CN106313016A - Symmetrical three-degree-of-freedom movement coupling mechanism - Google Patents
Symmetrical three-degree-of-freedom movement coupling mechanism Download PDFInfo
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- CN106313016A CN106313016A CN201610985591.1A CN201610985591A CN106313016A CN 106313016 A CN106313016 A CN 106313016A CN 201610985591 A CN201610985591 A CN 201610985591A CN 106313016 A CN106313016 A CN 106313016A
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- revolute pair
- branch
- central rotational
- connecting rod
- switching node
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
Asymmetrical three-degree-of-freedom movement coupling mechanism is based on a symmetrical three-degree-of-freedom movement paralleling mechanism and adopts the technical scheme that the coupling mechanism is constructed in the mode that coupling rod groups are added among paralleling mechanismbranched chains. For facilitating adding of the coupling branched chains to connecting rods, a 3-RRUR paralleling mechanism containing more R pairs is used as a basis, appropriate coupling node positions are selected from the coupling branched chains under the situation that the degree of freedom of the mechanism is ensured, and the appropriate coupling rod groups are added to form the symmetrical three-degree-of-freedom movement coupling mechanism. The symmetrical three-degree-of-freedom movement coupling mechanism has the advantages of being large in rigidity, good in carrying capacity, stable in movement and convenient to assemble and maintain, and a new thought is provided for configuration integration of multiple loop coupling mechanisms.
Description
Technical field
The present invention is based on symmetric parallel mechanism, a kind of coupling mechanism obtained by the way of adding coupling bar group, relates to
And applied mechanism technical field, particularly relate to a kind of there is the robot actuating mechanism that Three Degree Of Freedom moves.
Background technology
The development experience of mechanism process from simple to complex, its configuration enters by mechanics innovation most effective way exactly
Row system comprehensive.In some high intensity, heavy duties etc., these need the workplace with heavy-duty machinery equipment, often require that machine
Laser intensity high, simple in construction, low cost, easy to maintenance, and end performs component and need to meet stable movement, easily controls
The demand of system.It is strong that existing parallel institution has bearing capacity, and rigidity is big, the advantages such as inertia is low, but work space is limited；String
Online structure work space is big, and simple in construction is dexterous, but intensity is low, is not suitable for heavy duty occasion.
Under such development trend, Space Coupling mechanism arises at the historic moment.This kind of mechanism is compatible serial mechanism and parallel connection
The advantage of mechanism, compensate for Liang Zhong mechanism each obvious defect, has its specific application scenario, have huge using value
It is worth with theoretical research.Structure forms complexity but the coupling mechanism of novel appearance, the connection side chain between its frame and moving platform
Intercoupling, the most not independent, the form generally connecting into netted coupling mechanism with multiple identical ring structures presents,
Make such mechanism possess the two-fold advantage of structure function and outward appearance, meet the development trend of mechanism.But, at present to coupling
The comprehensive research of mechanism configuration is also in foundation phase.Although some other mechanism design methods are suggested in succession, but remote
Do not form traditional and that there is regularity Structure Configuration Synthesis method.Greatly limit coupling mechanism to propose, so promoting this kind of machine
A large amount of development and application of structure are very important.
Summary of the invention
Based on background above, the invention provides a kind of can move as the Three Degree Of Freedom of mobile robot actuating mechanism right
Claiming coupling mechanism, it is big that this mechanism has rigidity, and bearing capacity is strong, stable movement, and assembling and feature easy to maintenance, for multi-ring coupling
The Structure Configuration Synthesis closing mechanism provides new approaches.
For achieving the above object, the technical solution used in the present invention moves coupling mechanism for a kind of symmetrical Three Degree Of Freedom, base
Moving symmetric parallel mechanism in Three Degree Of Freedom, the mode that employing props up interchain interpolation coupling bar group at parallel institution carrys out tectonic coupling machine
The technical scheme of structure.For the ease of adding coupling side chain on connecting rod, with the 3-RRUR parallel institution more containing R pair as base
Plinth, in the case of the degree of freedom ensureing mechanism is constant, chooses suitable switching node position on side chain in parallel and adds
Suitably coupling bar group forms symmetrical Three Degree Of Freedom and moves coupling mechanism.
