c4, a Z-axis first rigid body b1, a Z-axis second rigid body b2, a Z-axis third rigid body b3, a Z-axis fourth rigid body b4, a first base d1, a second base d2, an auxiliary rigid body e1, a first telescopic rod La, a second telescopic rod Lb and a third telescopic rod Lc. The cube rod mechanism is simple in structure, strong in decoupling performance, and simple, clear and reliable in motion.
Description
Technical field
The invention belongs to Robotics application, be specifically related to the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, be mainly used in the bionical legged type robot three freedom degree ball joint design that hydraulic cylinder or rope drive isoline drive.
Background technology
Bionical legged type robot is current robot research field one of the problem in forward position the most, it integrates the multi-door subjects such as machinery, electronics, computer, material, sensor, control technology and artificial intelligence, a national intellectuality and automation research level are reflected, also as the important symbol of a national high-tech strength, each developed country in succession drops into huge fund in this field and conducts a research simultaneously.
The bionical legged type robot of hydraulic-driven (hydraulic cylinder linear drives), has high load capability and superior locomotivity, will under the Special complex environment such as military affairs, mountain region rescue, cruise, have huge requirement background; Rope drives the bionical legged type robot of (rope straight line stretch drive) can simulate biological joint drive mode, leg structure design light and handy (rotary inertia is little), and the advantage such as driving joint rotation, has larger application prospect in fields such as space explorations at a distance.
Bionical legged type robot will possess superior locomotivity, mainly relies on multiple degrees of freedom podarthrum design (as three freedom degree ball joint) and the free degree to distribute; And realize multiple degrees of freedom podarthrum structural design parsimony and kinematic calculation decoupling, be one of key technology of bionical legged type robot joint designs.Conventionally design Three Degree Of Freedom joint is that the rotating shaft of Three Degree Of Freedom cradle head is all intersected at a point as far as possible, is similar to ball-joint, helps like this simplification of kinematic calculation.The design of ball-joint at present has certain complexity, and as the Three-degree-of-freedom spherical space robot wrist for aerospace robot (publication number: CN 102029614A) of people's designs such as Deng Zongquan, and each free degree athletic meeting intercouples; Particularly adopt linear drives to realize in the method for rotating in Three Degree Of Freedom joint, between multiple linear drives input quantities, intercouple, the platform that the people such as a kind of spatial three-freedom parallel device people structure (publication number: CN 1267587A) and Fang Yuefa with support and three branches who designs as people such as Liu Xinjun designs is made a kind of 3-dimensional freedom platform parallel robot structure (publication number: CN 1417003A) of spherical rotation; And in the three freedom degree ball joint that the flexible cables such as rope drive side by side, each rope motion input quantity and ball-joint three rotational angles have coupling problem, its decoupling is poor, calculate more complicatedly, Ru Zhaoming such as raises at a kind of three-freedom parallel mechanism driven by flexible rope being made up of three groups of driver elements and motion platform (publication number: CN 1250374C) of people's design).
For this reason, meeting linear drives (rope, hydraulic cylinder or pneumatic cylinder, motor ball-screw, linear electric motors isoline drives) realize the kind of drive that robot three freedom degree ball joint rotates and innovate, project organization is simple, decoupling is strong, motion is simple and clear reliable, for the design of bio-robot ball-joint provides technical support, there is very important theory significance and practical value.
Summary of the invention
The object of the present invention is to provide the cube linkage that a kind of simple in structure, decoupling is strong, the simple and clear linear drives implementation space reliably of motion Three Degree Of Freedom class ball-joint rotates.
This mechanism comprises: coordinate system, ball-joint angle, X-axis the first rigid body, X-axis the second rigid body, X-axis the 3rd rigid body, X-axis the 4th rigid body, Y-axis the first rigid body, Y-axis the second rigid body, Y-axis the 3rd rigid body, Y-axis the 4th rigid body, Z axis the first rigid body, Z axis the second rigid body, Z axis the 3rd rigid body, Z axis the 4th rigid body, the first pedestal, the second pedestal, auxiliary rigid body, the first expansion link, the second expansion link, the 3rd expansion link, XZ1 face the first pin joint, XZ1 face the second pin joint, XZ1 face the 3rd pin joint, XZ1 face the 4th pin joint, XZ2 face the first pin joint, XZ2 face the second pin joint, XZ2 face the 3rd pin joint, XZ2 face the 4th pin joint, XY1 face the first pin joint, XY1 face the second pin joint, XY1 face the 3rd pin joint, XY1 face the 4th pin joint, XY2 face the first pin joint, XY2 face the second pin joint, XY2 face the 3rd pin joint, XY2 face the 4th pin joint, X1 the first pin joint, X1 the second pin joint, Y1 the first pin joint, Y1 the second pin joint, Z1 the first pin joint, Z1 the second pin joint, YZ1 the first pin joint, YZ1 the second pin joint.
