CN104002302B - A kind of have virtual axle two, Three Degree Of Freedom tilter - Google Patents
A kind of have virtual axle two, Three Degree Of Freedom tilter Download PDFInfo
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- CN104002302B CN104002302B CN201410189158.8A CN201410189158A CN104002302B CN 104002302 B CN104002302 B CN 104002302B CN 201410189158 A CN201410189158 A CN 201410189158A CN 104002302 B CN104002302 B CN 104002302B
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Abstract
Have two of virtual axle, a Three Degree Of Freedom tilter, its upper mounting plate is connected with swaying platform, and first group drives the linear actuator in the Liang Ge branch of branch to be connected with bearing block and swaying platform, formation SPU branch; Second group drives the linear actuator in the Liang Ge branch of branch to be connected with the bearing block be connected on basic platform and the bearing block be connected on column, forms RPR branch; One end of above-mentioned column is connected with swaying platform, and connecting rod is connected with the other end of column respectively with the two ends of rocking bar; Pedestal is connected in the middle of basic platform, and above-mentioned connecting rod is connected with pedestal respectively with the centre of rocking bar, connecting rod and rocking bar isometric; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, form planar virtual center of rotation mechanism.Load self-balancing of the present invention, bearing capacity is large, can select the free degree, can be applicable to the oscillating motion of wave simulated etc. according to different user demand.
Description
Technical field
The present invention relates to a kind of space parallel mechanism, particularly a kind of simulation table in parallel.
Background technology
Simulation table in parallel has the advantages such as rigidity is large, bearing capacity is strong, in recent decades, in parallel movement simulative platform studied at most be six-freedom parallel simulation table, and to naval vessel is equipped have the greatest impact motion mainly pitching, rolling and hang down swing, and naval vessel is equipped huger, therefore research have large installing space, large working space, can static load balance, shock resistance and two of free degree character can be selected according to user demand, Three Degree Of Freedom connection tilter has important application potential.As patent of invention CN103035161 A proposes one, there is Three Degree Of Freedom static load balance parallel kinematic analog platform, this invention adopts electricity to drive, and introduce static load bascule and effectively can improve bearing capacity, but the installing space of this invention platform lower is little and impact resistance is poor; Patent of invention CN102147046 A proposes a kind of two-degree-of-freedom parallel mechanism rotating decoupling zero, and two rotations that this invention can realize upper mounting plate are full decoupled, but this invention bearing capacity and impact resistance poor.Patent of invention CN102975196 A proposes a kind of double rotation freedom degrees parallel institution, this invention compact conformation, but bearing capacity is poor, and installing space is little.
Summary of the invention
The object of the present invention is to provide a kind of can self-stabilization, load self-balancing, working space is large, bearing capacity is large, shock resistance and can according to user demand select free degree character have virtual axle two, Three Degree Of Freedom tilter.
Technical scheme of the present invention is as follows:
The present invention mainly comprises upper mounting plate, swaying platform, two groups of driving branches, planar virtual center of rotation mechanism and basic platforms.Wherein, upper mounting plate is connected with swaying platform by revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, make this tilter only have two degrees of freedom; Two groups drive branches to be made up of the branch that Liang Ge mechanism is identical respectively, and these four branches are distributed on basic platform, and identical branch of Liang Ge mechanism is positioned opposite; First group drives one end of the linear actuator in the Liang Ge branch of branch to be connected with the bearing block be connected on basic platform respectively by the first oscillating bearing, the other end of these two linear actuators is connected with swaying platform respectively by the first universal pair, wherein the first oscillating bearing and the first universal pair can be exchanged, and form SPU or UPS branch; Second group drives one end of the linear actuator in the Liang Ge branch of branch to be connected with the bearing block be connected on basic platform respectively by the first revolute pair, the other end of these two linear actuators is connected with the bearing block be connected on column respectively by the second revolute pair, forms RPR branch; One end of above-mentioned two columns is connected with swaying platform respectively by the second universal pair, and the top of the other end of these two columns is connected with the two ends of connecting rod respectively by the 3rd revolute pair, and bottom is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned connecting rod is connected with this pedestal top by the 5th revolute pair, the middle part of above-mentioned rocking bar is connected with in the middle part of this pedestal by the 6th revolute pair, and the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are about the 5th revolute pair axisymmetrical, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; The pivot center of above-mentioned second universal pair on column, the axis of the 3rd revolute pair and the axis of the 4th revolute pair are parallel to each other and in same plane, the distance on connecting rod between two the 3rd revolute pair axis is equal with the distance on rocking bar between two the 4th revolute pair axis; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, constitute the mid point with two the second universal sub-center lines, and the first planar virtual center of rotation mechanism of the virtual rotation axis coplanar with the 5th, six turns auxiliary shaft line parallels.Control the motion that two groups drive four linear actuators in branch, swaying platform can be realized around above-mentioned virtual axle and rolling, pitching and horizontal, the pitching compound motion of rotating shaft determined by two the second universal pairs.