This mechanism include three branches of frame (D1), moving platform (M1) and connection frame and moving platform and three couple
Bar group.Three branches include the first branch, the second branch, the 3rd branch.Three coupling bar groups include the first coupling bar group G1,
Two coupling bar groups G2, the 3rd coupling bar group G3, wherein represent the first coupling bar group with G1, and G2 represents the second coupling bar group, G3 generation
Table the 3rd coupling bar group.Each coupling bar group is connected with two of which branch, and three branches and three coupling bar group intervals connect
Form ring-type coupled structure, the point being connected with coupling bar group in each branch is referred to as switching node.Three switching nodes are respectively
Be the first branch switching node N1, the second branch switching node N2 and the 3rd branch switching node N3.
First branch includes first revolute pair (R11) of frame, has the revolute pair of first branch's switching node rod member
(R12), the first Hooke's hinge (U1), moving platform the first revolute pair (R13)；First revolute pair (R11) of frame with have the first branch
The revolute pair (R12) of switching node rod member is connected by first connecting rod (L1), has the revolute pair of first branch's switching node rod member
(R12) it is connected by second connecting rod (L2) with first revolute pair (U11) of the first Hooke's hinge, the second revolute pair of the first Hooke's hinge
(U12) it is connected by third connecting rod (L3) with moving platform the first revolute pair (R13).First revolute pair (R11) of frame, first point
Prop up the revolute pair (R12) of switching node rod member, first revolute pair (U11) of the first Hooke's hinge is parallel to each other.First Hooke's hinge
Second revolute pair (U12) and moving platform the first revolute pair (R13) are parallel to each other.
Second branch includes second revolute pair (R21) of frame, has the revolute pair of second branch's switching node rod member
(R22), the second Hooke's hinge (U2), moving platform the second revolute pair (R23)；Second revolute pair (R21) of frame with have the second branch
The revolute pair (R22) of switching node rod member is connected by fourth link (L4), has the revolute pair of second branch's switching node rod member
(R22) it is connected by the 5th connecting rod (L5) with first revolute pair (U21) of the second Hooke's hinge, the second revolute pair of the second Hooke's hinge
(U22) it is connected by six-bar linkage (L6) with moving platform the second revolute pair (R23).Second revolute pair (R21) of frame, have second
The revolute pair (R22) of branch's switching node rod member, first revolute pair (U21) of the second Hooke's hinge are parallel to each other.Second Hooke's hinge
The second revolute pair (U22) and moving platform the second revolute pair (R23) be parallel to each other.
3rd branch includes the 3rd revolute pair (R31) of frame, has the revolute pair of the 3rd branch's switching node rod member
(R32), the 3rd Hooke's hinge (U3), moving platform the 3rd revolute pair (R33)；3rd revolute pair (R31) of frame with have the 3rd branch
The revolute pair (R32) of switching node rod member is connected by seven-link assembly (L7), has the revolute pair of the 3rd branch's switching node rod member
(R32) it is connected by the 8th connecting rod (L8) with first revolute pair (U31) of the 3rd Hooke's hinge, the second revolute pair of the 3rd Hooke's hinge
(U32) it is connected by the 9th connecting rod (L9) with moving platform the 3rd revolute pair (R33).3rd revolute pair (R31) of frame, have the 3rd
The revolute pair (R32) of branch's switching node rod member, first revolute pair (U31) of the 3rd Hooke's hinge are parallel to each other.3rd Hooke's hinge
The second revolute pair (U32) and moving platform the first revolute pair (R33) be parallel to each other.
