CN105788651A - Three-dimensional rotating flexible mechanism convenient to manufacture - Google Patents
Three-dimensional rotating flexible mechanism convenient to manufacture Download PDFInfo
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- CN105788651A CN105788651A CN201610307270.6A CN201610307270A CN105788651A CN 105788651 A CN105788651 A CN 105788651A CN 201610307270 A CN201610307270 A CN 201610307270A CN 105788651 A CN105788651 A CN 105788651A
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- reed
- rigid body
- outer shroud
- internal ring
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- G—PHYSICS
- G12—INSTRUMENT DETAILS
- G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
- G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
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- G—PHYSICS
- G12—INSTRUMENT DETAILS
- G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
- G12B3/00—Details of movements not otherwise provided for
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Abstract
The invention discloses a three-dimensional rotating flexible mechanism convenient to manufacture, and the mechanism consists of an upper disc (1), a lower disc (2), an outer ring (3), an inner ring (4) disposed in the outer ring (3), and a spring piece (5), wherein the structure of the upper disc (1) and the structure of the lower disc (2) are the same, and the structure of the lower disc (2) is a structure formed by the 180-degree rotation of the upper disc (1) around the Z-axis. The upper disc (1) and the lower disc (2) are molded into one part, and are manufactured through cutting a cylindrical material through employing the line cutting technology. The structure of the outer ring (3) and the structure of the inner ring (4) are similar, and the structure of the inner ring (4) is formed by the 180-degree rotation of the outer ring (3) around the Z-axis. The outer ring (3) and the inner ring (4) are molded into one body, and are manufactured through cutting the same cylindrical material through employing the line cutting technology. The mechanism is provided with ten spring pieces, six central rigid bodies, and four rigid bodies, thereby achieving three freedom degrees: enabling the upper layers of the inner ring (4) and an outer ring (3) to rotate around the longitudinal axis Y and lateral axis X of a space coordinate system relative to the lower layers, and enabling the upper layers of the upper disc (1) and the lower disc (2) to rotate around the Z-axis of the space coordinate system relative to the lower layers. The mechanism is good in comprehensive performances (rotating rigidness, radial rigidness, travel and rotating precision).
Description
Technical field
The present invention relates to a kind of compliant mechanism.Belong to precision positioning field, specifically, be that a kind of manufacture has large deformation, high accuracy three-dimensional pivoting flexible mechanism easily.
Background technology
Compliant mechanism refers under the effect of external load, utilizes elastic deformation transmission power and energy between adjacent rigid of material, thus producing a kind of version of relative translation or rotation.Compared with traditional rigid mechanism, compliant mechanism is formed by a block of material integral cutting, it utilizes the elastic deformation of material to produce rotary motion, do not need assembling very close to each other compared with conventional rotary unit and friction, therefore can realize higher rotation precision, avoid abrasion simultaneously, improve the life-span, avoid lubrication, it is to avoid pollute.Can be applicable to various precision positioning and for the field such as pose adjustment.
Three dimensional rotation compliant mechanism has the feature such as large deformation, high accuracy, has bigger application demand.But existing three-dimensional revolving gear or be breach type, precision is not high, and stroke is little；Or be parallel flexible mechanism, structure is complicated, and rigging error is big.
Summary of the invention
The present invention is directed to existing three-dimensional revolving gear type single, the combination properties such as rotational stiffness, radial rigidity, stroke, rotation precision have much room for improvement, the problem that rigging error is big, propose one and manufacture Three dimensional rotation compliant mechanism easily, overlapped compliant mechanism by 3 to constitute, including 2 set spatial intersecting compliant mechanisms and 1 set inner and outer ring compliant mechanism.Overlap spatial intersecting compliant mechanism by two and a set of inner and outer ring compliant mechanism is in series, there is the advantage that stroke is big, precision is high.
It is an advantage of the current invention that.
1, upper disk adopts with lower circle, outer shroud and interior the ring disk and turns over 180 ° of identical designs of structure about the z axis, by reed in design that is space crossed but that do not fix in intersection so that the internal stress of mechanism reduces, and the life-span improves.
2, upper disk adopts the type of attachment of screw and cushion block with the junction of rigid body, outer shroud and internal ring on lower disc, lower disc and outer shroud, improves the rigidity of Three dimensional rotation compliant mechanism, makes bearing capacity strengthen, and natural frequency increases.
3, adopt line cutting and bore milling process integration, reducing rigging error.
4, the mechanism of present invention design is hollow structure, is beneficial to and alleviates weight, and is prone to processing.
