CN103831818B - The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates - Google Patents
The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates Download PDFInfo
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Abstract
The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates, belongs to robotics.Comprise:? X-axis first rigid body a1, X-axis second rigid body a2, X-axis the 3rd rigid body a3, X-axis the 4th rigid body a4, Y-axis first rigid body c1, Y-axis second rigid body c2, Y-axis the 3rd rigid body c3, Y-axis the 4th rigid body c4, Z axis first rigid body b1, Z axis 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.Structure of the present invention is simple, decoupling strong, motion is simple and clear reliable.
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 of hydraulic cylinder or the driving of rope drive isoline.
Background technology
Bionical legged type robot is one of the problem in forward position the most, current robot research field, it integrates the multi-door subjects such as machinery, electronics, computer, material, sensor, control technology and artificial intelligence, reflect a national intellectuality and automation research level, simultaneously 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.
The bionical legged type robot of hydraulic-driven (hydraulic cylinder linear drives), has high load capability and superior locomotivity, has huge requirement background by under the Special complex environment such as military affairs, mountain region rescue, cruise; Rope drives the bionical legged type robot of (drivings of rope linear stretch) can simulate biological joint drive mode, and leg structure design lightly (rotary inertia is little), can the advantage such as driving joint rotation at a distance, has larger application prospect in fields such as space explorations.
Bionical legged type robot will possess superior locomotivity, and main multiple degrees of freedom podarthrum design (as three freedom degree ball joint) and the free degree of relying on is distributed; 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.All as far as possible usual design Three Degree Of Freedom joint is intersected at a point by the rotating shaft of Three Degree Of Freedom cradle head, is similar to ball-joint, helps the simplification of kinematic calculation like this.The design of current ball-joint has certain complexity, as the people such as Deng Zongquan design for the Three-degree-of-freedom spherical space robot wrist (publication number: CN102029614A) in aerospace robot, and each free degree athletic meeting intercouples; Linear drives is particularly adopted to realize in the method for Three Degree Of Freedom articulation, intercouple between multiple linear drives input quantity, a kind of 3-dimensional freedom platform parallel robot structure (publication number: CN1417003A) of spherical rotation done by the platform of people's designs such as a kind of spatial three-freedom parallel device people structure (publication number: CN1267587A) with support and three branches designed as people such as Liu Xinjun and Fang Yuefa; 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 angle have coupling problem, its decoupling is poor, calculate more complicated, Ru Zhaoming such as to raise at a kind of three-freedom parallel mechanism driven by flexible rope (publication number: CN1250374C) be made up of three groups of driver elements and motion platform 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 structure is simple, decoupling strong, the simple and clear linear drives implementation space Three Degree Of Freedom class ball-joint reliably of motion rotates.
If coordinate system XYZ, origin of coordinates O, be arranged at this cube linkage one jiao; The angle rotated around X, Y and Z axis is respectively α, β and γ.
This mechanism comprises: X-axis first rigid body, X-axis second rigid body, X-axis the 3rd rigid body, X-axis the 4th rigid body, Y-axis first rigid body, Y-axis second rigid body, Y-axis the 3rd rigid body, Y-axis the 4th rigid body, Z axis first rigid body, Z axis 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.
Wherein the length of X-axis first rigid body, X-axis second rigid body, X-axis the 3rd rigid body, X-axis the 4th rigid body is identical; The length of Y-axis first rigid body, Y-axis 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 first rigid body, Z axis 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 first pin joint, and this point is origin of coordinates O; X-axis the 4th rigid body one end and the Z axis first rigid body other end are hinged, and pin joint is called XZ1 face second pin joint; X-axis the 4th rigid body other end and Z axis second rigid body one end are hinged, and pin joint is called XZ1 face the 3rd pin joint; The X-axis first rigid body other end and the Z axis second rigid body other end are hinged, and pin joint is called XZ1 face the 4th pin joint; X-axis first rigid body, Z axis first rigid body, X-axis the 4th rigid body and Z axis second rigid body composition cube bottom surface XZ1 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 first pin joint; X-axis the 3rd rigid body one end and Z axis the 4th rigid body other end are hinged, and pin joint is called XZ2 face second pin joint; X-axis the 3rd rigid body other end and Z axis the 3rd rigid body one end are hinged, and pin joint is called XZ2 face the 3rd pin joint; The X-axis second rigid body other end and Z axis the 3rd rigid body other end are hinged, and pin joint is called XZ2 face the 4th pin joint; End face XZ2 parallelogram on X-axis second rigid body, Z axis the 4th rigid body, X-axis the 3rd rigid body and Z axis the 3rd rigid body composition cube.