Selecting equilateral triangle component is moving platform (M1), and the first branch is connected by first revolute pair (R13) of moving platform
To moving platform (M1), the second branch is connected to moving platform (M1) by second revolute pair (R23) of moving platform, and the 3rd branch passes through
3rd revolute pair (R33) of moving platform is connected to moving platform (M1), and described three branches are parallel on moving platform (M1).It addition,
It is of coupled connections by the first coupling bar group (G1) between first branch's switching node (N1) and second branch's switching node (N2), the
It is of coupled connections by the second coupling bar group (G2) between two branch's switching nodes (N2) and the 3rd branch's switching node (N3), the 3rd
It is of coupled connections by the 3rd coupling bar group (G3) between branch's switching node (N3) and first branch's switching node (N1).First coupling
Close bar group and be expressed as kinematic chain (-R14-R15-P1-R24-R25-), central rotational secondary a (R14) and central rotational secondary b (R15) phase
The most parallel and be parallel to the revolute pair (R12) having first branch's switching node rod member, central rotational secondary c (R24) and central rotational
Secondary d (R25) is parallel to each other and is parallel to the revolute pair (R22) having second branch's switching node rod member, the first moving sets (P1) with
Central rotational secondary b (R15) and central rotational secondary d (R25) becomes 120 degree of angles respectively；Second coupling bar group represent kinematic chain (-
R26-R27-P2-R35-R34-), central rotational secondary e (R26) and central rotational secondary f (R27) is parallel to each other and is parallel to have second
The revolute pair (R22) of node rod member is closed by coupling branch, and central rotational secondary g (R34) and central rotational secondary h (R35) is parallel to each other and flat
Row is in the 3rd revolute pair (R31) of frame, the second moving sets (P2) and central rotational secondary f (R27) and central rotational secondary h (R35)
Become 120 degree of angles respectively；3rd coupling bar group is expressed as kinematic chain (-R36-R37-P3-R17-R16-), central rotational secondary i
(R36) it is parallel to each other with central rotational secondary j (R37) and is parallel to the revolute pair (R32) having the 3rd branch's switching node rod member, in
Between revolute pair k (R16) and central rotational secondary l (R17) be parallel to each other and be parallel to the rotation having first branch's switching node rod member
Secondary (R12), three moving sets (P3) becomes 120 degree of angles respectively with central rotational secondary k (R16) and central rotational secondary l (R37).
Central rotational secondary a (R14) is in order to connect second connecting rod and the tenth connecting rod of the first coupling bar group；
Central rotational secondary b (R15) is in order to connect the tenth connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary c (R24) is in order to connect the 5th connecting rod and the 11st connecting rod of the first coupling bar group；
Central rotational secondary d (R25) is in order to connect the 11st connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary e (R26) is in order to connect the 5th connecting rod and the 12nd connecting rod of the second coupling bar group；
Central rotational secondary f (R27) is in order to connect the 12nd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary g (R34) is in order to connect the 8th connecting rod and the 13rd connecting rod of the second coupling bar group；
Central rotational secondary h (R35) is in order to connect the 13rd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary i (R36) is in order to connect the 8th connecting rod and the tenth double leval jib of the 3rd coupling bar group；
Central rotational secondary j (R37) is in order to connect the tenth double leval jib and three moving sets of the 3rd coupling bar group；
Central rotational secondary k (R16) is in order to connect second connecting rod and the 15th connecting rod of the 3rd coupling bar group；
Central rotational secondary l (R17) is in order to connect the 15th connecting rod and three moving sets of the 3rd coupling bar group.
Compared with prior art, the invention have the advantages that
1, compared with the mechanism realizing same kinetic property, this in-house structure can be regarded as the bar identical by three
The coupling side chain of group composition, the advantage having both serial parallel mechanism, there is bearing capacity high, rigidity is big and work space is big waits spy
Point, it is adaptable to the actuator of heavy-duty machinery arm；
2, this mechanism has Three Degree Of Freedom moving movement character, stable movement, the feature such as is easily controlled, it is possible to flat in space
One space circle of steady picture, can preferably adapt to special occasions, have good application prospect.
Accompanying drawing explanation
Fig. 1 is the schematic diagram moving symmetrical coupled mechanism based on three Three Degree Of Freedoms moving symmetric parallel mechanism.
In figure: D1, frame N1, the first branch switching node N2, the second branch switching node N3, the coupling of the 3rd branch
Node M 1, moving platform R11, the first revolute pair R21 of frame, the second revolute pair R31 of frame, the 3rd revolute pair of frame
R12, there is revolute pair R22 of first branch's switching node rod member, have revolute pair R32 of second branch's switching node rod member, have
Revolute pair U11 of the 3rd branch's switching node rod member, first revolute pair U12 of the first Hooke's hinge, the of the first universal hinge
Two revolute pairs R22, there is first revolute pair of revolute pair U21 of second branch's switching node rod member, the second Hooke's hinge
U22, second revolute pair R23 of the second Hooke's hinge, the second revolute pair R32 of moving platform, there is the 3rd branch's switching node bar
Revolute pair U31 of part, first revolute pair U32 of the 3rd Hooke's hinge, second revolute pair R33 of the 3rd Hooke's hinge, dynamic flat
3rd revolute pair L1 of platform, first connecting rod L2, second connecting rod L3, third connecting rod L4, fourth link L5, the 5th connecting rod
L6, six-bar linkage L7, seven-link assembly L8, the 8th connecting rod L9, the 9th connecting rod L10, the tenth connecting rod L11, the 11st connecting rod
L12, the 12nd connecting rod L13, the 13rd connecting rod L14, the tenth double leval jib L15, the 15th connecting rod P1, the first moving sets P2,
Second moving sets P3, three moving sets R14, central rotational secondary a R15, central rotational secondary b R24, central rotational secondary c R25,
Central rotational secondary d R26, central rotational secondary e R27, central rotational secondary f R34, central rotational secondary g R35, central rotational secondary h
R36, central rotational secondary i R37, central rotational secondary j R16, central rotational secondary k R17, central rotational secondary l.
