CN107756378A - A kind of planar three freedom rigid motion follower - Google Patents
A kind of planar three freedom rigid motion follower Download PDFInfo
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- CN107756378A CN107756378A CN201711155455.0A CN201711155455A CN107756378A CN 107756378 A CN107756378 A CN 107756378A CN 201711155455 A CN201711155455 A CN 201711155455A CN 107756378 A CN107756378 A CN 107756378A
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- connecting rod
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- freedom
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000010276 construction Methods 0.000 abstract description 3
- 230000035807 sensation Effects 0.000 abstract description 2
- 238000013507 mapping Methods 0.000 description 3
- 230000005526 G1 to G0 transition Effects 0.000 description 1
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- SBYHFKPVCBCYGV-UHFFFAOYSA-N quinuclidine Chemical compound C1CC2CCN1CC2 SBYHFKPVCBCYGV-UHFFFAOYSA-N 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The invention discloses a kind of planar three freedom rigid motion follower, the mechanism includes a pedestal and ten connecting rods, wherein six roots of sensation connecting rod constitutes the rotary-type graph imitation device mechanism of a two degrees of freedom with pedestal, and is connected between each connecting rod and between pedestal and connecting rod using conventional revolute pair.Rigid motion follower is overall symmetrical on the coercive mechanism O on pedestal, and the position of connecting rod 10 and posture and the position of connecting rod 12 and posture are also symmetrical on coercive mechanism O all the time.Simple in construction and symmetry of the invention is good, can be used for constructing the multiple degrees of freedom remote centre of motion mechanism in the leg mechanism or medical robot of multi-foot robot.
Description
Technical field
The present invention relates to a kind of planar three freedom rigid motion follower, belong to mechanism design field.
Background technology
If the motion of some component in mechanism can track the rigid motion of another component in the mechanism, in other words,
The position of two components in mechanism and posture be always to maintain a fixed simple mapping relations (such as translation, rotation, reflection
Deng), then the mechanism can be referred to as rigid motion follower.Rigid motion follower can apply to multi-foot robot
Leg mechanism, realize that the gait between polypody is synchronous or differs a stationary phase, it can also be used to construct in medical robot
Multiple degrees of freedom remote centre of motion mechanism.
Plane Rigid Body movement tracking mechanisms can be constructed by the combination of Liang Ge graph imitation devices mechanism.Graph imitation device mechanism is one
Kind can carry out the drawing linkage of simple transformation (such as translation, rotation, scaling etc.) to figure.Many scholars are to imitative figure
The construction of instrument mechanism and application are studied, and have applied for Patents, such as CN 2013102733591 and CN
2006101651217.Common graph imitation device mechanism is the bar graph imitation device mechanisms of Sylvester five, as shown in figure 1, its satisfaction is as follows
Relation：The quadrangle ABDE that connecting rod AB, connecting rod BD, connecting rod DE and connecting rod EA are formed is parallelogram, and △ BCD similar in appearance to
△EDF.Point C is input point, and point E is output point, and the track that C points are drawn has following relation with the track that E points are drawn：The former around
A points anglec of rotation ∠ EAB simultaneously obtain the latter after amplifying k=BD/BC times.
Graph imitation device mechanism and the difference of rigid motion follower are：Graph imitation device mechanism is used for the motion to certain point
Tracking, i.e., the position of two points in mechanism is always to maintain a fixed simple mapping relations；Rigid motion follower is then
For the tracking of the motion to a certain rigid body, i.e., the position of two rigid bodies in mechanism and posture are always to maintain a fixed letter
Single mapping relations.Due to this feature, rigid motion follower can be used for the leg mechanism of multi-foot robot and long-range fortune
Dynamic central authority.The present invention constructs a kind of planar three freedom rigid motion follower based on rotary-type graph imitation device mechanism.
The content of the invention
The present invention proposes a kind of planar three freedom rigid motion follower based on graph imitation device mechanism, and its is simple in construction
It is compact, there is rotational symmetry, arbitrary rigid motion in plane can be tracked.
A kind of planar three freedom rigid motion follower based on graph imitation device mechanism, it include a pedestal (1) and
Ten connecting rods, mutual connection use conventional revolute pair, as shown in Figures 2 and 3.Ten connecting rods are respectively to connect
Bar 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 8, connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod 12.Wherein, connecting rod
2nd, connecting rod 3, connecting rod 4, connecting rod 5 constitute a parallelogram, and connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 2 also constitute one and put down
Row quadrangle, and the two parallelogram are congruent all the time.Connecting rod 2 is connected with connecting rod 5 at respective midpoint by revolute pair, and
And it is connected in the point with pedestal by revolute pair；Also point is connected connecting rod 8 by revolute pair with pedestal wherein；Connecting rod 9 and connecting rod
11 equal length, and hinge position is also identical；The equal length of connecting rod 10 and connecting rod 12, and hinge position is also right
Should be identical.
In described rigid motion follower, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7 and pedestal one
Rise and form the rotary-type graph imitation device mechanism of a two degrees of freedom, as shown in Figure 4.The movement characteristic of the graph imitation device mechanism is：Input point B
Pass through fixing point O all the time with output point E line, and point B and point E to point O distance are equal all the time, i.e. input point B and defeated
It is symmetrical on fixing point O all the time to go out point E.
