CN109318222A - There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool - Google Patents
There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool Download PDFInfo
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- CN109318222A CN109318222A CN201811237082.6A CN201811237082A CN109318222A CN 109318222 A CN109318222 A CN 109318222A CN 201811237082 A CN201811237082 A CN 201811237082A CN 109318222 A CN109318222 A CN 109318222A
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- revolute pair
- pair
- axis
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- dimensional rotation
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Abstract
The invention discloses tools there are three types of the single loop mechanism of one-dimensional rotation freedom degree, including rack, is connected with revolute pair R in rack11With revolute pair R21；Revolute pair R11On be connected with revolute pair R12, revolute pair R12Prismatic pair P is connected with by first connecting rod13, prismatic pair P13Revolute pair R is connected with by second connecting rod14, revolute pair R14Prismatic pair P is connected with by third connecting rod24, prismatic pair P24Revolute pair R is connected with by fourth link23, revolute pair R23On be connected with revolute pair R22, revolute pair R22Pass through the 5th connecting rod and revolute pair R21Connection.Present invention tool is there are three types of the single loop mechanism of one-dimensional rotation freedom degree, and there are three types of one-dimensional rotation freedom degrees for tool, under specific one-dimensional rotation motor pattern, it is only necessary to which a driving is easy to implement the control to mechanism, reduces the consumption of energy.The mechanism of the invention has certain application prospect in fields such as movement simulation, parallel machines.
Description
Technical field
The invention belongs to robotic technology field, being related to a kind of tool, there are three types of the single loop mechanisms of one-dimensional rotation freedom degree.
Background technique
Many single loop mechanisms all have the characteristic of Motion Bifurcation, and there are three types of the parallel machines of moving movement mode for existing tool
Structure is able to achieve under initial bit shape, and the three-dimensional on three directions (x, y, z) is mobile, when moving platform is small along the progress of some direction
After displacement, the freedom degree of mechanism becomes one, can only realize the one-dimensional movement in this direction.Currently, the characteristic class with said mechanism
Seemingly, the mechanism of one-dimensional rotation freedom degree is actually rare there are three types of having.
Summary of the invention
The object of the present invention is to provide a kind of tools there are three types of the single loop mechanism of one-dimensional rotation freedom degree, and there are three types of one-dimensional turn for tool
Dynamic freedom degree.
The technical scheme adopted by the invention is that there are three types of the single loop mechanism of one-dimensional rotation freedom degree, including rack, machines for tool
Revolute pair R is connected on frame11With revolute pair R21；
Revolute pair R11On be connected with revolute pair R12, revolute pair R12Prismatic pair P is connected with by first connecting rod13, prismatic pair
P13Revolute pair R is connected with by second connecting rod14, revolute pair R14Prismatic pair P is connected with by third connecting rod24, prismatic pair P24It is logical
It crosses fourth link and is connected with revolute pair R23, revolute pair R23On be connected with revolute pair R22, revolute pair R22Pass through the 5th connecting rod and rotation
Secondary R21Connection.
The features of the present invention also characterized in that:
Rack is L-shaped connecting rod.
Revolute pair R11With revolute pair R12It is mutually perpendicular to, and revolute pair R11With revolute pair R12Form universal hinge.
Prismatic pair P13With revolute pair R12It is mutually perpendicular to, revolute pair R14Axis perpendicular to revolute pair R11With revolute pair R12。
Revolute pair R11Axis and revolute pair R23Axis collinear, revolute pair R12Axis and revolute pair R22Axis it is flat
Row, revolute pair R14Axis and revolute pair R21Axis collinear.
Revolute pair R23With revolute pair R22It is mutually perpendicular to, and revolute pair R23With revolute pair R22Form universal hinge.
With revolute pair R12Axis and revolute pair R22The tangent circle and prismatic pair P of axis13Axis and prismatic pair P24Axis
The intersection point of line is overlapped.
Revolute pair R21With revolute pair R23With revolute pair R22It is vertical.
The beneficial effects of the invention are as follows
Present invention tool is there are three types of the single loop mechanism of one-dimensional rotation freedom degree, and there are three types of one-dimensional rotation freedom degrees for tool, specific
Under one-dimensional rotation motor pattern, it is only necessary to which a driving is easy to implement the control to mechanism, reduces the consumption of energy.
Detailed description of the invention
When Fig. 1 is instant rotation freedom degree there are three the single loop mechanism of one-dimensional rotation freedom degree there are three types of the present invention has has
Structural schematic diagram；
Fig. 2 is that there are three types of third connecting rods in the single loop mechanism of one-dimensional rotation freedom degree to have along Y-axis rotation certainly for tool of the invention
By the structural schematic diagram spent；
Fig. 3 is that there are three types of third connecting rods in the single loop mechanism of one-dimensional rotation freedom degree to have along X-axis rotation certainly for tool of the invention
By the structural schematic diagram spent；
Fig. 4 is that there are three types of third connecting rods in the single loop mechanism of one-dimensional rotation freedom degree to have along Z axis rotation certainly for tool of the invention
By the structural schematic diagram spent；.