Wherein coordinate system is arranged at one jiao, cube; Angle around coordinate system three axle rotations is respectively α, β and γ; The length of X-axis the first rigid body, X-axis the second rigid body, X-axis the 3rd rigid body, X-axis the 4th rigid body is identical; The length of Y-axis the first rigid body, Y-axis the second rigid body, Y-axis the 3rd rigid body, Y-axis the 4th rigid body, auxiliary rigid body is identical; The length of Z axis the first rigid body, Z axis the second rigid body, Z axis the 3rd rigid body, Z axis the 4th rigid body is identical.
Wherein X-axis first rigid body one end and Z axis first rigid body one end are hinged, and pin joint is called XZ1 face the first pin joint; X-axis the 4th rigid body one end and Z axis first rigid body one end are hinged, and pin joint is called XZ1 face the second pin joint; X-axis the 4th rigid body one end and Z axis second rigid body one end are hinged, and pin joint is called XZ1 face the 3rd pin joint; X-axis first rigid body one end and Z axis second rigid body one end are hinged, and pin joint is called XZ1 face the 4th pin joint; More than form cube bottom surface parallelogram.
Wherein X-axis second rigid body one end and Z axis the 4th rigid body one end are hinged, and pin joint is called XZ2 face the first pin joint; X-axis the 3rd rigid body one end and Z axis the 4th rigid body one end are hinged, and pin joint is called XZ2 face the second pin joint; X-axis the 3rd rigid body one end and Z axis the 3rd rigid body one end are hinged, and pin joint is called XZ2 face the 3rd pin joint; X-axis second rigid body one end and Z axis the 3rd rigid body one end are hinged, and pin joint is called XZ2 face the 4th pin joint; More than form end face parallelogram on cube.
Wherein X-axis first rigid body one end links with Y-axis first rigid body one end two degrees of freedom cross axle, and pin joint is called XY1 face the first pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis second rigid body one end links with Y-axis first rigid body one end two degrees of freedom cross axle, and pin joint is called XY1 face the second pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis second rigid body one end links with Y-axis the 4th rigid body one end two degrees of freedom cross axle, and pin joint is called XY1 face the 3rd pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis first rigid body one end links with Y-axis the 4th rigid body one end two degrees of freedom cross axle, and pin joint is called XY1 face the 4th pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube leading flank parallelogram.
Wherein X-axis the 4th rigid body one end links with Y-axis second rigid body one end two degrees of freedom cross axle, and pin joint is called XY2 face the first pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body one end links with Y-axis second rigid body one end two degrees of freedom cross axle, and pin joint is called XY2 face the second pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body one end links with Y-axis the 3rd rigid body one end two degrees of freedom cross axle, and pin joint is called XY2 face the 3rd pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 4th rigid body one end links with Y-axis the 3rd rigid body one end two degrees of freedom cross axle, and pin joint is called XY2 face the 4th pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube trailing flank parallelogram.
Wherein the first expansion link links with X-axis first rigid body one end two degrees of freedom cross axle, and pin joint is called X1 the first pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body and X-axis the 3rd rigid body respectively; The first expansion link links with X-axis the 3rd rigid body one end two degrees of freedom cross axle, and pin joint is called X1 the second pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body and X-axis the 3rd rigid body respectively.
Wherein the second expansion link links with Y-axis second rigid body one end two degrees of freedom cross axle, and pin joint is called Y1 the first pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body and Y-axis the 4th rigid body respectively; The second expansion link links with Y-axis the 4th rigid body one end two degrees of freedom cross axle, and pin joint is called Y1 the second pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body and Y-axis the 4th rigid body respectively.
