CN109807868A - A kind of change born of the same parents' parallel institution - Google Patents
A kind of change born of the same parents' parallel institution Download PDFInfo
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- CN109807868A CN109807868A CN201910207944.9A CN201910207944A CN109807868A CN 109807868 A CN109807868 A CN 109807868A CN 201910207944 A CN201910207944 A CN 201910207944A CN 109807868 A CN109807868 A CN 109807868A
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Abstract
The invention discloses a kind of change born of the same parents' parallel institutions, including fixed platform and motion platform, fixed platform is connected with motion platform by first branch and three the second branches, and the first branch is central branch, and three the second branches are axial symmetry arrangement about the first branch；First branch includes that the spherical five-bar mechanisms being sequentially connected, the first space parallelogram mechanism and second space parallelogram mechanism, spherical five-bar mechanisms are connect with fixed platform, and second space parallelogram mechanism is connect with motion platform；Second branch includes the 6th revolute pair, first connecting rod, the 13rd Hooke's hinge, second connecting rod and the ball pair being sequentially connected, and the 6th revolute pair is connect with fixed platform, and ball pair is connect with motion platform.The present invention can be realized this change born of the same parents' parallel institution with 3T2R movement, 3T1R by locked or the first revolute pair of driving and the second revolute pairXMovement, 3T1RYThe switching of movement and 3T movement has the ability for changing and converting its topological structure and freedom degree according to operation task.
Description
Technical field
The present invention relates to theory of mechanisms and robotics field more particularly to a kind of change born of the same parents' parallel institutions.
Background technique
Parallel institution is because of the fisher's formula structure with truss leverage instead of the mechanized equipments such as traditional robot and lathe, thus
It has many advantages, such as that rigidity height, large carrying capacity, dynamic property are good, makes it in industrial robot, walking robot, conveying mechanical
The fields such as kinetic-simulator, mechanical servo press, parallel kinematics machine tool, 3D printing be widely applied.
In fields such as Control During Paint Spraying by Robot, agitating friction weldering, 3D printing, machining manufactures, in the operation of heterogeneity surface
When, freedom degree required for end effector of robot is different.Such as work surface be plane when, end effector have 3T
(when indicating movement, tee represents movement) locomitivity；When work surface is ruled surface, end effector need to have 3T1R
(when indicating movement, letter r represents rotation) locomitivity；When work surface is free form surface, end effector need to have 3T2R fortune
Kinetic force.The generally fixed freedom degree equipment of traditional parallel architecture equipment, does not have and changes according to operation task and convert it
The ability of topological structure and freedom degree.
Summary of the invention
The object of the present invention is to provide a kind of change born of the same parents' parallel institutions, solve traditional parallel architecture equipment and generally fix certainly
The problem of being equipped by degree, not adapting to the operation of heterogeneity surface.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of change born of the same parents' parallel institution of the present invention, including fixed platform and motion platform, the fixed platform and motion platform
It is connected by first branch and three the second branches, first branch is central branch, and three second branches close
It is that axial symmetry is arranged in the first branch；
First branch includes that the spherical five-bar mechanisms being sequentially connected, the first space parallelogram mechanism and second are empty
Between parallelogram mechanism, the spherical five-bar mechanisms connect with the fixed platform, the second space parallelogram machine
Structure is connect with the motion platform；
Second branch include the 6th revolute pair being sequentially connected, first connecting rod, the 13rd Hooke's hinge, second connecting rod and
Ball pair, the 6th revolute pair are connect with the fixed platform, and the ball pair is connect with the motion platform.
Further, the spherical five-bar mechanisms include the first straight-bar and second being vertically fixed in the fixed platform
Straight-bar；The end of first straight-bar is connected with one end of the first curved bar, the end of second straight-bar by the first revolute pair
One end of the second curved bar is connected with by the second revolute pair；The other end of first curved bar is connected with by third revolute pair
One end of three curved bars, the other end of second curved bar are connected with one end of the 4th curved bar by the 4th revolute pair, and the described 4th
The other end of curved bar is connect with the other end of the third curved bar by the 5th revolute pair；
First curved bar, the second curved bar, third curved bar and the 4th curved bar bent angle angle be °；First space is flat
The lower end of row quadrangular mechanism is fixed on the 4th curved bar；
When plane is parallel with the fixed platform place plane where the 4th curved bar, first revolute pair, the
The axis of two revolute pairs, the 4th revolute pair and the 5th revolute pair is located in same level, and wherein two neighboring revolute pair
Axis is mutually perpendicular to, and the axis of the third revolute pair is perpendicular to the plane where the fixed platform.