Wherein X-axis first rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body one end, pin joint is called XY1 face first pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body one end and Y-axis first rigid body one end is respectively along X and Z axis; X-axis second rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body one end, and pin joint is called XY1 face second pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body one end and Y-axis first rigid body one end is respectively along X and Z axis; X-axis second rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body one end, and pin joint is called XY1 face the 3rd pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body one end and Y-axis the 4th rigid body one end is respectively along X and Z axis; X-axis first rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body one end, and pin joint is called XY1 face the 4th pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body one end and Y-axis the 4th rigid body one end is respectively along X and Z axis; X-axis first rigid body, Y-axis first rigid body, X-axis second rigid body and Y-axis the 4th rigid body composition cube leading flank XY1 parallelogram.
Wherein X-axis the 4th rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body one end, pin joint is called XY2 face first pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body one end and Y-axis second rigid body one end is respectively along X and Z axis; X-axis the 3rd rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body one end, and pin joint is called XY2 face second pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body one end and Y-axis second rigid body one end is respectively along X and Z axis; X-axis the 3rd rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body one end, and pin joint is called XY2 face the 3rd pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body one end and Y-axis the 3rd rigid body one end is respectively along X and Z axis; X-axis the 4th rigid body one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body one end, and pin joint is called XY2 face the 4th pin joint, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body one end and Y-axis the 3rd rigid body one end is respectively along X and Z axis; X-axis the 4th rigid body, Y-axis second rigid body, X-axis the 3rd rigid body and Y-axis the 3rd rigid body composition cube trailing flank XY2 parallelogram.
Wherein the first expansion link utilizes two degrees of freedom cross axle to link with X-axis first rigid body one end, pin joint is called X1 first pin joint, and described link first expansion link forms method phase axle, X-axis after plane along X-axis first rigid body and X-axis the 3rd rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis first rigid body one end; First expansion link utilizes two degrees of freedom cross axle to link with X-axis the 3rd rigid body one end, pin joint is called X1 second pin joint, and described link first expansion link forms method phase axle, X-axis after plane along X-axis first rigid body and X-axis the 3rd rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis the 3rd rigid body one end.
Wherein the second expansion link utilizes two degrees of freedom cross axle to link with Y-axis second rigid body one end, pin joint is called Y1 first pin joint, and described link second expansion link forms method phase axle, Y-axis after plane along Y-axis second rigid body and Y-axis the 4th rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis second rigid body one end; Second expansion link utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body one end, pin joint is called Y1 second pin joint, and described link second expansion link forms method phase axle, Y-axis after plane along Y-axis second rigid body and Y-axis the 4th rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis the 4th rigid body one end.
Wherein the 3rd expansion link utilizes two degrees of freedom cross axle to link with Z axis first rigid body one end, pin joint is called Z1 first pin joint, and described link the 3rd expansion link forms method phase axle, Z axis after plane along Z axis first rigid body and Z axis the 3rd rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis first rigid body one end; 3rd expansion link utilizes two degrees of freedom cross axle to link with Z axis the 3rd rigid body one end, pin joint is called Z1 second pin joint, and described link the 3rd expansion link forms method phase axle, Z axis after plane along Z axis first rigid body and Z axis the 3rd rigid body respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis the 3rd rigid body one end.