Wherein the 3rd expansion link links with Z axis first rigid body one end two degrees of freedom cross axle, and pin joint is called Z1 the first pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body and Z axis the 3rd rigid body respectively; The 3rd expansion link links with Z axis the 3rd rigid body one end two degrees of freedom cross axle, and pin joint is called Z1 the second pin joint, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body and Z axis the 3rd rigid body respectively.
Wherein auxiliary rigid body links with Z axis first rigid body one end two degrees of freedom cross axle, and pin joint is called YZ1 the first pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis; Auxiliary rigid body links with Z axis the 4th rigid body one end two degrees of freedom cross axle, and pin joint is called YZ1 the second pin joint, and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis.
Wherein first pedestal one end and X-axis the first rigid body fixed-link, and the first pedestal other end axially along Y direction, second pedestal one end and auxiliary rigid body fixed-link and the second pedestal d2 other end axially along Y direction.
Wherein the first expansion link, the second expansion link, the 3rd expansion link can be Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit or leading screw linear moving apparatus or rope linear drive apparatus.
Operation principle of the present invention:
Based on the parallel cubical movement characteristic of three dimensions, drive the parallel cube distortion of three dimensions by linear moving apparatus, finally realize Shaft angle between the first pedestal and the second pedestal and change, completed this motion transmission that is linearly moved to three freedom degree ball joint rotation of the devices such as rope, hydraulic cylinder or pneumatic cylinder.Due to the parallel cubical movement characteristic of three dimensions, between three rectilinear movements input quantity and ball-joint three angle output quantities, there is certain decoupling, motion is independent, can not influence each other, improve the exercise performance of bio-robot ball-joint, for structure is light and handy, the efficient bio-robot multi-freedom joint design of moving provides mechanism's creation and optimization mode.
The present invention compared with prior art has the following advantages:
1, the present invention can realize and be linearly moved to the motion transmission that Three Degree Of Freedom class ball-joint rotates, and in conjunction with the parallel cubical movement characteristic of three dimensions, structure is light and handy, the efficient bio-robot ball-joint design of moving provides Creative Mechanism Design.
2, of the present invention simple in structure, that motion principle is clear, motion realizes is convenient, between three rectilinear movement input quantities and ball-joint three angle output quantities, has certain decoupling, motion independently, can not influence each other.
3, the present invention provides a kind of scheme to bio-robot ball-joint design, has improved bio-robot ball-joint exercise performance, has reduced the bionic machine person joint's that rope, hydraulic pressure isoline drive control and design difficulty.
Accompanying drawing explanation
Fig. 1 is the cube linkage sketch that a kind of linear drives of the present invention implementation space Three Degree Of Freedom class ball-joint rotates.
Fig. 2 is the cube linkage original state instance graph that a kind of linear drives of the present invention implementation space Three Degree Of Freedom class ball-joint rotates.
Fig. 3 is the cube linkage motion state instance graph that a kind of linear drives of the present invention implementation space Three Degree Of Freedom class ball-joint rotates.
Above-mentioned number in the figure title: a1, X-axis the first rigid body; A2, X-axis the second rigid body; A3, X-axis the 3rd rigid body; A4, X-axis the 4th rigid body; C1, Y-axis the first rigid body; C2, Y-axis the second rigid body; C3, Y-axis the 3rd rigid body; C4, Y-axis the 4th rigid body b1, Z axis the first rigid body; B2, Z axis the second rigid body; B3, Z axis the 3rd rigid body; B4, Z axis the 4th rigid body; D1, the first pedestal; D2, the second pedestal; E1, auxiliary rigid body; La, the first expansion link; Lb, the second expansion link; Lc, the 3rd expansion link; A1b1, XZ1 face the first pin joint; A4b1, XZ1 face the second pin joint; A4b2, XZ1 face the 3rd pin joint; A1b2, XZ1 face the 4th pin joint; A2b4, XZ2 face the first pin joint; A3b4, XZ2 face the second pin joint; A3b3, XZ2 face the 3rd pin joint; A2b3, XZ2 face the 4th pin joint; A1c1, XY1 face the first pin joint; A2c1, XY1 face the second pin joint; A2c4, XY1 face the 3rd pin joint; A1c4, XY1 face the 4th pin joint; A4c2, XY2 face the first pin joint; A3c2, XY2 face the second pin joint; A3c3, XY2 face the 3rd pin joint; A4c3, XY2 face the 4th pin joint; A1La, X1 the first pin joint; A3La, X1 the second pin joint; C2Lb, Y1 the first pin joint; C4Lb, Y1 the second pin joint; B1Lc, Z1 the first pin joint; B3Lc, Z1 the second pin joint; B1e1, YZ1 the first pin joint; B4e1, YZ1 the second pin joint.