In figure, 1. racks, 2. revolute pair R11, 3. revolute pair R12, 4. first connecting rods, 5. prismatic pair P13, 6. second connecting rods,
7. revolute pair R14, 8. third connecting rods, 9. prismatic pair P24, 10. fourth links, 11. revolute pair R23, 12. revolute pair R22, 13. the 5th
Connecting rod, 14. revolute pair R21。
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool, as shown in Figure 1, including the rack 1 of L-shaped connecting rod shape, machine
One end of frame 1 is connected with revolute pair R112, the other end of rack 1 is connected with revolute pair R2114；
Revolute pair R11Revolute pair R is vertically connected on 2123, revolute pair R112 and revolute pair R123 form universal hinge, turn
Dynamic secondary R123 are connected with prismatic pair P by first connecting rod 4135, prismatic pair P135 and revolute pair R123 are mutually perpendicular to；Prismatic pair
P135 are connected with revolute pair R by second connecting rod 6147, revolute pair R147 shaft and revolute pair R2114 shaft is conllinear, turns
Dynamic secondary R147 axis is perpendicular to revolute pair R112 and revolute pair R123；Revolute pair R147 are connected with movement by third connecting rod 8
Secondary P249, prismatic pair P249 are connected with revolute pair R by fourth link 102311, revolute pair R2311 shaft and revolute pair
R112 shaft is conllinear；Revolute pair R23Revolute pair R is vertically connected on 112212, revolute pair R2311 and revolute pair R2212 shapes
At universal hinge, revolute pair R2212 axis and revolute pair R123 axis is parallel；With revolute pair R123 axis and revolute pair
R22The tangent circle of 12 axis and prismatic pair P135 axis and prismatic pair P24The intersection point of 9 axis is overlapped；Revolute pair R2311 with
Revolute pair R2212 with revolute pair R2114 are mutually perpendicular to；Revolute pair R2212 pass through the 5th connecting rod 13 and revolute pair R2114 phases
Connection, obtaining tool, there are three types of the single loop mechanisms of one-dimensional rotation freedom degree.
Circle of dotted line as shown in figure 1 be and revolute pair R123 axis and revolute pair R22The tangent circle of 12 axis, with
The center of circle of the circle of dotted line is that origin establishes 3 D stereo coordinate system, revolute pair R112 and revolute pair R2311 along the y axis, turns
Dynamic secondary R123 and revolute pair R2212 along the x axis, revolute pair R147 and revolute pair R2114 along Z-direction, prismatic pair
P135 axis and prismatic pair P24The intersection point and circle of dotted line of 9 axis are overlapped with the intersection point of Z axis；There are three types of one-dimensional for tool shown in Fig. 1
In the mechanism of rotational freedom, the tool of third connecting rod 8 can be in rotation with coordinate origin there are three instantaneous freedom degree, third connecting rod 8
The heart does the instant rotation using X, Y, Z axis as shaft.
There are three types of the mechanisms of one-dimensional rotation freedom degree for tool of the invention when in use, by revolute pair R112 and revolute pair R21
14 are used as rotate driving pair, by prismatic pair P135 is secondary as mobile driving, regard third connecting rod 8 as output mechanism, shown in Fig. 1
Initial seat in the plane under, control revolute pair R112, revolute pair R2114 and prismatic pair P135, so that revolute pair R112 rotations, locking
Revolute pair R2114, prismatic pair P135.Third connecting rod 8 obtains seat in the plane as shown in Figure 2, at this time third connecting rod after Y-axis rotation
8 one-dimensional rotation freedom degrees having along Y-axis, at this point, control revolute pair R112 movements, can be realized third connecting rod 8 in Y-axis side
To one-dimensional rotation move.
By revolute pair R112 and revolute pair R2114 are used as rotate driving pair, by prismatic pair P135 is secondary as mobile driving,
It regard third connecting rod 8 as output mechanism, under initial seat in the plane shown in Fig. 1, controls revolute pair R112, revolute pair R2114 and move
Dynamic secondary P135, so that prismatic pair P135 is mobile, locks revolute pair R112 and revolute pair R2114, third connecting rod 8 is rotated along X-axis
Afterwards, mechanism position as shown in Figure 3 shape is obtained, under this shape, revolute pair R2311 without center of rotation O, prismatic pair P135 with move
Dynamic secondary P249 intersection point is on the circle of dotted line in Fig. 3, at this time the third connecting rod 8 one-dimensional rotation freedom degrees having along X-axis, this
When, control prismatic pair P135, the one-dimensional rotation that third connecting rod 8 can be realized along X-axis moves.
By revolute pair R112 and revolute pair R2114 are used as rotate driving pair, by prismatic pair P135 is secondary as mobile driving,
It regard third connecting rod 8 as output mechanism, under initial seat in the plane shown in Fig. 1, controls revolute pair R112, revolute pair R2114 and move
Dynamic secondary P135, so that revolute pair R2114 rotations, lock revolute pair R112 and prismatic pair P135, revolute pair R at this time2311 pass through
Center of rotation O, revolute pair R2212 not with revolute pair R112 be overlapped, at this time third connecting rod 8 have along Z axis one-dimensional rotation from
By spending, revolute pair R is controlled2114, the one-dimensional rotation that third connecting rod 8 can be realized along Z axis moves.