Described first group of structure driving the Liang Ge branch of branch can be that the first support column is connected on basic platform, this first support column is provided with guide rail slide block, slide block is driven by linear actuator, one end of first support bar is connected with the bearing block be connected on slide block by second joint bearing, the other end of this first support bar is connected with swaying platform by the first universal pair, wherein second joint bearing and the first universal pair can be exchanged, and above-mentioned connected mode forms PSU or PUS branch;
Described second group of structure driving the Liang Ge branch of branch can be that the second support column is connected on basic platform, this second support column is provided with guide rail slide block, slide block is driven by linear actuator, one end of second support bar is connected with the bearing block be connected on slide block by the 7th revolute pair, the other end of this second support bar is connected with the bearing block be located on column by the 8th revolute pair, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.
Second planar virtual center of rotation mechanism can be that one end of described two columns is connected with swaying platform respectively by the second universal pair, and the other end of these two columns is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 3rd support column be connected with basic platform, arc guide rail is equipped with in the inner side of the 3rd support column respectively symmetry, these two arc guide rails are arranged with the slide block slided along this arc guide rail respectively, and these two slide blocks are connected with above-mentioned column respectively by the 9th revolute pair; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail is equal with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns is equal with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and coplanar, and two the 9th revolute pair axis can overlap with the pivot center of the second universal pair on this column, but can not with the 4th revolute pair dead in line; The effect of four arc guide rail slide blocks and the effect equivalence of connecting rod, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines by above-mentioned connected mode, and with the 6th revolute pair axis, arc guide rail centerline axis parallel and the second planar virtual center of rotation mechanism of coplanar virtual rotation axis.
3rd planar virtual center of rotation mechanism can also be that one end of described two columns is connected with swaying platform respectively by the second universal pair, and the other end of these two columns is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the centre of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 4th support column be connected with basic platform, slide block is connected with the inner side of above-mentioned 4th support column respectively by two three moving sets, this slide block is connected with above-mentioned column by the 4th moving sets simultaneously, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and with the 6th revolute pair axes normal; 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both and the 4th moving sets moving direction vertical coplanar; The effect of two slide blocks and the effect equivalence of connecting rod, two the 4th support columns, two slide blocks, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the 3rd planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual rotation axis vertical with the 3rd, the 4th moving sets moving direction.
The present invention compared with prior art tool has the following advantages:
1, bearing capacity is large, load self-balancing;
2, have virtual axle, installing space is large;
3, shock resistance, can self-stabilization;
4, free degree character can be selected according to user demand.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 structural representation sketch.
Fig. 2 is the embodiment of the present invention 1 midplane virtual rotation center mechanism structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 structural representation sketch.
Fig. 4 is that the embodiment of the present invention 2 first groups drives PSU motion branched structure simplified schematic diagram in branch.
Fig. 5 is that the embodiment of the present invention 2 second groups drives PRR motion branched structure simplified schematic diagram in branch.
Fig. 6 is the embodiment of the present invention 3 structural representation sketch.
Fig. 7 is the embodiment of the present invention 3 midplane virtual rotation center mechanism structure simplified schematic diagram.
Fig. 8 is that the embodiment of the present invention 3 second groups drives the 3rd support column arrangement simplified schematic diagram in branch.
Fig. 9 is the embodiment of the present invention 4 structural representation sketch.
Figure 10 is the embodiment of the present invention 5 structural representation sketch.
Figure 11 is the embodiment of the present invention 5 midplane virtual rotation center mechanism structure simplified schematic diagram.
Figure 12 is that the embodiment of the present invention 5 second groups drives the 4th support column schematic diagram in branch.