In described rigid motion follower, the position of connecting rod 10 and posture are closed all the time with the position of connecting rod 12 and posture
Symmetrical in fixing point O, i.e., connecting rod 12 tracks the motion of connecting rod 10 all the time.Connecting rod 10 or connecting rod 12 in mechanism of the present invention can be done
Arbitrary plane motion.
If increasing a revolute pair in the distal point I of connecting rod 10 to connect pedestal, connecting rod 10 will rotate around I,
And connecting rod 12 also correspondingly rotates around fixing point L, carrier phase shift 180 degree, now the mechanism is a remote centre of motion machine
Structure；If connecting rod 10 does translational motion, connecting rod 12 also does translational motion in opposite direction.I.e.：The motion of connecting rod 10 and connecting rod 12
All the time it is symmetrical on fixing point O.
Because this rigid motion follower has the symmetry on fixed coercive mechanism O, it is possible to achieve mechanism it is quiet
Dynamic balance.
Brief description of the drawings
Fig. 1 is the schematic diagram of Sylvester graph imitation devices mechanism.
Fig. 2 is Three Degree Of Freedom rigid motion follower of the present invention.
Fig. 3 is another state of Three Degree Of Freedom rigid motion follower of the present invention.
Fig. 4 is the two degrees of freedom graph imitation device mechanism included in Three Degree Of Freedom rigid motion follower of the present invention.
1- pedestals, 2- connecting rods 2,3- connecting rods 3,4- connecting rods 4,5- connecting rods 5,6- connecting rods 6,7- connecting rods 7,8- connecting rods 8,9- connecting rods
9,10- connecting rods 10,11- connecting rods 11,12- connecting rods 12.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 2 and 3, the present invention is a kind of planar three freedom rigid motion follower, including a pedestal
With ten connecting rods, ten connecting rods be respectively connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 8, connecting rod 9,
Connecting rod 10, connecting rod 11 and connecting rod 12.In this rigid motion follower, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6,
Connecting rod 7 forms the rotary-type graph imitation device mechanism of a two degrees of freedom together with pedestal, as shown in Figure 4.Its input point is B, output point
For E.Connecting rod 2 is connected with connecting rod 5 at respective midpoint by revolute pair, and is connected (i.e. O by revolute pair in the point and pedestal
Point), also it is connected using conventional revolute pair between other connecting rods.Each rod member meets following relation in graph imitation device mechanism：AB∥CD
∥ FE, BC ∥ AF ∥ DE.Therefore this six roots of sensation connecting rod constitutes parallelogram ABCO and parallelogram ODEF.The graph imitation device machine
The movement characteristic of structure is：Input point B and output point E line pass through fixing point O, and point B and point E to point O distance all the time
All the time equal, i.e. input point B and output point E are symmetrical on fixing point O all the time.Therefore, the figure that input point B is drawn is around point O
The figure of point E draftings is just obtained after rotation 180 degree.
The present invention increase on the basis of above-mentioned graph imitation device mechanism connecting rod 8, connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod 12 and
Some revolute pairs.Point is connected connecting rod 8 by revolute pair with pedestal wherein.Connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod 12 are also full
The following relation of foot：GH=JK, HB=KE, BI=EL.Therefore, the distal point L of the distal point I of connecting rod 10 and connecting rod 12 all the time on
Fixing point O is symmetrical, and the position of connecting rod 10 and posture and the position of connecting rod 12 and posture are also symmetrical on fixing point O all the time, that is, connect
Bar 12 tracks the motion of connecting rod 10 all the time.Connecting rod 10 or connecting rod 12 in mechanism of the present invention can do arbitrary plane motion.
Claims (3)
- A kind of 1. planar three freedom rigid motion follower, it is characterised in that：The mechanism includes a pedestal (1) and 11 Root connecting rod, ten connecting rods are respectively connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 8, connecting rod 9, connecting rod 10th, connecting rod 11 and connecting rod 12；Wherein connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5 form a parallelogram, connecting rod 5, connecting rod 6, Connecting rod 7, connecting rod 2 form a parallelogram, and the two parallelogram congruence；Connecting rod 2 and connecting rod 5 are at respective midpoint Connected by revolute pair, and be connected in the point with pedestal by revolute pair；Also point passes through revolute pair and pedestal to connecting rod 8 wherein It is connected；The equal length of connecting rod 9 and connecting rod 11, and hinge position is also identical；The equal length of connecting rod 10 and connecting rod 12, and Hinge position also corresponds to identical.
- 2. planar three freedom rigid motion follower according to claim 1, it is characterised in that connecting rod 10 in mechanism Distal point I and connecting rod 12 distal point L it is symmetrical on fixed coercive mechanism O all the time, the position of connecting rod 10 and posture and connecting rod 12 Position and posture it is also symmetrical on fixed coercive mechanism O all the time.
- 3. planar three freedom rigid motion follower according to claim 1, it is characterised in that the connecting rod in mechanism 10 or connecting rod 12 can do arbitrary plane motion；When connecting rod 10 makees arbitrary Plane Rigid Body motion under external drive, even Bar 12 can correspondingly make similar Plane Rigid Body motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711155455.0A CN107756378A (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711155455.0A CN107756378A (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
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| CN107756378A true CN107756378A (en) | 2018-03-06 |
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| CN201711155455.0A Pending CN107756378A (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653795A (en) * | 2019-09-11 | 2020-01-07 | 汕头大学 | Double-arm robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110653795A (en) * | 2019-09-11 | 2020-01-07 | 汕头大学 | Double-arm robot |
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