5, the Three dimensional rotation compliant mechanism of present invention design has good combination property in rotational stiffness, radial rigidity, stroke, rotation precision.
Accompanying drawing explanation
Fig. 1 is Three dimensional rotation compliant mechanism overall structure schematic diagram 1 of the present invention.
Fig. 2 position Three dimensional rotation of the present invention compliant mechanism overall structure schematic diagram 2.
Fig. 3 is Three dimensional rotation compliant mechanism of the present invention assembling explosive view.
Fig. 4 is Three dimensional rotation compliant mechanism front view of the present invention.
Fig. 5 is Three dimensional rotation compliant mechanism right view of the present invention.
In figure.
1-upper disk 2-lower disc 3-outer shroud
4-internal ring 5-reed 6-shop bolt
The quiet rigid body 103-A joint-cutting of disk on 101-upper disc drive rigid body 102-
104-A grooving 201-lower disc moves the rigid body quiet rigid body of 202-lower disc
Rigid body on 203-B joint-cutting 204-B grooving 301-outer shroud
The quiet rigid body 304-C grooving of rigid body 303-outer shroud in the middle of 302-outer shroud
Rigid body in the middle of rigid body 402-internal ring on 305-D grooving 401-internal ring
403-internal ring quiet rigid body 404-E grooving 405-F grooving
501-reed A502-reed B503-reed C
504-reed D505-reed E506-reed F
507-reed G508-reed H509-reed I
510-reed J
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
One of the present invention manufactures Three dimensional rotation compliant mechanism easily, and by upper disk 1, lower disc 2, outer shroud 3 and the internal ring 4 that is arranged within outer shroud 3, and reed 5 is constituted；Described outer shroud 3 includes rigid body 302, the quiet rigid body 303 of outer shroud, C grooving 304 and D grooving 305 in the middle of rigid body 301 on outer shroud, outer shroud；The described internal ring 4 being arranged within outer shroud 3 includes rigid body 402, the quiet rigid body 403 of internal ring, E grooving 404 and F grooving 405 in the middle of rigid body 401 on internal ring, internal ring；Outer shroud 3 is that integrated cutting processing completes with internal ring 4, then is fixed by pin along Z axis rotation 180 ° with outer shroud 3 by internal ring 4.The Three dimensional rotation compliant mechanism of the present invention has a virtual center of rotation, and it is positioned at A reed 501 and on C reed 503, E reed 505 and G reed 507, the I reed 509 intersection point O with J reed 510, sets up XYZ coordinate system at O point.In coordinate system XYZ, the quiet rigid body of outer shroud 303 and internal ring quiet rigid body 403 transfixion；In the middle of outer shroud, rigid body 302 and the middle rigid body 402 of internal ring can turn about the X axis, and its range is the one-dimensional rotation motion of ± 4 °；On outer shroud, on rigid body 301 and internal ring, rigid body 401 can rotate around Y-axis, and its range is the one-dimensional rotation motion of ± 4 °；Upper disc drive rigid body 101 can turn about the Z axis, and its range is the one-dimensional rotation motion of ± 4 °.3 kinds of rotational motions are serially connected composition this Three dimensional rotation compliant mechanism.
Described upper disk 1 includes disc drive rigid body 101, the quiet rigid body 102 of upper disk, A joint-cutting 103 and A grooving 104, in upper disc drive rigid body 101 lays respectively at the quiet rigid body of upper disk 102 and outer two positions；Wherein, being connected by reed 5 between upper disc drive rigid body 101 with the quiet rigid body 102 of upper disk, making this connection reed 5 is I reed 509；Make the vertical pivot Z that I reed 509 has in rectangular coordinate system in space O (x, y, z) degree of freedom rotated；Described lower disc includes the dynamic rigid body 201 of lower disc, the quiet rigid body 202 of lower disc, B joint-cutting 203 and B grooving 204, in the dynamic rigid body 201 of lower disc lays respectively at the quiet rigid body of lower disc 202 and outer two positions；Wherein, lower disc is dynamic to be connected by reed 5 between rigid body 201 with the quiet rigid body 202 of lower disc, and making this connection reed 5 is J reed 510；Make the vertical pivot Z that J reed 510 has in rectangular coordinate system in space O (x, y, z) degree of freedom rotated；Gap is there is between inside above-mentioned upper disc drive rigid body 101 and outside the quiet rigid body 102 of upper disk, there is gap between inside the dynamic rigid body 201 of lower disc and outside the quiet rigid body 202 of lower disc, gap is little as far as possible in I reed 509 and J reed 510 are less than the angle range of its yield strength；The length of each reed and the angle between them affect the characteristics such as the range of movement of mechanism, flexibility and kinematic accuracy；The stroke of thickness effect mechanism of each reed, flexibility and life-span.