Figure 13 is the embodiment of the present invention 6 structural representation sketch.
Detailed description of the invention
Embodiment 1
A kind of shown in Fig. 1 and Fig. 2 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair, upper mounting plate and swaying platform plane are respectively equipped with 4 corresponding screwed holes, by screw connecting plate, upper mounting plate and swaying platform are locked as one, make this tilter only have two degrees of freedom; Two groups drive branches to be made up of the branch that Liang Ge mechanism is identical respectively, and these four branches are distributed on basic platform 1, and identical branch of Liang Ge mechanism is positioned opposite; First group drives one end of the linear actuator 11 in the Liang Ge branch of branch respectively by the first oscillating bearing S
1be connected with the bearing block 12 be connected on basic platform, the other end of these two linear actuators is respectively by the first universal secondary U
1be connected with swaying platform, form SPU branch; Second group drives one end of the linear actuator 9 in the Liang Ge branch of branch respectively by the first revolute pair R
1be connected with the bearing block 10 be connected on basic platform, the other end of these two linear actuators is respectively by the second revolute pair R
2be connected with the bearing block 8 be connected on column 5, form RPR branch; One end of above-mentioned two columns is respectively by the second universal secondary U
2be connected with swaying platform, the top of the other end of these two columns is respectively by the 3rd revolute pair R
3be connected with the two ends of connecting rod 4, bottom is respectively by the 4th revolute pair R
4be connected with the two ends of rocking bar 3; Pedestal 2 is connected in the middle of basic platform, and above-mentioned two columns are symmetrically arranged in pedestal both sides, and the middle part of above-mentioned connecting rod is by the 5th revolute pair R
5be connected with this pedestal top, the middle part of above-mentioned rocking bar is by the 6th revolute pair R
6be connected with in the middle part of this pedestal, the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are about the 5th revolute pair axisymmetrical, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; The pivot center of above-mentioned second universal pair on column, the axis of the 3rd revolute pair and the axis of the 4th revolute pair are parallel to each other and in same plane, the distance on connecting rod between two the 3rd revolute pair axis is equal with the distance on rocking bar between two the 4th revolute pair axis; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, constitute the mid point with two the second universal sub-center lines, and with the 5th, six turns auxiliary shaft line parallels and the planar virtual center of rotation mechanism of coplanar virtual rotation axis.
Embodiment 2
A kind of shown in Fig. 3, Fig. 4 and Fig. 5 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by moving sets, upper mounting plate and swaying platform plane are respectively equipped with 4 corresponding through holes, by bolt connecting plate, upper mounting plate and swaying platform are locked as one, make this tilter only have two degrees of freedom; First group drives the first support column 13 in the Liang Ge branch of branch to be connected on basic platform 1, and this first support column is provided with the first guide rail slide block, and the first slide block 14 is driven by linear actuator, and one end of the first support bar 16 is by second joint bearing S
2be connected with the bearing block 15 be connected on the first slide block, the other end of this first support bar is by the first universal secondary U
1be connected with swaying platform 6, above-mentioned connected mode forms PSU branch; Described second group drives the second support column 21 in the Liang Ge branch of branch to be connected on basic platform, and this second support column is provided with the second guide rail slide block, and the second slide block 20 is driven by linear actuator, and one end of the second support bar 18 is by the 7th revolute pair R
7be connected with the bearing block 19 be connected on above-mentioned slide block, the other end of this second support bar is by the 8th revolute pair R
8be connected with the bearing block 17 be located on column, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Other parts are identical with embodiment 1 with annexation.
Embodiment 3
A kind of shown in Fig. 6, Fig. 7 and Fig. 8 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair, upper mounting plate and swaying platform plane are respectively equipped with 4 corresponding through holes, by bolt connecting plate, upper mounting plate and swaying platform are locked as one, make this tilter only have two degrees of freedom; One end of two columns 5 is respectively by the second universal secondary U
2be connected with swaying platform 6, the other end of these two columns is respectively by the 4th revolute pair R
4be connected with the two ends of rocking bar 3; Pedestal 2 is connected in the middle of basic platform 1, and above-mentioned two columns are symmetrically arranged in pedestal both sides, and the middle part of above-mentioned rocking bar is by the 6th revolute pair R
6be connected with this pedestal, the 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 3rd support column 22 be connected with basic platform, the inner side of the 3rd support column is arranged with arc guide rail 23 respectively, these two arc guide rails are arranged with respectively the 3rd slide block 24 slided along this arc guide rail, these two the 3rd slide blocks are respectively by the 9th revolute pair R
9be connected with above-mentioned column; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail is equal with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns is equal with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and coplanar, and two the 9th revolute pair axis can overlap with the pivot center of the second universal pair on this column, but can not with the 4th revolute pair dead in line; The effect of four arc guide rail slide blocks and the effect equivalence of connecting rod, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines by above-mentioned connected mode, and with the 6th revolute pair axis, arc guide rail centerline axis parallel and the planar virtual center of rotation mechanism of coplanar virtual rotation axis.Other parts are identical with embodiment 1 with annexation.