Wherein auxiliary rigid body utilizes two degrees of freedom cross axle to link with Z axis first rigid body one end, and pin joint is called YZ1 first pin joint, and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body and Z axis first rigid body one end respectively along X-axis, Z axis; Auxiliary rigid body utilizes two degrees of freedom cross axle to link with Z axis the 4th rigid body one end, and pin joint is called YZ1 second pin joint, and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body and Z axis the 4th rigid body one end respectively along X-axis, Z axis.
Wherein first pedestal one end and X-axis first rigid body fixed-link, and the first pedestal other end is axially Yd1, along Y direction; Second pedestal one end and auxiliary rigid body fixed-link and the second pedestal other end is axially Yd2, along Y direction.
Wherein the first expansion link, the second expansion link, the 3rd expansion link are 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 movement characteristic of three dimensions parallelepipedic, the distortion of three dimensions parallelepipedic is driven by linear moving apparatus, finally realize Shaft angle change between the first pedestal and the second pedestal, complete this motion transmission being linearly moved to three freedom degree ball joint and rotating of the devices such as rope, hydraulic cylinder or pneumatic cylinder.Due to the movement characteristic of three dimensions parallelepipedic, between three rectilinear movement input quantities 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 light structure, the efficient bio-robot multi-freedom joint that moves design provide mechanics innovation and optimal way.
The present invention compared with prior art has the following advantages:
1, the present invention can realize the motion transmission being linearly moved to the rotation of Three Degree Of Freedom class ball-joint, and in conjunction with the movement characteristic of three dimensions parallelepipedic, the design of light structure, the efficient bio-robot ball-joint that moves provides Creative Mechanism Design.
2, it is convenient that structure of the present invention is simple, motion principle is clear, motion realizes, and have certain decoupling between three rectilinear movement input quantities and ball-joint three angle output quantities, motion is independent, can not influence each other.
3, the present invention provides a kind of scheme to the design of bio-robot ball-joint, improves bio-robot ball-joint exercise performance, reduces rope, the control of bionic machine person joint of hydraulic pressure isoline driving and design difficulty.
Accompanying drawing explanation
Fig. 1 is the cube linkage sketch that a kind of linear drives implementation space of the present invention Three Degree Of Freedom class ball-joint rotates.
Fig. 2 is the cube linkage original state instance graph that a kind of linear drives implementation space of the present invention Three Degree Of Freedom class ball-joint rotates.
Fig. 3 is the cube linkage motion state instance graph that a kind of linear drives implementation space of the present invention Three Degree Of Freedom class ball-joint rotates.
Above-mentioned number in the figure title: a1, X-axis first rigid body; A2, X-axis second rigid body; A3, X-axis the 3rd rigid body; A4, X-axis the 4th rigid body; C1, Y-axis first rigid body; C2, Y-axis second rigid body; C3, Y-axis the 3rd rigid body; C4, Y-axis the 4th rigid body b1, Z axis first rigid body; B2, Z axis 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 first pin joint; A4b1, XZ1 face second pin joint; A4b2, XZ1 face the 3rd pin joint; A1b2, XZ1 face the 4th pin joint; A2b4, XZ2 face first pin joint; A3b4, XZ2 face second pin joint; A3b3, XZ2 face the 3rd pin joint; A2b3, XZ2 face the 4th pin joint; A1c1, XY1 face first pin joint; A2c1, XY1 face second pin joint; A2c4, XY1 face the 3rd pin joint; A1c4, XY1 face the 4th pin joint; A4c2, XY2 face first pin joint; A3c2, XY2 face second pin joint; A3c3, XY2 face the 3rd pin joint; A4c3, XY2 face the 4th pin joint; A1La, X1 first pin joint; A3La, X1 second pin joint; C2Lb, Y1 first pin joint; C4Lb, Y1 second pin joint; B1Lc, Z1 first pin joint; B3Lc, Z1 second pin joint; B1e1, YZ1 first pin joint; B4e1, YZ1 second pin joint.
Coordinate system XYZ in figure, the origin of coordinates is 0, is arranged at one jiao, cube; The angle rotated around X, Y and Z axis 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).