Detailed description of the invention
As it is shown in figure 1, the first branch includes first revolute pair (R11) of frame, has first branch's switching node rod member
Revolute pair (R12), Hooke's hinge U1, moving platform the first revolute pair (R13)；First revolute pair (R11) of frame with have the first branch
The revolute pair (R12) of switching node rod member is connected by first connecting rod (L1), has the revolute pair of first branch's switching node rod member
(R12) it is connected by second connecting rod (L2) with first revolute pair (U11) of Hooke's hinge U1, second revolute pair of Hooke's hinge U1
(U12) it is connected by third connecting rod (L3) with moving platform the first revolute pair (R13).First revolute pair (R11) of frame, first point
Prop up the revolute pair (R12) of switching node rod member, first revolute pair (U11) of Hooke's hinge U1 is parallel to each other.The second of Hooke's hinge U1
Revolute pair (U12) and moving platform the first revolute pair (R13) are parallel to each other.
Second branch includes second revolute pair (R21) of frame, has the revolute pair of second branch's switching node rod member
(R22), Hooke's hinge U2, moving platform the second revolute pair (R23)；Second revolute pair (R21) of frame couples joint with there being the second branch
The revolute pair (R22) of some rod member is connected by fourth link (L4), have the revolute pair (R22) of second branch's switching node rod member with
First revolute pair (U21) of Hooke's hinge (U2) by the 5th connecting rod (L5) connect, second revolute pair (U22) of Hooke's hinge (U2) with
Moving platform the second revolute pair (R23) is connected by six-bar linkage (L6).Second revolute pair (R21) of frame, there is second branch's coupling
Close the revolute pair (R22) of node rod member, first revolute pair (U21) of Hooke's hinge U2 is parallel to each other.Second rotation of Hooke's hinge U2
Secondary (U22) and moving platform the second revolute pair (R23) are parallel to each other.
3rd branch includes the 3rd revolute pair (R31) of frame, has the revolute pair of the 3rd branch's switching node rod member
(R32), Hooke's hinge U3, moving platform the 3rd revolute pair (R33)；3rd revolute pair (R31) of frame couples joint with there being the 3rd branch
The revolute pair (R32) of some rod member is connected by seven-link assembly (L7), has the revolute pair revolute pair of the 3rd branch's switching node rod member
(R32) it is connected by the 8th connecting rod (L8) with first revolute pair (U31) of Hooke's hinge (U3), the second revolute pair of Hooke's hinge (U3)
(U32) it is connected by the 9th connecting rod (L9) with moving platform the 3rd revolute pair (R33).Wherein frame the 3rd revolute pair (R31), have
The revolute pair (R32) of the 3rd branch's switching node rod member, first revolute pair (U31) of Hooke's hinge U3 are parallel to each other.Hooke's hinge U3
The second revolute pair (U32) and moving platform the first revolute pair (R33) be parallel to each other.