Embodiment 4
A kind of shown in Fig. 9 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, make this tilter only have two degrees of freedom; First group drives the first support column 13 in the Liang Ge branch of branch to be connected on basic platform 1, and this first support column is provided with the first guide rail slide block, and the first slide block 14 is driven by linear actuator, and one end of the first support bar is by second joint bearing S
2be connected with the bearing block 15 be connected on the first slide block, the other end of this first support bar is by the first universal secondary U
1be connected with swaying platform 6, above-mentioned connected mode forms PSU branch; Described second group drives the second support column 21 in the Liang Ge branch of branch to be connected on basic platform, and this second support column is provided with the second guide rail slide block, and the second slide block 20 is driven by linear actuator, and one end of the second support bar is by the 7th revolute pair R
7be connected with the bearing block 19 be connected on above-mentioned slide block, the other end of this second support bar is by the 8th revolute pair R
8be connected with the bearing block 17 be located on column, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Above-mentioned first group drives branch to drive the parts of branch to drive branch to drive branch identical with second group with first in embodiment 2 group respectively with annexation with second group.The parts of planar virtual center of rotation mechanism are identical with embodiment 3 with annexation.
Embodiment 5
A kind of shown in Figure 10, Figure 11 and Figure 12 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, make this tilter only have two degrees of freedom; One end of two columns 5 is respectively by the second universal secondary U
2be connected with swaying platform 6, the other end of these two columns is respectively by the 4th revolute pair R
4be connected with the two ends of rocking bar 3; Pedestal 2 is connected in the middle of basic platform 1, and above-mentioned two columns are symmetrically arranged in pedestal both sides, and the centre of above-mentioned rocking bar is by the 6th revolute pair R
6be connected with this pedestal, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 4th support column 26 be connected with basic platform, and Four-slider 25 is by two three moving sets P
3be connected with the inner side of above-mentioned 4th support column respectively, this Four-slider is by the 4th moving sets P simultaneously
4be connected with above-mentioned column, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, and the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and with the 6th revolute pair axes normal; 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both and the 4th moving sets moving direction vertical coplanar; The effect of two Four-sliders and the effect equivalence of connecting rod, two the 4th support columns, two Four-sliders, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual rotation axis vertical with the 3rd, the 4th moving sets moving direction.Other parts are identical with embodiment 1 with annexation.
Embodiment 6
A kind of shown in Figure 13 have virtual axle two, in Three Degree Of Freedom tilter schematic diagram, upper mounting plate 7 is connected with swaying platform 6 by revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, make this tilter only have two degrees of freedom; First group drives the first support column 13 in the Liang Ge branch of branch to be connected on basic platform 1, and this first support column is provided with the first guide rail slide block, and the first slide block 14 is driven by linear actuator, and one end of the first support bar is by second joint bearing S
2be connected with the bearing block 15 be connected on the first slide block, the other end of this first support bar is by the first universal secondary U
1be connected with swaying platform 6, above-mentioned connected mode forms PSU branch; Described second group drives the second support column 21 in the Liang Ge branch of branch to be connected on basic platform, and this second support column is provided with the second guide rail slide block, and the second slide block 20 is driven by linear actuator, and one end of the second support bar is by the 7th revolute pair R
7be connected with the bearing block 19 be connected on above-mentioned slide block, the other end of this second support bar is by the 8th revolute pair R
8be connected with the bearing block 17 be located on column, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.Above-mentioned first group drives branch to drive the parts of branch to drive branch to drive branch identical with second group with first in embodiment 2 group respectively with annexation with second group.The parts of planar virtual center of rotation mechanism are identical with embodiment 5 with annexation.