Further, first space parallelogram mechanism include the first halfpace, it is third straight-bar, the 4th straight
Bar and the 5th straight-bar；The lower end of the third straight-bar, the 4th straight-bar and the 5th straight-bar passes through the first Hooke's hinge, the second Hooke respectively
Hinge and third Hooke's hinge are connect with the upper surface of first halfpace；The third straight-bar, the 4th straight-bar and the 5th straight-bar
Upper end pass through the 4th Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge and the second space parallelogram mechanism respectively and connect
It connects；The third straight-bar, the 4th straight-bar and the 5th straight-bar are parallel to each other；First Hooke's hinge, the second Hooke's hinge and third tiger
Gram hinge with three tie points of the first halfpace in a circular trace, the 4th Hooke's hinge, the 5th Hooke's hinge and the
Three tie points of six Hooke's hinges and second space parallelogram mechanism are also in a circular trace, and two circular traces
Diameter is identical；
First halfpace is fixed on the 4th curved bar, plane and the 4th curved bar institute where the first halfpace
It is parallel in plane；Three tie point institutes of first Hooke's hinge, the second Hooke's hinge and third Hooke's hinge and the first halfpace
The central axis for forming circular trace passes through the inflection point of the 4th curved bar.
Further, the second space parallelogram mechanism include the second halfpace, it is the 6th straight-bar, the 7th straight
Bar and the 8th straight-bar；The lower end of 6th straight-bar, the 7th straight-bar and the 8th straight-bar passes through the 7th Hooke's hinge, the 8th Hooke respectively
Hinge and the 9th Hooke's hinge are connect with the upper surface of second halfpace；6th straight-bar, the 7th straight-bar and the 8th straight-bar
Upper end pass through the lower end surface of the tenth Hooke's hinge, the 11st Hooke's hinge and the 12nd Hooke's hinge and the motion platform respectively and connect
It connects；6th straight-bar, the 7th straight-bar and the 8th straight-bar are parallel to each other；7th Hooke's hinge, the 8th Hooke's hinge and the 9th tiger
Gram hinge with three tie points of the second halfpace in a circular trace, the tenth Hooke's hinge, the 11st Hooke's hinge and
Three tie points of the 12nd Hooke's hinge and motion platform are also in a circular trace, and two circular trace diameters are identical；
The upper end of 4th Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge and the lower end surface of second halfpace
It is fixedly connected, and where three tie points of the 4th Hooke's hinge, the 5th Hooke's hinge and the 6th Hooke's hinge and the second halfpace
It is round where three tie points of circular trace and the 7th Hooke's hinge, the 8th Hooke's hinge and the 9th Hooke's hinge and the second halfpace
The circular trace of track is overlapped.
Further, the axis of the 6th revolute pair is tangential on the circular trace by three the 6th revolute pairs.
Compared with prior art, advantageous effects of the invention are as follows:
By locked or the first revolute pair of driving and the second revolute pair, can be realized this change born of the same parents' parallel institution has the present invention
3T2R movement, 3T1RXMovement, 3T1RYThe switching of movement and 3T movement, adapts to the operation of heterogeneity surface, has and is appointed according to operation
Business changes and converts the ability of its topological structure and freedom degree.
Detailed description of the invention
The invention will be further described for explanation with reference to the accompanying drawing.