There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for present invention tool, have instantaneous three-dimensional sphere rotational freedom, control
It makes after three driving pairs make the mechanism leave initial bit shape, the one-dimensional rotation motor pattern different in three kinds passes through control
The control to corresponding sports mode may be implemented in different single driving pairs；
Present invention tool is there are three types of the single loop mechanism of one-dimensional rotation freedom degree, and there are three types of one-dimensional rotation freedom degrees for tool, specific
Under one-dimensional rotation motor pattern, it is only necessary to which a driving is easy to implement the control to mechanism, reduces the consumption of energy.The hair
Bright mechanism has certain application prospect in fields such as movement simulation, parallel machines.
Claims (6)
1. there are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool, which is characterized in that solid on the rack (1) including rack (1)
It is connected to revolute pair R11(2) and revolute pair R21(14)；
The revolute pair R11(2) revolute pair R is connected on12(3), the revolute pair R11(2) and revolute pair R12(3) it is mutually perpendicular to,
And the revolute pair R11(2) and revolute pair R12(3) universal hinge is formed；Revolute pair R12(3) shifting is connected with by first connecting rod (4)
Dynamic secondary P13(5), the prismatic pair P13(5) revolute pair R is connected with by second connecting rod (6)14(7), the revolute pair R14(7) lead to
It crosses third connecting rod (8) and is connected with prismatic pair P24(9), the prismatic pair P24(9) revolute pair R is connected with by fourth link (10)23
(11), the revolute pair R23(11) revolute pair R is connected on22(12), the revolute pair R23(11) with revolute pair R22(12) mutually
Vertically, and the revolute pair R23(11) with revolute pair R22(12) universal hinge, the revolute pair R are formed22(12) pass through the 5th connecting rod
(13) with revolute pair R21(14) it connects.
2. there are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool according to claim 1, which is characterized in that the rack
It (1) is L-shaped connecting rod.
3. according to tool described in claim 1, there are three types of the single loop mechanisms of one-dimensional rotation freedom degree, which is characterized in that the prismatic pair
P13(5) with revolute pair R12(3) it is mutually perpendicular to, the revolute pair R14(7) axis is perpendicular to revolute pair R11(2) and revolute pair R12
(3)。
4. there are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool according to claim 1, which is characterized in that the rotation
Secondary R11(2) axis and revolute pair R23(11) axis collinear, the revolute pair R12(3) axis and revolute pair R22(12)
Axis is parallel, the revolute pair R14(7) axis and revolute pair R21(14) axis collinear.
5. there are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool according to claim 1, which is characterized in that with described turn
Dynamic secondary R12(3) axis and revolute pair R22(12) the tangent circle of axis and prismatic pair P13(5) axis and prismatic pair P24(9)
The intersection point of axis is overlapped.
6. there are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool according to claim 1, which is characterized in that the rotation
Secondary R21(14) with revolute pair R23(11) with revolute pair R22(12) vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811237082.6A CN109318222B (en) | 2018-10-23 | 2018-10-23 | Single-ring mechanism with three one-dimensional rotational degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811237082.6A CN109318222B (en) | 2018-10-23 | 2018-10-23 | Single-ring mechanism with three one-dimensional rotational degrees of freedom |
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| Publication Number | Publication Date |
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| CN109318222A true CN109318222A (en) | 2019-02-12 |
| CN109318222B CN109318222B (en) | 2021-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811237082.6A Active CN109318222B (en) | 2018-10-23 | 2018-10-23 | Single-ring mechanism with three one-dimensional rotational degrees of freedom |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780670A (en) * | 2009-01-19 | 2010-07-21 | 上海工程技术大学 | Two-rotation one-movement-freedom-degree decoupling parallel mechanism |
| EP3023205A2 (en) * | 2014-11-18 | 2016-05-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a movement limit |
| CN107097211A (en) * | 2017-04-19 | 2017-08-29 | 中国地质大学（武汉） | The two layers liang of symmetrical linkage unit of ring and the big folding ratio umbrella development agency based on this |
| CN107398891A (en) * | 2017-08-16 | 2017-11-28 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
-
2018
- 2018-10-23 CN CN201811237082.6A patent/CN109318222B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780670A (en) * | 2009-01-19 | 2010-07-21 | 上海工程技术大学 | Two-rotation one-movement-freedom-degree decoupling parallel mechanism |
| EP3023205A2 (en) * | 2014-11-18 | 2016-05-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a movement limit |
| CN107097211A (en) * | 2017-04-19 | 2017-08-29 | 中国地质大学（武汉） | The two layers liang of symmetrical linkage unit of ring and the big folding ratio umbrella development agency based on this |
| CN107398891A (en) * | 2017-08-16 | 2017-11-28 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
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| CN109318222B (en) | 2021-09-07 |
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Effective date of registration: 20211230 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |
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