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Composition graphs 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 first rigid body a1, X-axis second rigid body a2, X-axis the 3rd rigid body a3, X-axis the 4th rigid body a4, Y-axis first rigid body c1, Y-axis second rigid body c2, Y-axis the 3rd rigid body c3, Y-axis the 4th rigid body c4, Z axis first rigid body b1, Z axis second rigid body b2, Z axis the 3rd rigid body b3, Z axis the 4th rigid body b4, first pedestal d1, second pedestal d2, auxiliary rigid body e1, first expansion link La, second expansion link Lb, 3rd expansion link Lc, XZ1 face first pin joint a1b1, XZ1 face second pin joint a4b1, XZ1 face the 3rd pin joint a4b2, XZ1 face the 4th pin joint a1b2, XZ2 face first pin joint a2b4, XZ2 face second pin joint a3b4, XZ2 face the 3rd pin joint a3b3, XZ2 face the 4th pin joint a2b3, XY1 face first pin joint a1c1, XY1 face second pin joint a2c1, XY1 face the 3rd pin joint a2c4, XY1 face the 4th pin joint a1c4, XY2 face first pin joint a4c2, XY2 face second pin joint a3c2, XY2 face the 3rd pin joint a3c3, XY2 face the 4th pin joint a4c3, X1 first pin joint a1La, X1 second pin joint a3La, Y1 first pin joint c2Lb, Y1 second pin joint c4Lb, Z1 first pin joint b1Lc, Z1 second pin joint b3Lc, YZ1 first pin joint b1e1, YZ1 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 that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein coordinate system XYZ, the origin of coordinates is 0, is arranged at one jiao, cube; The angle rotated around X, Y and Z axis is respectively α, β and γ; The length of X-axis first rigid body a1, X-axis 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 first rigid body c1, Y-axis 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 first rigid body b1, Z axis 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 that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein X-axis first rigid body a1 one end and Z axis first rigid body b1 one end are hinged, pin joint is called XZ1 face first pin joint a1b1, and this point is origin of coordinates O; X-axis the 4th rigid body a4 one end and the Z axis first rigid body b1 other end are hinged, and pin joint is called XZ1 face second pin joint a4b1; X-axis the 4th rigid body a4 other end and Z axis second rigid body b2 one end are hinged, and pin joint is called XZ1 face the 3rd pin joint a4b2; The X-axis first rigid body a1 other end and the Z axis second rigid body b2 other end are hinged, and pin joint is called XZ1 face the 4th pin joint a1b2; The composition cube bottom surface XZ1 parallelogram of X-axis first rigid body a1, Z axis first rigid body b1, X-axis the 4th rigid body a4 and Z axis second rigid body b2;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, 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 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 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; The X-axis 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; X-axis second rigid body a2, Z axis the 4th rigid body b4, X-axis the 3rd rigid body a3 and Z axis the 3rd rigid body b3 form end face XZ2 parallelogram on cube;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein X-axis first rigid body a1 one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body c1 one end, pin joint is called XY1 face first pin joint a1c1, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body a1 one end and Y-axis first rigid body c1 one end is respectively along X and Z axis; X-axis second rigid body a2 one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body c1 one end, pin joint is called XY1 face second pin joint a2c1, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body a2 one end and Y-axis first rigid body c1 one end is respectively along X and Z axis; X-axis second rigid body a2 one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body c4 one end, pin joint is called XY1 face the 3rd pin joint a2c4, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body a2 one end and Y-axis the 4th rigid body c4 one end is respectively along X and Z axis; X-axis first rigid body a1 one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body c4 one end, pin joint is called XY1 face the 4th pin joint a1c4, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body a1 one end and Y-axis the 4th rigid body c4 one end is respectively along X and Z axis; X-axis first rigid body a1, Y-axis first rigid body c1, X-axis second rigid body a2 and Y-axis the 4th rigid body c4 form cube leading flank XY1 parallelogram;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein X-axis the 4th rigid body a4 one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body c2 one end, pin joint is called XY2 face first pin joint a4c2, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body