Fig. 1 is the structure chart of spherical five-bar mechanisms of the invention；
Fig. 2 is the structure chart of second space parallelogram mechanism of the invention；
Fig. 3 is the structure chart of the first branch of the invention；
Fig. 4 is drives the first revolute pair and the second revolute pair institute of spherical five-bar mechanisms simultaneously in the first branch of the invention
The schematic diagram of the sub- structure state A switched to；
Fig. 5 is the first revolute pair that spherical five-bar mechanisms are driven in the first branch of the invention, and locked second revolute pair
The schematic diagram of the sub- structure state B switched to；
Fig. 6 is the first revolute pair that spherical five-bar mechanisms are locked in the first branch of the invention, and drives the second revolute pair
The schematic diagram of the sub- structure state C switched to；
Fig. 7 is the structure chart that the present invention becomes born of the same parents' parallel institution；
Description of symbols: 1, fixed platform；2, motion platform；3, the first branch；301, spherical five-bar mechanisms；30101,
First straight-bar；30102, the second straight-bar；30103, the first revolute pair；30104, the first curved bar；30105, the second revolute pair；
30106, the second curved bar；30107, third revolute pair；30108, third curved bar；30109, the 4th revolute pair；30110, the 4th is curved
Bar；30111, the 5th revolute pair；302, the first space parallelogram mechanism；30201, the first halfpace；30202, third
Straight-bar；30203, the 4th straight-bar；30204, the 5th straight-bar；30205, the first Hooke's hinge；30206, the second Hooke's hinge；30207,
Three Hooke's hinges；30208, the 4th Hooke's hinge；30209, the 5th Hooke's hinge；30210, the 6th Hooke's hinge；303, second space is parallel
Quadrangular mechanism；30301, the second halfpace；30302, the 6th straight-bar；30303, the 7th straight-bar；30304, the 8th straight-bar；
30305, the 7th Hooke's hinge；30306, the 8th Hooke's hinge；30307, the 9th Hooke's hinge；30308, the tenth Hooke's hinge；30309,
11 Hooke's hinges；30310, the 12nd Hooke's hinge；4, the second branch；401, the 6th revolute pair；402, first connecting rod；403, the tenth
Three Hooke's hinges；404, second connecting rod；405, ball pair.
Specific embodiment
As shown in fig. 7, a kind of specific embodiment for becoming born of the same parents' parallel institution, including fixed platform 1 and motion platform 2, it is described
Fixed platform 1 is connected by first branch 3 with three the second branches 4 with motion platform 2, and first branch 3 is center
Branch, three second branches 4 are axial symmetry arrangement about the first branch 3.First branch 3 includes the ball being sequentially connected
Face five-rod 301, the first space parallelogram mechanism 302 and second space parallelogram mechanism 303, the spherical surface five
Linkage 301 is connect with the fixed platform 1, and the second space parallelogram mechanism 303 connects with the motion platform 2
It connects.Second branch 4 includes the 6th revolute pair 401 being sequentially connected, first connecting rod 402, the 13rd Hooke's hinge 403, second
Connecting rod 404 and ball pair 405, the 6th revolute pair 401 are connect with the fixed platform 1, and the ball pair 405 and the movement are flat
Platform 2 connects.
As shown in Figure 1, 2, 3, more specifically, the spherical five-bar mechanisms 301 in the first branch include being vertically fixed on institute
State the first straight-bar 30101 and the second straight-bar 30102 in fixed platform 1.The end of first straight-bar 30101 passes through first turn
Dynamic pair 30103 is connected with one end of the first curved bar 30104, and the end of second straight-bar 30102 passes through the second revolute pair 30105
It is connected with one end of the second curved bar 30106.The other end of first curved bar 30104 is connected with by third revolute pair 30107
One end of third curved bar 30108, it is curved that the other end of second curved bar 30106 by the 4th revolute pair 30109 is connected with the 4th
One end of bar 30110, the other end of the 4th curved bar 30110 and the other end of the third curved bar 30108 pass through the 5th turn
Dynamic pair 30111 connects.First revolute pair and the second revolute pair are that input is secondary.Wherein, first curved bar 30104, the second curved bar
30106, the bent angle angle of third curved bar 30108 and the 4th curved bar 30110 is 90 °.When the 30110 place plane of the 4th curved bar
When parallel with the 1 place plane of fixed platform, first revolute pair 30103, the second revolute pair 30105, the 4th revolute pair
30109 and the 5th the axis of revolute pair 30111 be located in same level, and wherein the axis of two neighboring revolute pair mutually hangs down
Directly, the axis of the third revolute pair 30107 is perpendicular to the plane where the fixed platform 1.