Selecting equilateral triangle component is moving platform (M1), and the first branch is connected by first revolute pair (R13) of moving platform
To moving platform (M1), the second branch is connected to moving platform (M1) by second revolute pair (R23) of moving platform, and the 3rd branch passes through
3rd revolute pair (R33) of moving platform is connected to moving platform (M1), and described three branches are parallel on moving platform (M1).It addition,
It is of coupled connections by the first coupling bar group (G1) between first branch's switching node (N1) and second branch's switching node (N2), the
It is of coupled connections by the second coupling bar group (G2) between two branch's switching nodes (N2) and the 3rd branch's switching node (N3), the 3rd
It is of coupled connections by the 3rd coupling bar group (G3) between branch's switching node (N3) and first branch's switching node (N1).First coupling
Close bar group and be expressed as kinematic chain (-R14-R15-P1-R24-R25-), central rotational secondary a (R14) and central rotational secondary b (R15) phase
The most parallel and be parallel to the revolute pair (R12) having first branch's switching node rod member, central rotational secondary c (R24) and central rotational
Secondary d (R25) is parallel to each other and is parallel to the revolute pair (R22) having second branch's switching node rod member, the first moving sets (P1) with
Central rotational secondary b (R15) and central rotational secondary d (R25) becomes 120 degree of angles respectively；Second coupling bar group represent kinematic chain (-
R26-R27-P2-R35-R34-), central rotational secondary e (R26) and central rotational secondary f (R27) is parallel to each other and is parallel to have second
The revolute pair (R22) of node rod member is closed by coupling branch, and central rotational secondary g (R34) and central rotational secondary h (R35) is parallel to each other and flat
Row is in the 3rd revolute pair (R31) of frame, the second moving sets (P2) and central rotational secondary f (R27) and central rotational secondary h (R35)
Become 120 degree of angles respectively；3rd coupling bar group is expressed as kinematic chain (-R36-R37-P3-R17-R16-), central rotational secondary i
(R36) it is parallel to each other with central rotational secondary j (R37) and is parallel to the revolute pair (R32) having the 3rd branch's switching node rod member, in
Between revolute pair k (R16) and central rotational secondary l (R17) be parallel to each other and be parallel to the rotation having first branch's switching node rod member
Secondary (R12), three moving sets (P3) becomes 120 degree of angles respectively with central rotational secondary k (R16) and central rotational secondary l (R37).
Central rotational secondary a (R14) is in order to connect second connecting rod and the tenth connecting rod of the first coupling bar group；
Central rotational secondary b (R15) is in order to connect the tenth connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary c (R24) is in order to connect the 5th connecting rod and the 11st connecting rod of the first coupling bar group；
Central rotational secondary d (R25) is in order to connect the 11st connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary e (R26) is in order to connect the 5th connecting rod and the 12nd connecting rod of the second coupling bar group；
Central rotational secondary f (R27) is in order to connect the 12nd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary g (R34) is in order to connect the 8th connecting rod and the 13rd connecting rod of the second coupling bar group；
Central rotational secondary h (R35) is in order to connect the 13rd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary i (R36) is in order to connect the 8th connecting rod and the tenth double leval jib of the 3rd coupling bar group；
Central rotational secondary j (R37) is in order to connect the tenth double leval jib and three moving sets of the 3rd coupling bar group；
Central rotational secondary k (R16) is in order to connect second connecting rod and the 15th connecting rod of the 3rd coupling bar group；
Central rotational secondary l (R17) is in order to connect the 15th connecting rod and three moving sets of the 3rd coupling bar group.
Claims (1)
1. a symmetrical Three Degree Of Freedom moves coupling mechanism, it is characterised in that: mechanism moves symmetric parallel based on Three Degree Of Freedom
Mechanism, uses and props up interchain at parallel institution and add the mode of coupling bar group and carry out the technical scheme of tectonic coupling mechanism；For the ease of
Connecting rod adds coupling side chain, based on containing the secondary more 3-RRUR parallel institution of R, is ensureing the degree of freedom of mechanism not
In the case of change, side chain in parallel is chosen suitable switching node position and adds suitable coupling bar group and form symmetry
Three Degree Of Freedom moves coupling mechanism；
This mechanism includes frame (D1), moving platform (M1) and connection frame and three branches of moving platform and three coupling bars