In above embodiment 1 ~ 6, upper mounting plate is connected with swaying platform through revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, now tilter only has two rotational freedoms: roll and pitch.After the bolt or screw that lock upper mounting plate and swaying platform are removed, the revolute pair be connected between upper mounting plate with swaying platform can be turntable bearing, drive through rotating driver and can realize upper mounting plate rotating relative to swaying platform, now tilter has three rotational freedoms: rolling, pitching and yawing; After the bolt or screw that lock upper mounting plate and swaying platform are removed, the moving sets connected between upper mounting plate with swaying platform drives through linear actuator can realize upper mounting plate moving relative to swaying platform, and now tilter has two and rotates and an one-movement-freedom-degree: rolling, pitching and vertical to swing.
In above embodiment, linear actuator can be hydraulic cylinder or electric cylinder or pneumatic linear actuator, also can be the motor screw slider mechanism that can realize linear movement; Rotating driver can be motor or motor.
In above embodiment, the line of two the first universal sub-centers and virtual axle, can conllinear, also can not conllinear, and namely virtual axle is not determined by the line of two the first universal sub-centers, but the inherent characteristic of virtual rotation center mechanism.
Claims (4)
1. one kind have virtual axle two, Three Degree Of Freedom tilter, it is characterized in that: upper mounting plate is connected with swaying platform by revolute pair or moving sets, upper mounting plate and swaying platform plane are respectively equipped with several corresponding through hole or screwed holes, upper mounting plate and swaying platform can be locked as one by bolt or screw, make this tilter only have two degrees of freedom; Two groups drive branches to be made up of the branch that Liang Ge mechanism is identical respectively, and these four branches are distributed on basic platform, and identical branch of Liang Ge mechanism is positioned opposite; First group drives one end of the linear actuator in the Liang Ge branch of branch to be connected with the bearing block be connected on basic platform respectively by the first oscillating bearing, the other end of these two linear actuators is connected with swaying platform respectively by the first universal pair, wherein the first oscillating bearing and the first universal pair can be exchanged, and form SPU or UPS branch; Second group drives one end of the linear actuator in the Liang Ge branch of branch to be connected with the bearing block be connected on basic platform respectively by the first revolute pair, the other end of these two linear actuators is connected with the bearing block be connected on column respectively by the second revolute pair, forms RPR branch; One end of above-mentioned two columns is connected with swaying platform respectively by the second universal pair, and the top of the other end of these two columns is connected with the two ends of connecting rod respectively by the 3rd revolute pair, and bottom is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned connecting rod is connected with this pedestal top by the 5th revolute pair, the middle part of above-mentioned rocking bar is connected with in the middle part of this pedestal by the 6th revolute pair, and the 5th revolute pair axis and the 6th revolute pair axis are parallel to each other; Two the 3rd revolute pair axis and the 5th turns auxiliary shaft line parallel and coplanar, and two the 3rd revolute pair axis are about the 5th revolute pair axisymmetrical, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; The pivot center of above-mentioned second universal pair on column, the axis of the 3rd revolute pair and the axis of the 4th revolute pair are parallel to each other and in same plane, the distance on above-mentioned connecting rod between two the 3rd revolute pair axis is equal with the distance on rocking bar between two the 4th revolute pair axis; Connecting rod, rocking bar, two columns and pedestal form the two parallelogram of plane through above-mentioned connected mode, constitute the mid point with two the second universal sub-center lines, and with the 5th, six turns auxiliary shaft line parallels and the first planar virtual center of rotation mechanism of coplanar virtual rotation axis.
2. according to claim 1 a kind ofly have two of virtual axle, Three Degree Of Freedom tilter, it is characterized in that: described first group drives the first support column in the Liang Ge branch of branch to be connected on basic platform, this first support column is provided with guide rail slide block, slide block is driven by linear actuator, one end of first support bar is connected with the bearing block be connected on above-mentioned slide block by second joint bearing, the other end of this first support bar is connected with swaying platform by the first universal pair, wherein second joint bearing and the first universal pair can be exchanged, above-mentioned connected mode forms PSU or PUS branch, described second group drives the second support column in the Liang Ge branch of branch to be connected on basic platform, this second support column is provided with guide rail slide block, slide block is driven by linear actuator, one end of second support bar is connected with the bearing block be connected on above-mentioned slide block by the 7th revolute pair, the other end of this second support bar is connected with the bearing block be located on column by the 8th revolute pair, the axis of two revolute pairs is parallel to each other, and above-mentioned connected mode forms PRR branch.