Described outer shroud 3 includes rigid body 302 in the middle of rigid body 301 on outer shroud, outer shroud, the quiet rigid body 303 of outer shroud, C grooving 304 and D grooving 305, it is connected by A reed 501 and B reed 502 between rigid body 302 upper end and rigid body on outer shroud 301 in the middle of outer shroud, A reed 501 incline direction that is connected with B reed 502 is identical and symmetrical about YOZ plane；Being connected by E reed 505 and F reed 506 between rigid body 302 lower end and the quiet rigid body 303 of outer shroud in the middle of outer shroud, E reed 505 is identical with F reed 506 incline direction, and symmetrical about XOZ plane；A reed 501 and B reed 502 is made to have the degree of freedom that transverse axis X rotates in rectangular coordinate system in space O (x, y, z)；E reed 505 and F reed 506 is made to have the degree of freedom that longitudinal axis Y rotates in rectangular coordinate system in space O (x, y, z)；Middle to rigid body on outer shroud 301 and outer shroud rigid body 302 is separated by C grooving 304；Rigid body 302 in the middle of outer shroud is separated by D grooving 305 with the quiet rigid body 303 of outer shroud；In the middle of the lower face of A reed 501 and B reed 502 and outer shroud, angle between the upper face of rigid body 302 is designated as α, α=30 °～60 °；In the middle of the lower face of E reed 505 and F reed 506 and outer shroud, angle between the upper face of rigid body 302 is designated as β, β=30 °～60 °.Gap is there is in above-mentioned outer shroud between rigid body 301 bottom surface and middle rigid body 302 end face of outer shroud, there is gap between rigid body 302 bottom surface and outer shroud quiet rigid body 303 end face in the middle of outer shroud, gap is big as far as possible in E reed 505 and F reed 506 are less than the angle range of its yield strength；The length of each reed and the angle between them affect the characteristics such as the range of movement of mechanism, flexibility and kinematic accuracy；The stroke of thickness effect mechanism of each reed, flexibility and life-span.
Described internal ring 4 is similar with outer shroud 3 structure, including rigid body 402, the quiet rigid body 403 of internal ring, E grooving 404 and F grooving 405 in the middle of rigid body on internal ring 401, internal ring, it is connected by C reed 503 and D reed 504 between rigid body 402 upper end and rigid body on internal ring 401 in the middle of internal ring, C reed 503 is identical with D reed 504 incline direction, and symmetrical about YOZ plane, it is connected by G reed 507 and H reed 508 between rigid body 402 lower end and the quiet rigid body 403 of internal ring in the middle of internal ring；C reed 503 and D reed 504 is made to have the degree of freedom that transverse axis X rotates in rectangular coordinate system in space O (x, y, z)；G reed 507 and H reed 508 is made to have the degree of freedom that longitudinal axis Y rotates in rectangular coordinate system in space O (x, y, z)；Middle to rigid body on internal ring 401 and internal ring rigid body 402 is separated by E grooving 404；Rigid body 402 in the middle of internal ring is separated by F grooving 405 with the quiet rigid body 403 of internal ring；In the middle of the lower face of C reed 503 and D reed 504 and internal ring, angle between the upper face of rigid body 402 is designated as α, α=30 °～60 °；In the middle of the lower face of E reed 505 and F reed 506 and internal ring, angle between the upper face of rigid body 402 is designated as β, β=30 °～60 °；Gap is there is in above-mentioned internal ring between rigid body 401 bottom surface and middle rigid body 402 end face of internal ring, there is gap between rigid body 402 bottom surface and internal ring quiet rigid body 403 end face in the middle of internal ring, gap is big as far as possible in G reed 506 and H reed 508 are less than the angle range of its yield strength；The length of each reed and the angle between them affect the characteristics such as the range of movement of mechanism, flexibility and kinematic accuracy；The stroke of thickness effect mechanism of each reed, flexibility and life-span.