Coordinate system XYZ in figure, the origin of coordinates is 0, is arranged at one jiao, cube; Angle around X, Y and Z axis rotation is respectively α, β and γ; The first pedestal d1 other end is axially that Yd1(is along Y direction); The second pedestal d2 other end is axially that Yd2(is along Y direction).
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
In conjunction with Fig. 1, 2, 3, the present embodiment is the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, and comprising: coordinate system XYZ, ball-joint angle α β γ, X-axis the first rigid body a1, X-axis the second rigid body a2, X-axis the 3rd rigid body a3, X-axis the 4th rigid body a4, Y-axis the first rigid body c1, Y-axis the second rigid body c2, Y-axis the 3rd rigid body c3, Y-axis the 4th rigid body c4, Z axis the first rigid body b1, Z axis the second rigid body b2, Z axis the 3rd rigid body b3, Z axis the 4th rigid body b4, the first pedestal d1, the second pedestal d2, auxiliary rigid body e1, the first expansion link La, the second expansion link Lb, the 3rd expansion link Lc, XZ1 face the first pin joint a1b1, XZ1 face the second pin joint a4b1, XZ1 face the 3rd pin joint a4b2, XZ1 face the 4th pin joint a1b2, XZ2 face the first pin joint a2b4, XZ2 face the second pin joint a3b4, XZ2 face the 3rd pin joint a3b3, XZ2 face the 4th pin joint a2b3, XY1 face the first pin joint a1c1, XY1 face the second pin joint a2c1, XY1 face the 3rd pin joint a2c4, XY1 face the 4th pin joint a1c4, XY2 face the first pin joint a4c2, XY2 face the second pin joint a3c2, XY2 face the 3rd pin joint a3c3, XY2 face the 4th pin joint a4c3, X1 the first pin joint a1La, X1 the second pin joint a3La, Y1 the first pin joint c2Lb, Y1 the second pin joint c4Lb, Z1 the first pin joint b1Lc, Z1 the second pin joint b3Lc, YZ1 the first pin joint b1e1, YZ1 the second pin joint b4e1, the first pedestal d1 other end is axially that Yd1(is along Y direction), the second pedestal d2 other end is axially that Yd2(is along Y direction).
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein coordinate system XYZ, the origin of coordinates is 0, is arranged at one jiao, cube; Angle around X, Y and Z axis rotation is respectively α, β and γ; The length of X-axis the first rigid body a1, X-axis the second rigid body a2, X-axis the 3rd rigid body a3, X-axis the 4th rigid body a4 is identical; The length of Y-axis the first rigid body c1, Y-axis the second rigid body c2, Y-axis the 3rd rigid body c3, Y-axis the 4th rigid body c4, auxiliary rigid body e1 is identical; The length of Z axis the first rigid body b1, Z axis the second rigid body b2, Z axis the 3rd rigid body b3, Z axis the 4th rigid body b4 is identical.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein X-axis first rigid body a1 one end and Z axis first rigid body b1 one end are hinged, and pin joint is called XZ1 face the first pin joint a1b1; X-axis the 4th rigid body a4 one end and Z axis first rigid body b1 one end are hinged, and pin joint is called XZ1 face the second pin joint a4b1; X-axis the 4th rigid body a4 one end and Z axis second rigid body b2 one end are hinged, and pin joint is called XZ1 face the 3rd pin joint a4b2; X-axis first rigid body a1 one end and Z axis second rigid body b2 one end are hinged, and pin joint is called XZ1 face the 4th pin joint a1b2; More than form cube bottom surface XZ1 parallelogram.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein X-axis second rigid body a2 one end and Z axis the 4th rigid body b4 one end are hinged, and pin joint is called XZ2 face the first pin joint a2b4; X-axis the 3rd rigid body a3 one end and Z axis the 4th rigid body b4 one end are hinged, and pin joint is called XZ2 face the second pin joint a3b4; X-axis the 3rd rigid body a3 one end and Z axis the 3rd rigid body b3 one end are hinged, and pin joint is called XZ2 face the 3rd pin joint a3b3; X-axis second rigid body a2 one end and Z axis the 3rd rigid body b3 one end are hinged, and pin joint is called XZ2 face the 4th pin joint a2b3; More than form end face XZ2 parallelogram on cube.