3. according to claim 1 and 2 a kind of have virtual axle two, Three Degree Of Freedom tilter, it is characterized in that: one end of two columns in the second planar virtual center of rotation mechanism is connected with swaying platform respectively by the second universal pair, the other end of these two columns is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the middle part of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, 6th revolute pair axis and two the 4th turns auxiliary shaft line parallels and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 3rd support column be connected with basic platform, arc guide rail is equipped with in the inner side of the 3rd support column respectively symmetry, these two arc guide rails are arranged with the slide block slided along this arc guide rail respectively, and these two slide blocks are connected with above-mentioned column respectively by the 9th revolute pair; The central axis of four arc guide rails overlaps, and with the 6th turns auxiliary shaft line parallel, the diameter of arc guide rail is equal with the distance of two the 4th revolute pair axis on rocking bar; On same column, two the 9th revolute pair axis overlap, and are parallel to each other with the 6th revolute pair axis, and the distance of the 9th revolute pair axis on two columns is equal with the distance of two the 4th revolute pair axis on rocking bar; The 9th revolute pair axis on above-mentioned same column, the 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other and coplanar, and two the 9th revolute pair axis can overlap with the pivot center of the second universal pair on this column, but can not with the 4th revolute pair dead in line; The effect of four arc guide rail slide blocks and the effect equivalence of connecting rod, two the 3rd support columns, four arc guide rail slide blocks, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines by above-mentioned connected mode, and with the 6th revolute pair axis, arc guide rail centerline axis parallel and the second planar virtual center of rotation mechanism of coplanar virtual rotation axis.
4. according to claim 1 and 2 a kind of have virtual axle two, Three Degree Of Freedom tilter, it is characterized in that: one end of two columns in the 3rd planar virtual center of rotation mechanism is connected with swaying platform respectively by the second universal pair, the other end of these two columns is connected with the two ends of rocking bar respectively by the 4th revolute pair; Pedestal is connected in the middle of basic platform, above-mentioned two columns are symmetrically arranged in pedestal both sides, the centre of above-mentioned rocking bar is connected with this pedestal by the 6th revolute pair, two the 4th revolute pair axis and the 6th turns auxiliary shaft line parallel and coplanar, and two the 4th revolute pair axis are about the 6th revolute pair axisymmetrical; Above-mentioned each column is positioned at the mid-plane of the 4th support column be connected with basic platform, slide block is connected with the inner side of above-mentioned 4th support column respectively by two three moving sets, this slide block is connected with above-mentioned column by the 4th moving sets simultaneously, the moving direction of the 4th moving sets is along the central axial direction of above-mentioned column, the moving direction of three moving sets is vertical with the moving direction of the 4th moving sets, and with the 6th revolute pair axes normal; 4th revolute pair axis and the pivot center of the second universal pair on this column are parallel to each other, and both and the 4th moving sets moving direction vertical coplanar; The effect of two slide blocks and the effect equivalence of connecting rod, two the 4th support columns, two slide blocks, two columns, rocking bar and pedestals constitute the mid point with two the second universal sub-center lines through above-mentioned connected mode, and with the 3rd planar virtual center of rotation mechanism of the 6th turns auxiliary shaft line parallel, the virtual rotation axis vertical with the 3rd, the 4th moving sets moving direction.
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| JPH10277974A (en) * | 1997-04-08 | 1998-10-20 | Eizou Nishimura | Parallel mechanism actuator |
| KR20030085779A (en) * | 2002-05-02 | 2003-11-07 | 송재복 | Parallel Manipulator with Resizable Platform |
| CN1537704A (en) * | 2003-10-24 | 2004-10-20 | 清华大学 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
| ES2258917B1 (en) * | 2005-02-17 | 2007-12-01 | Fundacion Fatronik | PARALLEL ROBOT WITH FOUR DEGREES OF HIGH SPEED FREEDOM. |
| CN102975196B (en) * | 2012-12-04 | 2015-04-01 | 天津大学 | Double-rotational freedom parallel mechanism |
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