Above-mentioned being positioned between the A reed 501 of homonymy and C reed 503 and have certain interval, axis intersects formation X-type cross reed flexible mechanism；Being positioned between the B reed 502 of homonymy and D reed 504 and have certain interval, axis intersects formation X-type cross reed flexible mechanism；Being positioned between the E reed 505 of homonymy and G reed 507 and have certain interval, axis intersects formation X-type cross reed flexible mechanism；Being positioned between the F reed 506 of homonymy and H reed 508 and have certain interval, axis intersects formation X-type cross reed flexible mechanism；Being positioned between the I reed 509 of homonymy and J reed 510 and have certain interval, axis intersects formation X-type cross reed flexible mechanism.The length of each reed and the angle between them affect the characteristics such as the range of movement of mechanism, flexibility and kinematic accuracy；The stroke of thickness effect mechanism of each reed, flexibility and life-span.
In the present invention, upper disk 1 is separated by A joint-cutting 103 with lower disc 2.
In the present invention, lower disc 2 is separated by B joint-cutting 203 with rigid body 401 on rigid body on internal ring 301 and outer shroud.
A joint-cutting 103 and B joint-cutting 203 are straight line, and these two joint-cuttings are machined at twice by cutting off machine.
The quiet rigid body 102 of above-mentioned upper disk, on the quiet rigid body 202 of lower disc and outer shroud rigid body 301 axially between, on internal ring on rigid body 401 and outer shroud rigid body 301 radially between, and between the quiet rigid body of internal ring 403 and quiet rigid body 303 radial direction of outer shroud, by the assembling of shop bolt location, realize the location between internal ring 4 and outer shroud 3, make rigid body 401 on internal ring, rigid body 402 in the middle of internal ring, the quiet rigid body 403 of internal ring respectively with rigid body on outer shroud 301, rigid body 302 in the middle of outer shroud, the dynamic rigid body of compliant mechanism of entirety is formed between the quiet rigid body 303 of outer shroud, rigid body on compliant mechanism, rigid body and the quiet rigid body of compliant mechanism under compliant mechanism, form Three dimensional rotation compliant mechanism of the present invention.
For said structure Three dimensional rotation compliant mechanism, the quiet rigid body of the dynamic rigid body relative flexibility mechanism of compliant mechanism has around transverse axis X rotation and rotates around longitudinal axis Y and around vertical pivot Z 3 degree of freedom rotated.By the connected mode of E reed 505, F reed 506, G reed 507 and H reed 508, the quiet rigid body of rigid body relative flexibility mechanism under compliant mechanism is made to have around longitudinal axis Y 1 degree of freedom rotated；By the connected mode of A reed 501, B reed 502, C reed 503 and D reed 504, rigid body under compliant mechanism dynamic rigid body relative flexibility mechanism is made to have around transverse axis X 1 degree of freedom rotated；By the connected mode of I reed 509 with J reed 510, rigid body in compliant mechanism dynamic rigid body relative flexibility mechanism is made to have around vertical pivot Z 1 degree of freedom rotated.
Three dimensional rotation compliant mechanism designed by the present invention is that one manufactures mechanism easily, is integrated design and processing, and its processing mode is mainly line cutting and bores miller skill integrated technique, can reduce rigging error.Its processing method is as follows: clean survey ring body, Qi Gao, is cut out by line and cuts out B joint-cutting 203 from centre by stock dimidiation；By line cutting, upper stock being cut out A grooving 104 and form I reed 509 and J reed 510, cutting out A joint-cutting 103 from centre, thus obtaining upper disk 1 and lower disc 2；By line cutting, lower stock is removed central through hole, cut inner and outer ring gap at twice, before cut-out, add pin；By line cutting, front-back being cut out C grooving 304 and pin hole, face, left and right cuts out D grooving 305 and pin hole obtains internal ring 4 and outer shroud 3；Being unloaded by pin, internal ring 4 is extracted out and is rotated 180 ° and loads internal ring, and upper disk overturns 180 °, and pin loads.So far processing and the assembling process of Three dimensional rotation compliant mechanism of the present invention are completed.
It is cylinder configuration at the Three dimensional rotation compliant mechanism shown in Fig. 1 of the present invention, it is also possible to be designed to square, cuboid or the configuration such as spherical according to actual needs.