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein X-axis first rigid body a1 one end links with Y-axis first rigid body c1 one end two degrees of freedom cross axle, pin joint is called XY1 face the first pin joint a1c1, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis second rigid body a2 one end links with Y-axis first rigid body c1 one end two degrees of freedom cross axle, and pin joint is called XY1 face the second pin joint a2c1, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis second rigid body a2 one end links with Y-axis the 4th rigid body c4 one end two degrees of freedom cross axle, and pin joint is called XY1 face the 3rd pin joint a2c4, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis first rigid body a1 one end links with Y-axis the 4th rigid body c4 one end two degrees of freedom cross axle, and pin joint is called XY1 face the 4th pin joint a1c4, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube leading flank XY1 parallelogram.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein X-axis the 4th rigid body a4 one end links with Y-axis second rigid body c2 one end two degrees of freedom cross axle, pin joint is called XY2 face the first pin joint a4c2, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body a3 one end links with Y-axis second rigid body c2 one end two degrees of freedom cross axle, and pin joint is called XY2 face the second pin joint a3c2, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body a3 one end links with Y-axis the 3rd rigid body c3 one end two degrees of freedom cross axle, and pin joint is called XY2 face the 3rd pin joint a3c3, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 4th rigid body a4 one end links with Y-axis the 3rd rigid body c3 one end two degrees of freedom cross axle, and pin joint is called XY2 face the 4th pin joint a4c3, and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube trailing flank XY2 parallelogram.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein the first expansion link La links with X-axis first rigid body a1 one end two degrees of freedom cross axle, pin joint is called X1 the first pin joint a1La, and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body a1 and X-axis the 3rd rigid body a3 respectively; The first expansion link La links with X-axis the 3rd rigid body a3 one end two degrees of freedom cross axle, and pin joint is called X1 the second pin joint a3La, and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body a1 and X-axis the 3rd rigid body a3 respectively.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein the second expansion link Lb links with Y-axis second rigid body c2 one end two degrees of freedom cross axle, pin joint is called Y1 the first pin joint c2Lb, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body c2 and Y-axis the 4th rigid body c4 respectively; The second expansion link Lb links with Y-axis the 4th rigid body c4 one end two degrees of freedom cross axle, and pin joint is called Y1 the second pin joint c4Lb, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body c2 and Y-axis the 4th rigid body c4 respectively.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein the 3rd expansion link Lc links with Z axis first rigid body b1 one end two degrees of freedom cross axle, pin joint is called Z1 the first pin joint b1Lc, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body b1 and Z axis the 3rd rigid body b3 respectively; The 3rd expansion link Lc links with Z axis the 3rd rigid body b3 one end two degrees of freedom cross axle, and pin joint is called Z1 the second pin joint b3Lc, and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body b1 and Z axis the 3rd rigid body b3 respectively.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein auxiliary rigid body e1 links with Z axis first rigid body b1 one end two degrees of freedom cross axle, pin joint is called YZ1 the first pin joint b1e1, and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis; Auxiliary rigid body e1 links with Z axis the 4th rigid body b4 one end two degrees of freedom cross axle, and pin joint is called YZ1 the second pin joint b4e1, and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis.
Be illustrated in figure 1 the sketch of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein first pedestal d1 one end and X-axis the first rigid body a1 fixed-link, and the first pedestal d1 other end is axially that Yd1(is along Y direction), second pedestal d2 one end and auxiliary rigid body e1 fixed-link and the second pedestal d2 other end be axially for Yd2(is along Y direction).
The original state instance graph that is illustrated in figure 2 the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein each rigid body is all consistent with Fig. 1 with on-link mode (OLM) with linking point title, and therefore not to repeat here.