Group；Three branches include the first branch, the second branch, the 3rd branch；Three coupling bar groups include the first coupling bar group (G1),
Two coupling bar groups (G2), the 3rd coupling bar group (G3)；Each coupling bar group is connected with two of which branch, three branches and three
Coupling bar group interval connects the ring-type coupled structure of formation, and the point being connected with coupling bar group in each branch is referred to as switching node；
Three switching nodes are respectively first branch's switching node (N1), the second branch's switching node (N2) and the 3rd branch's switching node
(N3)；
First branch include frame the first revolute pair (R11), have the revolute pair (R12) of first branch's switching node rod member,
One Hooke's hinge (U1), moving platform the first revolute pair (R13)；First revolute pair (R11) of frame with have first branch's switching node
The revolute pair (R12) of rod member is connected by first connecting rod (L1), has the revolute pair (R12) of first branch's switching node rod member and the
First revolute pair (U11) of one Hooke's hinge is connected by second connecting rod (L2), and second revolute pair (U12) of the first Hooke's hinge is with dynamic
Platform the first revolute pair (R13) is connected by third connecting rod (L3)；First revolute pair (R11) of frame, first branch's coupling joint
The point revolute pair (R12) of rod member, first revolute pair (U11) of the first Hooke's hinge are parallel to each other；Second rotation of the first Hooke's hinge
Secondary (U12) and moving platform the first revolute pair (R13) are parallel to each other；
Second branch include frame the second revolute pair (R21), have the revolute pair (R22) of second branch's switching node rod member,
Two Hooke's hinges (U2), moving platform the second revolute pair (R23)；Second revolute pair (R21) of frame with have second branch's switching node
The revolute pair (R22) of rod member is connected by fourth link (L4), has the revolute pair (R22) of second branch's switching node rod member and the
First revolute pair (U21) of two Hooke's hinges is connected by the 5th connecting rod (L5), and second revolute pair (U22) of the second Hooke's hinge is with dynamic
Platform the second revolute pair (R23) is connected by six-bar linkage (L6)；Second revolute pair (R21) of frame, there is the coupling of the second branch
The revolute pair (R22) of node rod member, first revolute pair (U21) of the second Hooke's hinge are parallel to each other；Second turn of second Hooke's hinge
Dynamic secondary (U22) and moving platform the second revolute pair (R23) are parallel to each other；
3rd branch include frame the 3rd revolute pair (R31), have the revolute pair (R32) of the 3rd branch's switching node rod member,
Three Hooke's hinges (U3), moving platform the 3rd revolute pair (R33)；3rd revolute pair (R31) of frame with have the 3rd branch's switching node
The revolute pair (R32) of rod member is connected by seven-link assembly (L7), has the revolute pair (R32) of the 3rd branch's switching node rod member and the
First revolute pair (U31) of three Hooke's hinges is connected by the 8th connecting rod (L8), and second revolute pair (U32) of the 3rd Hooke's hinge is with dynamic
Platform the 3rd revolute pair (R33) is connected by the 9th connecting rod (L9)；3rd revolute pair (R31) of frame, there is the coupling of the 3rd branch
The revolute pair (R32) of node rod member, first revolute pair (U31) of the 3rd Hooke's hinge are parallel to each other；Second turn of 3rd Hooke's hinge
Dynamic secondary (U32) and moving platform the first revolute pair (R33) are parallel to each other；
Selecting equilateral triangle component is moving platform (M1), and the first branch is connected to move by first revolute pair (R13) of moving platform
Platform (M1), the second branch is connected to moving platform (M1) by second revolute pair (R23) of moving platform, and the 3rd branch is by dynamic flat
3rd revolute pair (R33) of platform is connected to moving platform (M1), and described three branches are parallel on moving platform (M1)；It addition, first
It is of coupled connections by the first coupling bar group (G1) between branch's switching node (N1) and second branch's switching node (N2), second point
Prop up and be of coupled connections by the second coupling bar group (G2) between switching node (N2) and the 3rd branch's switching node (N3), the 3rd branch
It is of coupled connections by the 3rd coupling bar group (G3) between switching node (N3) and first branch's switching node (N1)；First coupling bar
It is the most flat that group is expressed as kinematic chain (-R14-R15-P1-R24-R25-), central rotational secondary a (R14) and central rotational secondary b (R15)
Go and be parallel to the revolute pair (R12) having first branch's switching node rod member, central rotational secondary c (R24) and central rotational secondary d
(R25) being parallel to each other and be parallel to the revolute pair (R22) having second branch's switching node rod member, the first moving sets (P1) is with middle