Claims (6)
1. one kind manufactures Three dimensional rotation compliant mechanism easily, it is characterized in that: by upper disk (1), lower disc (2), outer shroud (3) and the internal ring (4) that is arranged within outer shroud, and reed (5) is constituted；Pin, cushion block or screw is adopted to install between upper disk (1) and lower disc (2), outer shroud (3) and internal ring (4)；
Upper disk (1) is identical with lower disc (2) structure, the structure of lower disc (2) is the structure that upper disk (1) turns over 180 ° about the z axis, upper disk (1) and lower disc (2) are formed in one part, are adopt line cutting technology cutting to prepare on a cylindric material；Outer shroud (3) is similar with internal ring (4) structure, the structure of internal ring (4) is the structure that outer shroud (3) turns over 180 ° about the z axis, outer shroud (3) and internal ring (4) are formed in one part, are adopt line cutting technology cutting to prepare on same cylindrical material；This mechanism is respectively equipped with ten reeds, six middle rigid body, four rigid bodies；Ten reeds refer to A reed (501), B reed (502), C reed (503), D reed (504), E reed (505), F reed (506), G reed (507), H reed (508), I reed (509) and J reed (510), wherein A～H reed structure is identical, and I reed is identical with J reed structure；Rigid body refers on the quiet rigid body of disk (102), the quiet rigid body of lower disc (202), outer shroud on rigid body (301), internal ring rigid body (302) and internal ring centre rigid body (402) in the middle of rigid body (401), outer shroud in the middle of six；In the middle of six, rigid body is separately positioned between four rigid bodies；Four rigid bodies refer to that disc drive rigid body (101), lower disc move rigid body (201), the quiet rigid body of outer shroud (303), the quiet rigid body of internal ring (403)；
Described upper disk (1) includes disc drive rigid body (101), the quiet rigid body of upper disk (102), A joint-cutting (103) and A grooving (104), in upper disc drive rigid body (101) and the quiet rigid body of upper disk (102) lay respectively at and outer two positions；Wherein, upper disc drive rigid body (101) is connected by I reed (509) with between the quiet rigid body of upper disk (102), makes the vertical pivot Z that I reed (509) has in rectangular coordinate system in space O (x, y, z) degree of freedom rotated；Upper disk (1) is separated by A joint-cutting (103) with lower disc (2)；Upper disc drive rigid body (101) and the quiet rigid body of upper disk (102) are separated by A grooving (104)；
Described lower disc (2) includes the dynamic rigid body (201) of lower disc, the quiet rigid body of lower disc (202), B joint-cutting (203) and B grooving (204), and lower disc moves in rigid body (201) lays respectively at and outer two positions with the quiet rigid body of lower disc (202)；Wherein, lower disc is moved and is connected by J reed (510) between rigid body (201) with the quiet rigid body of lower disc (202), makes the vertical pivot Z that J reed (510) has in rectangular coordinate system in space O (x, y, z) degree of freedom rotated；Lower disc (2) is separated by B joint-cutting (203) with outer shroud (3) and internal ring (4)；Dynamic for lower disc rigid body (201) and the quiet rigid body of lower disc (202) are separated by B grooving (204)；
Described outer shroud (3) includes rigid body (302) in the middle of rigid body on outer shroud (301), outer shroud, the quiet rigid body of outer shroud (303), C grooving (304) and D grooving (305), it is connected by A reed (501) and B reed (502) between rigid body (302) upper end and rigid body on outer shroud (301) in the middle of outer shroud, makes A reed (501) and B reed (502) have the degree of freedom that transverse axis X rotates in rectangular coordinate system in space O (x, y, z)；It is connected by E reed (505) and F reed (506) between rigid body (302) lower end and the quiet rigid body of outer shroud (303) in the middle of outer shroud, makes E reed (505) and F reed (506) have the degree of freedom that longitudinal axis Y rotates in rectangular coordinate system in space O (x, y, z)；Middle to rigid body on outer shroud (301) and outer shroud rigid body (302) is separated by C grooving (304)；Rigid body (302) in the middle of outer shroud is separated by D grooving (305) with the quiet rigid body of outer shroud (303)；In the middle of the lower face of A reed (501) and B reed (502) and outer shroud, angle between the upper face of rigid body (302) is designated as α, α=30 °～60 °；In the middle of the lower face of E reed (505) and F reed (506) and outer shroud, angle between the upper face of rigid body (302) is designated as β, β=30 °～60 °；