Be illustrated in figure 3 the motion state instance graph of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation, wherein each rigid body is all consistent with Fig. 1 and 2 with on-link mode (OLM) with linking point title, wherein the first expansion link La, the second expansion link Lb, the 3rd expansion link Lc moves, make Yd1 axle and Yd2 axle occur rotational variations, wherein the first expansion link La, the second expansion link Lb, the 3rd expansion link Lc respectively mobile input will independently produce around X-axis, the α of Y-axis and Z axis, β and γ angle change, there is certain decoupling and sports independence, can realize 1, the motor function of 2 and 3 frees degree.
Be the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates as shown in Figure 1,2 and 3, wherein the first expansion link La, the second expansion link Lb, the 3rd expansion link Lc cathetus moving sets are Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit or leading screw linear moving apparatus or rope linear drive apparatus.
Be the instance graph of the cube linkage of a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotation as shown in Figures 2 and 3, this example embodiment is not limited to as shown in the mechanism of Fig. 2 and 3, and derive more widely to the mechanism of this kinematic sketch of mechanism same movement principle; The each rigid body of capable of regulating or rod member size in practical application, meet the requirement of actual condition hypozygal exercise performance.
As shown in Figure 1, in order to make kinematics of mechanism computational short cut of the present invention, structure attractive in appearance, can be further qualified:
1) XY1 face the first pin joint a1c1 and XZ1 face the first pin joint a1b1, XY2 face the first pin joint a4c2 and XZ1 face the second pin joint a4b1, XY2 face the 4th pin joint a4c3 and XZ1 face the 3rd pin joint a4b2, XY1 face the 4th pin joint a1c4 and XZ1 face the 4th pin joint a1b2, XY1 face the second pin joint a2c1 and XZ2 face the first pin joint a2b4, XY2 face the second pin joint a3c2 and XZ2 face the second pin joint a3b4, XY2 face the 3rd pin joint a3c3 and XZ2 face the 3rd pin joint a3b3, XY1 face the 3rd pin joint a2c4 all equates with the spacing of XZ2 face the 4th pin joint a2b3, YZ1 the first pin joint b1e1 all equates with the spacing of XZ1 face the second pin joint a4b1 with XZ1 face the first pin joint a1b1, YZ1 the first pin joint b1e1, YZ1 the second pin joint b4e1 all equates with the spacing of XZ2 face the second pin joint a3b4 with XZ2 face the first pin joint a2b4, YZ1 the second pin joint b4e1.
2) X1 the first pin joint a1La all equates with the spacing of XZ2 face the 3rd pin joint a3b3 with XZ1 face the 4th pin joint a1b2, X1 the second pin joint a3La; Y1 the first pin joint c2Lb all equates with the spacing of XY1 face the 4th pin joint a1c4 with XY2 face the first pin joint a4c2, Y1 the second pin joint c4Lb; Z1 the first pin joint b1Lc all equates with the spacing of XZ2 face the 4th pin joint a2b3 with XZ1 face the first pin joint a1b1, Z1 the second pin joint b3Lc.The gap length size of concrete each pin joint, should select to determine according to meeting the requirement non-intersect or that interfere in cubic space of the first expansion link (La), the second expansion link (Lb) and the 3rd expansion link (Lc)).The first expansion link (La), the second expansion link (Lb) and the 3rd expansion link (Lc) are as moving sets, there is the kinematic pair of Telescopic, concrete size could be determined the first expansion link (La), the second expansion link (Lb) and the removable amount of the 3rd expansion link (Lc) after must determining according to each rigid body length in cube.