Revolute pair b (R15) and central rotational secondary d (R25) become 120 degree of angles respectively；Second coupling bar group represents kinematic chain (-R26-
R27-P2-R35-R34-), central rotational secondary e (R26) and central rotational secondary f (R27) is parallel to each other and is parallel to have the second coupling to divide
Propping up the revolute pair (R22) closing node rod member, central rotational secondary g (R34) and central rotational secondary h (R35) is parallel to each other and is parallel to
3rd revolute pair (R31) of frame, the second moving sets (P2) is with central rotational secondary f (R27) and central rotational secondary h (R35) respectively
Become 120 degree of angles；3rd coupling bar group is expressed as kinematic chain (-R36-R37-P3-R17-R16-), central rotational secondary i (R36) and
Central rotational secondary j (R37) is parallel to each other and is parallel to the revolute pair (R32) having the 3rd branch's switching node rod member, central rotational
Secondary k (R16) and central rotational secondary l (R17) is parallel to each other and is parallel to the revolute pair having first branch's switching node rod member
(R12), three moving sets (P3) becomes 120 degree of angles respectively with central rotational secondary k (R16) and central rotational secondary l (R37)；
Central rotational secondary a (R14) is in order to connect second connecting rod and the tenth connecting rod of the first coupling bar group；
Central rotational secondary b (R15) is in order to connect the tenth connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary c (R24) is in order to connect the 5th connecting rod and the 11st connecting rod of the first coupling bar group；
Central rotational secondary d (R25) is in order to connect the 11st connecting rod and first moving sets of the first coupling bar group；
Central rotational secondary e (R26) is in order to connect the 5th connecting rod and the 12nd connecting rod of the second coupling bar group；
Central rotational secondary f (R27) is in order to connect the 12nd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary g (R34) is in order to connect the 8th connecting rod and the 13rd connecting rod of the second coupling bar group；
Central rotational secondary h (R35) is in order to connect the 13rd connecting rod and second moving sets of the second coupling bar group；
Central rotational secondary i (R36) is in order to connect the 8th connecting rod and the tenth double leval jib of the 3rd coupling bar group；
Central rotational secondary j (R37) is in order to connect the tenth double leval jib and three moving sets of the 3rd coupling bar group；
Central rotational secondary k (R16) is in order to connect second connecting rod and the 15th connecting rod of the 3rd coupling bar group；
Central rotational secondary l (R17) is in order to connect the 15th connecting rod and three moving sets of the 3rd coupling bar group.
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| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
| CN107054695A (en) * | 2017-04-27 | 2017-08-18 | 中国地质大学（武汉） | The symmetrical linkage unit of the coupling side chain containing 1R and the umbrella folding and unfolding mechanism based on this |
| CN107097977A (en) * | 2017-04-27 | 2017-08-29 | 中国地质大学（武汉） | Unit and umbrella shape space folding and unfolding mechanism based on this are opened up containing what 1R coupled side chain |
| CN107117333A (en) * | 2017-04-07 | 2017-09-01 | 中国地质大学（武汉） | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this |
| CN107140234A (en) * | 2017-04-27 | 2017-09-08 | 中国地质大学（武汉） | The linkage unit of the coupling side chain containing 2R and the high rigidity folding and unfolding mechanism based on this |
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| CN107117333A (en) * | 2017-04-07 | 2017-09-01 | 中国地质大学（武汉） | Two layers liang of ring connecting rod can open up unit and the high rigidity umbrella development agency based on this |
| CN106945013A (en) * | 2017-04-17 | 2017-07-14 | 燕山大学 | A kind of plane two-degree-of-freedom parallel mechanism of the side chain containing coupling |
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| CN107054695A (en) * | 2017-04-27 | 2017-08-18 | 中国地质大学（武汉） | The symmetrical linkage unit of the coupling side chain containing 1R and the umbrella folding and unfolding mechanism based on this |
| CN107097977A (en) * | 2017-04-27 | 2017-08-29 | 中国地质大学（武汉） | Unit and umbrella shape space folding and unfolding mechanism based on this are opened up containing what 1R coupled side chain |
| CN107140234A (en) * | 2017-04-27 | 2017-09-08 | 中国地质大学（武汉） | The linkage unit of the coupling side chain containing 2R and the high rigidity folding and unfolding mechanism based on this |
| CN107416229A (en) * | 2017-04-27 | 2017-12-01 | 中国地质大学（武汉） | The coupling side chain containing 2R opens up unit and the large-scale umbrella folding and unfolding mechanism based on this |
| CN108098739A (en) * | 2017-12-17 | 2018-06-01 | 北京工业大学 | A kind of symmetrical single-degree-of-freedom movement coupling mechanism |
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