a4 one end and Y-axis second rigid body c2 one end is respectively along X and Z axis; X-axis the 3rd rigid body a3 one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body c2 one end, pin joint is called XY2 face second pin joint a3c2, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body a3 one end and Y-axis second rigid body c2 one end is respectively along X and Z axis; X-axis the 3rd rigid body a3 one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body c3 one end, pin joint is called XY2 face the 3rd pin joint a3c3, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body a3 one end and Y-axis the 3rd rigid body c3 one end is respectively along X and Z axis; X-axis the 4th rigid body a4 one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body c3 one end, pin joint is called XY2 face the 4th pin joint a4c3, and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body a4 one end and Y-axis the 3rd rigid body c3 one end is respectively along X and Z axis; X-axis the 4th rigid body a4, Y-axis second rigid body c2, X-axis the 3rd rigid body a3 and Y-axis the 3rd rigid body c3 form cube trailing flank XY2 parallelogram;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein the first expansion link La utilizes two degrees of freedom cross axle to link with X-axis first rigid body a1 one end, pin joint is called X1 first pin joint a1La, and described link first expansion link La forms method phase axle, X-axis after plane along X-axis first rigid body a1 and X-axis the 3rd rigid body a3 respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis first rigid body a1 one end; First expansion link La utilizes two degrees of freedom cross axle to link with X-axis the 3rd rigid body a3 one end, pin joint is called X1 second pin joint a3La, and described link first expansion link La forms method phase axle, X-axis after plane along X-axis first rigid body a1 and X-axis the 3rd rigid body a3 respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis the 3rd rigid body a3 one end;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein the second expansion link Lb utilizes two degrees of freedom cross axle to link with Y-axis second rigid body c2 one end, pin joint is called Y1 first pin joint c2Lb, and described link second expansion link Lb forms method phase axle, Y-axis after plane along Y-axis second rigid body c2 and Y-axis the 4th rigid body c4 respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis second rigid body c2 one end; Second expansion link Lb utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body c4 one end, pin joint is called Y1 second pin joint c4Lb, and described link second expansion link Lb forms method phase axle, Y-axis after plane along Y-axis second rigid body c2 and Y-axis the 4th rigid body c4 respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis the 4th rigid body c4 one end;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein the 3rd expansion link Lc utilizes two degrees of freedom cross axle to link with Z axis first rigid body b1 one end, pin joint is called Z1 first pin joint b1Lc, and described link the 3rd expansion link Lc forms method phase axle, Z axis after plane along Z axis first rigid body b1 and Z axis the 3rd rigid body b3 respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis first rigid body b1 one end; 3rd expansion link Lc utilizes two degrees of freedom cross axle to link with Z axis the 3rd rigid body b3 one end, pin joint is called Z1 second pin joint b3Lc, and described link the 3rd expansion link Lc forms method phase axle, Z axis after plane along Z axis first rigid body b1 and Z axis the 3rd rigid body b3 respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis the 3rd rigid body b3 one end;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein auxiliary rigid body e1 utilizes two degrees of freedom cross axle to link with Z axis first rigid body b1 one end, pin joint is called YZ1 first pin joint b1e1, and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body e1 and Z axis first rigid body b1 one end respectively along X-axis, Z axis; Auxiliary rigid body e1 utilizes two degrees of freedom cross axle to link with Z axis the 4th rigid body b4 one end, and pin joint is called YZ1 second pin joint b4e1, and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body e1 and Z axis the 4th rigid body b4 one end respectively along X-axis, Z axis;
Be illustrated in figure 1 the sketch of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, wherein first pedestal d1 one end and X-axis first rigid body a1 fixed-link, and the first pedestal d1 other end is axially Yd1, along Y direction; Second pedestal d2 one end and auxiliary rigid body e1 fixed-link and the second pedestal d2 other end is axially Yd2, along Y direction.