Described internal ring (4) includes rigid body (402) in the middle of rigid body on internal ring (401), internal ring, the quiet rigid body of internal ring (403), E grooving (404) and F grooving (405), it is connected by C reed (503) and D reed (504) between rigid body (402) upper end and rigid body on internal ring (401) in the middle of internal ring, makes C reed (503) and D reed (504) have the degree of freedom that transverse axis X rotates in rectangular coordinate system in space O (x, y, z)；It is connected by G reed (507) and H reed (508) between rigid body (402) lower end and the quiet rigid body of internal ring (403) in the middle of internal ring, makes G reed (507) and H reed (508) have the degree of freedom that longitudinal axis Y rotates in rectangular coordinate system in space O (x, y, z)；Middle to rigid body on internal ring (401) and internal ring rigid body (402) is separated by E grooving (404)；Rigid body (402) in the middle of internal ring is separated by F grooving (405) with the quiet rigid body of internal ring (403)；In the middle of the lower face of C reed (503) and D reed (504) and internal ring, angle between the upper face of rigid body (402) is designated as α, α=30 °～60 °；In the middle of the lower face of E reed (505) and F reed (506) and internal ring, angle between the upper face of rigid body (402) is designated as β, β=30 °～60 °；
Above-mentioned it be positioned between the A reed (501) of homonymy and C reed (503) and form X-type cross reed flexible mechanism；It is positioned between the B reed (502) of homonymy and D reed (504) and forms X-type cross reed flexible mechanism；It is positioned between the E reed (505) of homonymy and G reed (507) and forms X-type cross reed flexible mechanism；It is positioned between the F reed (506) of homonymy and H reed (508) and forms X-type cross reed flexible mechanism；It is positioned at the I reed (509) of homonymy and J reed (510) and forms X-type cross reed flexible mechanism；
On above-mentioned outer shroud on rigid body (301) and internal ring rigid body (401) radially between, and the quiet rigid body of outer shroud (303) and the quiet rigid body of internal ring (403) radially between location assemble；
The quiet rigid body of above-mentioned upper disk (102) and the quiet rigid body of lower disc (202) axially between, the dynamic rigid body (201) of upper disc drive rigid body (101) and lower disc axially between, and the quiet rigid body of lower disc (202) and rigid body (301) on outer shroud axially between shimming location assemble.
2. one manufactures Three dimensional rotation compliant mechanism easily as claimed in claim 1, it is characterised in that: in same rigid body, angle α keeps consistent with the angle of angle β, and α=β=30 °～60 °.
3. one manufactures Three dimensional rotation compliant mechanism easily as claimed in claim 1, it is characterised in that: described A reed (501) is identical with B reed (502) incline direction and symmetrical about YOZ plane；C reed (503) is identical with D reed (504) incline direction, and symmetrical about YOZ plane；E reed (505) is identical with F reed (506) incline direction, and symmetrical about XOZ plane；G reed (507) is identical with H reed (508) incline direction, and symmetrical about XOZ plane.
4. one manufactures Three dimensional rotation compliant mechanism easily as claimed in claim 1, it is characterized in that: the A reed (501) of described homonymy is isometric in YOZ plane projection with C reed (503), B reed (502) is isometric in YOZ plane projection with D reed (504), E reed (505) is isometric in XOZ plane projection with G reed (507), F reed (506) is isometric in XOZ plane projection with H reed (508), and I reed (509) is isometric with J reed (510).
5. one manufactures Three dimensional rotation compliant mechanism easily as claimed in claim 1, it is characterised in that: the A reed (501) being positioned at homonymy constitutes cross reed with C reed (503) Axis Cross；The B reed (502) being positioned at homonymy constitutes cross reed with D reed (504) Axis Cross；The E reed (505) being positioned at homonymy constitutes cross reed with G reed (507) Axis Cross；The F reed (506) being positioned at homonymy constitutes cross reed with H reed (508) Axis Cross；The I reed (509) being positioned at homonymy constitutes cross reed with J reed (510) Axis Cross.
6. one manufactures Three dimensional rotation compliant mechanism easily as claimed in claim 1, it is characterised in that: described Three dimensional rotation compliant mechanism is cylinder configuration, square configuration, rectangular parallelepiped or spheroid configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610307270.6A CN105788651B (en) | 2016-05-11 | 2016-05-11 | Three-dimensional rotating flexible mechanism convenient to manufacture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610307270.6A CN105788651B (en) | 2016-05-11 | 2016-05-11 | Three-dimensional rotating flexible mechanism convenient to manufacture |
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| CN105788651A true CN105788651A (en) | 2016-07-20 |
| CN105788651B CN105788651B (en) | 2020-06-09 |
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| CN102324253B (en) * | 2011-06-03 | 2013-04-17 | 中国科学院光电技术研究所 | Parallel micro-positioning platform based on piezoelectric ceramic driver driving and micro-positioning platform system |
| CN104006087B (en) * | 2014-06-09 | 2015-12-30 | 北京航空航天大学 | The flexible Hooke's hinge of a kind of cross reed |
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