In order to widen range of application of the present invention, to adapt to more kinds of application conditions, there is certain generality, can not be subject under above details qualifications, the present invention still has Three Degree Of Freedom class ball-joint locomitivity, is widening after limited range, specifically relaxes and limits constraint:
1) YZ1 the first pin joint b1e1 and YZ1 the second not requirement of pin joint b4e1 pin joint position;
2) spacing of X1 the first pin joint a1La and XZ1 face the 4th pin joint a1b2, X1 the second pin joint a3La and XZ2 face the 3rd pin joint a3b3 can be unequal;
3) spacing of Y1 the first pin joint c2Lb and XY2 face the first pin joint a4c2, Y1 the second pin joint c4Lb and XY1 face the 4th pin joint a1c4 can be unequal;
4) spacing of Z1 the first pin joint b1Lc and XZ1 face the first pin joint a1b1, Z1 the second pin joint b3Lc and XZ2 face the 4th pin joint a2b3 can be unequal;
5) what the first expansion link (La) two ends can be with X-axis the first rigid body a1 and X-axis the 3rd rigid body a3 is hinged, can also be hinged with X-axis the second rigid body a2 and X-axis the 4th rigid body a4;
6) what the second expansion link (Lb) two ends can be with Y-axis the second rigid body c2 and Y-axis the 4th rigid body c4 is hinged, can also be hinged with Y-axis the first rigid body c1 and Y-axis the 3rd rigid body c3;
7) what the 3rd expansion link (Lc) two ends can be with Z axis the first rigid body b1 and Z axis the 3rd rigid body b3 is hinged, can also be hinged with Z axis the second rigid body b2 and Z axis the 4th rigid body b4.
Claims (2)
1. the cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates, is characterized in that:
If coordinate system XYZ, origin of coordinates O, is arranged at one jiao, cube body rod structure; Angle around X, Y and Z axis rotation is respectively α, β and γ;
Described cube linkage comprises: X-axis the first rigid body (a1), X-axis the second rigid body (a2), X-axis the 3rd rigid body (a3), X-axis the 4th rigid body (a4), Y-axis the first rigid body (c1), Y-axis the second rigid body (c2), Y-axis the 3rd rigid body (c3), Y-axis the 4th rigid body (c4), Z axis the first rigid body (b1), Z axis the second rigid body (b2), Z axis the 3rd rigid body (b3), Z axis the 4th rigid body (b4), the first pedestal (d1), the second pedestal (d2), auxiliary rigid body (e1), the first expansion link (La), the second expansion link (Lb), the 3rd expansion link (Lc),
Wherein the length of X-axis the first rigid body (a1), X-axis the second rigid body (a2), X-axis the 3rd rigid body (a3), X-axis the 4th rigid body (a4) is identical; The length of Y-axis the first rigid body (c1), Y-axis the second rigid body (c2), Y-axis the 3rd rigid body (c3), Y-axis the 4th rigid body (c4), auxiliary rigid body (e1) is identical; The length of Z axis the first rigid body (b1), Z axis the second rigid body (b2), Z axis the 3rd rigid body (b3), Z axis the 4th rigid body (b4) is identical;
Wherein X-axis the first rigid body (a1) one end and Z axis the first rigid body (b1) one end are hinged, and pin joint is called XZ1 face the first pin joint (a1b1), and this point is origin of coordinates O; X-axis the 4th rigid body (a4) one end and Z axis the first rigid body (b1) other end are hinged, and pin joint is called XZ1 face the second pin joint (a4b1); X-axis the 4th rigid body (a4) other end and Z axis the second rigid body (b2) one end are hinged, and pin joint is called XZ1 face the 3rd pin joint (a4b2); X-axis the first rigid body (a1) other end and Z axis the second rigid body (b2) other end are hinged, and pin joint is called XZ1 face the 4th pin joint (a1b2); More than form cube bottom surface XZ1 parallelogram;
Wherein X-axis the second rigid body (a2) one end and Z axis the 4th rigid body (b4) one end are hinged, and pin joint is called XZ2 face the first pin joint (a2b4); X-axis the 3rd rigid body (a3) one end and Z axis the 4th rigid body (b4) other end are hinged, and pin joint is called XZ2 face the second pin joint (a3b4); X-axis the 3rd rigid body (a3) other end and Z axis the 3rd rigid body (b3) one end are hinged, and pin joint is called XZ2 face the 3rd pin joint (a3b3); X-axis the second rigid body (a2) other end and Z axis the 3rd rigid body (b3) other end are hinged, and pin joint is called XZ2 face the 4th pin joint (a2b3); More than form end face XZ2 parallelogram on cube;