Be illustrated in figure 2 the original state instance graph of the cube linkage that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, 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 that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates, 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, second expansion link Lb, 3rd expansion link Lc moves, Yd1 axle and Yd2 axle is made to have occurred rotational variations, wherein the first expansion link La, second expansion link Lb, 3rd expansion link Lc respectively mobile input will independently create around X-axis, the α of Y-axis and Z axis, β and γ angle changes, there is certain decoupling and sports independence, can 1 be realized, 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 that a kind of linear drives implementation space Three Degree Of Freedom class ball-joint rotates as shown in Figures 2 and 3, this Example embodiments is not limited to as shown in the mechanism of Fig. 2 and 3, and broadly derives to the mechanism with mechanism kinematic sketch same movement principle; The each rigid body of adjustable 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 first pin joint a1c1 and XZ1 face first pin joint a1b1, XY2 face first pin joint a4c2 and XZ1 face 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 second pin joint a2c1 and XZ2 face first pin joint a2b4, XY2 face second pin joint a3c2 and XZ2 face 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 is all equal with the spacing of XZ2 face the 4th pin joint a2b3, YZ1 first pin joint b1e1 is all equal with the spacing of XZ1 face second pin joint a4b1 with XZ1 face first pin joint a1b1, YZ1 the first pin joint b1e1, YZ1 second pin joint b4e1 is all equal with the spacing of XZ2 face second pin joint a3b4 with XZ2 face first pin joint a2b4, YZ1 the second pin joint b4e1.
2) X1 first pin joint a1La is all equal 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 first pin joint c2Lb is all equal with the spacing of XY1 face the 4th pin joint a1c4 with XY2 face first pin joint a4c2, Y1 the second pin joint c4Lb; Z1 first pin joint b1Lc is all equal with the spacing of XZ2 face the 4th pin joint a2b3 with XZ1 face 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 first expansion link La, the second expansion link Lb and the 3rd expansion link Lc requirement that is non-intersect or that interfere in cubic space.First expansion link La, the second expansion link Lb and the 3rd expansion link Lc are as moving sets, namely there is the kinematic pair of Telescopic, concrete size according to after each rigid body length is determined in cube, must could determine the first expansion link La, the second expansion link Lb and the removable amount of the 3rd expansion link Lc.
In order to widen range of application of the present invention, to adapt to more kinds of application conditions, there is certain generality, can under not being subject to above details qualifications, the present invention still has Three Degree Of Freedom class ball-joint locomitivity, after widening limited range, specifically relaxes and limits constraint:
1) YZ1 first pin joint b1e1 and YZ1 second pin joint b4e1 pin joint position not requirement;
2) X1 first pin joint a1La and XZ1 face the 4th pin joint a1b2, X1 second the spacing of pin joint a3La and XZ2 face the 3rd pin joint a3b3 can be unequal;
3) Y1 first pin joint c2Lb and XY2 face first pin joint a4c2, Y1 second the spacing of pin joint c4Lb and XY1 face the 4th pin joint a1c4 can be unequal;
4) Z1 first pin joint b1Lc and XZ1 face first pin joint a1b1, Z1 second the spacing of pin joint b3Lc and XZ2 face the 4th pin joint a2b3 can be unequal;
5) the first expansion link La two ends can hinged with X-axis first rigid body a1 and X-axis the 3rd rigid body a3, can also be hinged with X-axis second rigid body a2 and X-axis the 4th rigid body a4;
6) the second expansion link Lb two ends can hinged with Y-axis second rigid body c2 and Y-axis the 4th rigid body c4, can also be hinged with Y-axis first rigid body c1 and Y-axis the 3rd rigid body c3;
7) the 3rd expansion link Lc two ends can hinged with Z axis first rigid body b1 and Z axis the 3rd rigid body b3, can also be hinged with Z axis second rigid body b2 and Z axis the 4th rigid body b4.
Claims (2)
1. a cube linkage for linear drives implementation space Three Degree Of Freedom class ball-joint rotation, is characterized in that:
If coordinate system XYZ, origin of coordinates O, be arranged at cube linkage one jiao; The angle rotated around X, Y and Z axis is respectively α, β and γ;
Described cube linkage comprises: X-axis first rigid body (a1), X-axis second rigid body (a2), X-axis the 3rd rigid body (a3), X-axis the 4th rigid body (a4), Y-axis first rigid body (c1), Y-axis second rigid body (c2), Y-axis the 3rd rigid body (c3), Y-axis the 4th rigid body (c4), Z axis first rigid body (b1), Z axis second rigid body (b2), Z axis the 3rd rigid body (b3), Z axis the 4th rigid body (b4), first pedestal (d1), second pedestal (d2), auxiliary rigid body (e1), first expansion link (La), second expansion link (Lb), 3rd expansion link (Lc),
Wherein the length of X-axis first rigid body (a1), X-axis 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 first rigid body (c1), Y-axis 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 first rigid body (b1), Z axis second rigid body (b2), Z axis the 3rd rigid body (b3), Z axis the 4th rigid body (b4) is identical;
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 first pin joint (a1b1), and this point is origin of coordinates O; X-axis the 4th rigid body (a4) one end and Z axis first rigid body (b1) other end are hinged, and pin joint is called XZ1 face second pin joint (a4b1); X-axis the 4th rigid body (a4) other 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) other end and Z axis second rigid body (b2) other end are hinged, and pin joint is called XZ1 face the 4th pin joint (a1b2); X-axis first rigid body (a1), Z axis first rigid body (b1), X-axis the 4th rigid body (a4) and Z axis second rigid body (b2) form cube bottom surface XZ1 parallelogram;
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 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 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 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); X-axis second rigid body (a2), Z axis the 4th rigid body (b4), X-axis the 3rd rigid body (a3) and Z axis the 3rd rigid body (b3) form end face XZ2 parallelogram on cube;
Wherein X-axis first rigid body (a1) one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body (c1) one end, pin joint is called XY1 face first pin joint (a1c1), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body (a1) one end and Y-axis first rigid body (c1) one end is respectively along X and Z axis; X-axis second rigid body (a2) one end utilizes two degrees of freedom cross axle to link with Y-axis first rigid body (c1) one end, pin joint is called XY1 face second pin joint (a2c1), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body (a2) one end and Y-axis first rigid body (c1) one end is respectively along X and Z axis; X-axis second rigid body (a2) one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body (c4) one end, pin joint is called XY1 face the 3rd pin joint (a2c4), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis second rigid body (a2) one end and Y-axis the 4th rigid body (c4) one end is respectively along X and Z axis; X-axis first rigid body (a1) one end utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body (c4) one end, pin joint is called XY1 face the 4th pin joint (a1c4), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis first rigid body (a1) one end and Y-axis the 4th rigid body (c4) one end is respectively along X and Z axis; X-axis first rigid body (a1), Y-axis first rigid body (c1), X-axis second rigid body (a2) and Y-axis the 4th rigid body (c4) form cube leading flank XY1 parallelogram;
Wherein X-axis the 4th rigid body (a4) one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body (c2) one end, pin joint is called XY2 face first pin joint (a4c2), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body (a4) one end and Y-axis second rigid body (c2) one end is respectively along X and Z axis; X-axis the 3rd rigid body (a3) one end utilizes two degrees of freedom cross axle to link with Y-axis second rigid body (c2) one end, pin joint is called XY2 face second pin joint (a3c2), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body (a3) one end and Y-axis second rigid body (c2) one end is respectively along X and Z axis; X-axis the 3rd rigid body (a3) one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body (c3) one end, pin joint is called XY2 face the 3rd pin joint (a3c3), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 3rd rigid body (a3) one end and Y-axis the 3rd rigid body (c3) one end is respectively along X and Z axis; X-axis the 4th rigid body (a4) one end utilizes two degrees of freedom cross axle to link with Y-axis the 3rd rigid body (c3) one end, pin joint is called XY2 face the 4th pin joint (a4c3), and the rotating shaft of the two degrees of freedom cross axle of described link X-axis the 4th rigid body (a4) one end and Y-axis the 3rd rigid body (c3) one end is respectively along X and Z axis; X-axis the 4th rigid body (a4), Y-axis second rigid body (c2), X-axis the 3rd rigid body (a3) and Y-axis the 3rd rigid body (c3) form cube trailing flank XY2 parallelogram;