Wherein X-axis the first rigid body (a1) one end links with Y-axis the first rigid body (c1) one end two degrees of freedom cross axle, and pin joint is called XY1 face the first pin joint (a1c1), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the second rigid body (a2) one end links with Y-axis the first rigid body (c1) one end two degrees of freedom cross axle, and pin joint is called XY1 face the second pin joint (a2c1), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the second rigid body (a2) one end links with Y-axis the 4th rigid body (c4) one end two degrees of freedom cross axle, and pin joint is called XY1 face the 3rd pin joint (a2c4), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the first rigid body (a1) one end links with Y-axis the 4th rigid body (c4) one end two degrees of freedom cross axle, and pin joint is called XY1 face the 4th pin joint (a1c4), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube leading flank XY1 parallelogram;
Wherein X-axis the 4th rigid body (a4) one end links with Y-axis the second rigid body (c2) one end two degrees of freedom cross axle, and pin joint is called XY2 face the first pin joint (a4c2), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body (a3) one end links with Y-axis the second rigid body (c2) one end two degrees of freedom cross axle, and pin joint is called XY2 face the second pin joint (a3c2), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 3rd rigid body (a3) one end links with Y-axis the 3rd rigid body (c3) one end two degrees of freedom cross axle, and pin joint is called XY2 face the 3rd pin joint (a3c3), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; X-axis the 4th rigid body (a4) one end links with Y-axis the 3rd rigid body (c3) one end two degrees of freedom cross axle, and pin joint is called XY2 face the 4th pin joint (a4c3), and the two degrees of freedom rotating shaft possessing is respectively along X and Z axis; More than form cube trailing flank XY2 parallelogram;
Wherein the first expansion link (La) links with X-axis the first rigid body (a1) one end two degrees of freedom cross axle, pin joint is called X1 the first pin joint (a1La), and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body (a1) and X-axis the 3rd rigid body (a3) respectively; The first expansion link (La) links with X-axis the 3rd rigid body (a3) one end two degrees of freedom cross axle, pin joint is called X1 the second pin joint (a3La), and the two degrees of freedom rotating shaft possessing forms method phase axle, the X-axis after plane along X-axis the first rigid body (a1) and X-axis the 3rd rigid body (a3) respectively;
Wherein the second expansion link (Lb) links with Y-axis the second rigid body (c2) one end two degrees of freedom cross axle, pin joint is called Y1 the first pin joint (c2Lb), and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body (c2) and Y-axis the 4th rigid body (c4) respectively; The second expansion link (Lb) links with Y-axis the 4th rigid body (c4) one end two degrees of freedom cross axle, pin joint is called Y1 the second pin joint (c4Lb), and the two degrees of freedom rotating shaft possessing forms method phase axle, the Y-axis after plane along Y-axis the second rigid body (c2) and Y-axis the 4th rigid body (c4) respectively;
Wherein the 3rd expansion link (Lc) links with Z axis the first rigid body (b1) one end two degrees of freedom cross axle, pin joint is called Z1 the first pin joint (b1Lc), and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body (b1) and Z axis the 3rd rigid body (b3) respectively; The 3rd expansion link (Lc) links with Z axis the 3rd rigid body (b3) one end two degrees of freedom cross axle, pin joint is called Z1 the second pin joint (b3Lc), and the two degrees of freedom rotating shaft possessing forms method phase axle, the Z axis after plane along Z axis the first rigid body (b1) and Z axis the 3rd rigid body (b3) respectively;
Wherein auxiliary rigid body (e1) links with Z axis the first rigid body (b1) one end two degrees of freedom cross axle, and pin joint is called YZ1 the first pin joint (b1e1), and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis; Auxiliary rigid body (e1) links with Z axis the 4th rigid body (b4) one end two degrees of freedom cross axle, and pin joint is called YZ1 the second pin joint (b4e1), and the two degrees of freedom rotating shaft possessing is respectively along X-axis, Z axis;
Wherein the first pedestal (d1) one end and X-axis the first rigid body (a1) fixed-link, and the first pedestal (d1) other end is axially Yd1, along Y direction; The second pedestal (d2) one end and auxiliary rigid body (e1) fixed-link and the second pedestal (d2) other end are axially Yd2, along Y direction).
2. the cube linkage that a kind of linear drives according to claim 1 implementation space Three Degree Of Freedom class ball-joint rotates, is characterized in that: above-mentioned the first expansion link (La), the second expansion link (Lb), the 3rd expansion link (Lc) are Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit or leading screw linear moving apparatus or rope linear drive apparatus.
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