Wherein the first expansion link (La) utilizes two degrees of freedom cross axle to link with X-axis first rigid body (a1) one end, pin joint is called X1 first pin joint (a1La), and described link first expansion link (La) forms method phase axle, X-axis after plane along X-axis first rigid body (a1) and X-axis the 3rd rigid body (a3) respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis first rigid body (a1) one end; First expansion link (La) utilizes two degrees of freedom cross axle to link with X-axis the 3rd rigid body (a3) one end, pin joint is called X1 second pin joint (a3La), and described link first expansion link (La) forms method phase axle, X-axis after plane along X-axis first rigid body (a1) and X-axis the 3rd rigid body (a3) respectively with the rotating shaft of the two degrees of freedom cross axle of X-axis the 3rd rigid body (a3) one end;
Wherein the second expansion link (Lb) utilizes two degrees of freedom cross axle to link with Y-axis second rigid body (c2) one end, pin joint is called Y1 first pin joint (c2Lb), and described link second expansion link (Lb) forms method phase axle, Y-axis after plane along Y-axis second rigid body (c2) and Y-axis the 4th rigid body (c4) respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis second rigid body (c2) one end; Second expansion link (Lb) utilizes two degrees of freedom cross axle to link with Y-axis the 4th rigid body (c4) one end, pin joint is called Y1 second pin joint (c4Lb), and described link second expansion link (Lb) forms method phase axle, Y-axis after plane along Y-axis second rigid body (c2) and Y-axis the 4th rigid body (c4) respectively with the rotating shaft of the two degrees of freedom cross axle of Y-axis the 4th rigid body (c4) one end;
Wherein the 3rd expansion link (Lc) utilizes two degrees of freedom cross axle to link with Z axis first rigid body (b1) one end, pin joint is called Z1 first pin joint (b1Lc), and described link the 3rd expansion link (Lc) forms method phase axle, Z axis after plane along Z axis first rigid body (b1) and Z axis the 3rd rigid body (b3) respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis first rigid body (b1) one end; 3rd expansion link (Lc) utilizes two degrees of freedom cross axle to link with Z axis the 3rd rigid body (b3) one end, pin joint is called Z1 second pin joint (b3Lc), and described link the 3rd expansion link (Lc) forms method phase axle, Z axis after plane along Z axis first rigid body (b1) and Z axis the 3rd rigid body (b3) respectively with the rotating shaft of the two degrees of freedom cross axle of Z axis the 3rd rigid body (b3) one end;
Wherein auxiliary rigid body (e1) utilizes two degrees of freedom cross axle to link with Z axis first rigid body (b1) one end, pin joint is called YZ1 first pin joint (b1e1), and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body (e1) and Z axis first rigid body (b1) one end respectively along X-axis, Z axis; Auxiliary rigid body (e1) utilizes two degrees of freedom cross axle to link with Z axis the 4th rigid body (b4) one end, pin joint is called YZ1 second pin joint (b4e1), and described link assists the rotating shaft of the two degrees of freedom cross axle of rigid body (e1) and Z axis the 4th rigid body (b4) one end respectively along X-axis, Z axis;
Wherein the first pedestal (d1) one end and X-axis first rigid body (a1) fixed-link, and the first pedestal (d1) other end is axially Yd1, along Y direction; Second pedestal (d2) one end and auxiliary rigid body (e1) fixed-link and the second pedestal (d2) other end is axially Yd2, along Y direction.
2. the cube linkage that rotates of a kind of linear drives implementation space according to claim 1 Three Degree Of Freedom class ball-joint, is characterized in that: above-mentioned 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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