First space parallelogram mechanism 302 includes the first halfpace 30201, third straight-bar the 30202, the 4th
Straight-bar 30203 and the 5th straight-bar 30204.The lower end of the third straight-bar 30202, the 4th straight-bar 30203 and the 5th straight-bar 30204
Pass through the first Hooke's hinge 30205, the second Hooke's hinge 30206 and third Hooke's hinge 30207 and first halfpace respectively
30201 upper surface connection.The upper end of the third straight-bar 30202, the 4th straight-bar 30203 and the 5th straight-bar 30204 leads to respectively
Cross the 4th Hooke's hinge 30208, the 5th Hooke's hinge 30209 and the 6th Hooke's hinge 30210 and the second space parallelogram machine
Structure 303 connects.The third straight-bar 30202, the 4th straight-bar 30203 and the 5th straight-bar 30204 are parallel to each other.First Hooke
Three tie points of the 30205, second Hooke's hinge 30206 and third Hooke's hinge 30207 and the first halfpace 30201 are cut with scissors at one
In circular trace, the 4th Hooke's hinge 30208, the 5th Hooke's hinge 30209 and the 6th Hooke's hinge 30210 are parallel with second space
Three tie points of quadrangular mechanism 303 are also in a circular trace, and two circular trace diameters are identical.In described first
Between the lower end surface of platform 30201 be fixed on the 4th curved bar 30110,30201 place plane of the first halfpace and the 4th
30110 place plane of curved bar is parallel；First Hooke's hinge 30205, the second Hooke's hinge 30206 and third Hooke's hinge 30207 with
The central axis of three the formed circular trace of tie point of the first halfpace 30201 passes through the inflection point of the 4th curved bar 30110.
The second space parallelogram mechanism 303 includes the second halfpace 30301, the 6th straight-bar the 30302, the 7th
Straight-bar 30303 and the 8th straight-bar 30304.The lower end of 6th straight-bar 30302, the 7th straight-bar 30303 and the 8th straight-bar 30304
Pass through the 7th Hooke's hinge 30305, the 8th Hooke's hinge 30306 and the 9th Hooke's hinge 30307 and second halfpace respectively
30301 upper surface connection.The upper end of 6th straight-bar 30302, the 7th straight-bar 30303 and the 8th straight-bar 30304 leads to respectively
Cross the lower end surface of the tenth Hooke's hinge 30308, the 11st Hooke's hinge 30309 and the 12nd Hooke's hinge 30310 and the motion platform 2
Connection.6th straight-bar 30302, the 7th straight-bar 30303 and the 8th straight-bar 30304 are parallel to each other.7th Hooke's hinge
30305, three tie points of the 8th Hooke's hinge 30306 and the 9th Hooke's hinge 30307 and the second halfpace 30301 are in a circle
On shape track, the tenth Hooke's hinge 30308, the 11st Hooke's hinge 30309 and the 12nd Hooke's hinge 30310 and motion platform 2
Three tie points also in a circular trace, and two circular trace diameters are identical.First space parallelogram
Among the upper end and described second of 4th Hooke's hinge 30208 of mechanism 302, the 5th Hooke's hinge 30209 and the 6th Hooke's hinge 30210
The lower end surface of platform 30301 is fixedly connected, and the 4th Hooke's hinge 30208, the 5th Hooke's hinge 30209 and the 6th Hooke's hinge 30210
With the circular trace and the 7th Hooke's hinge 30305, the 8th Hooke's hinge where three tie points of the second halfpace 30301
30306 and the 9th Hooke's hinge 30307 and the second halfpace 30301 three tie points where circular trace circular trace weight
It closes.
As shown in fig. 7, more specifically, one end of the 6th revolute pair 401 in the second branch is vertically fixed on fixed flat
On platform 1, the other end of the 6th revolute pair is connected with one end of first connecting rod 402, and the other end of first connecting rod is connected with the 13rd
One end of Hooke's hinge 403, the 13rd Hooke's hinge 403 the other end connection second connecting rod 404 one end, second connecting rod 404 it is another
One end of one end connected ball pair 405, the other end of ball pair 405 are connect with the motion platform 2.Wherein, the 6th revolute pair
401 axis is tangential on the circular trace by three the 6th revolute pairs.Three the second branches are without geometry effect of contraction in movement
Platform, the geometrical constraint and freedom degree of motion platform depend entirely on the first branch.
Fixed coordinate system o-xyz is established in the geometric center o point of spherical five-bar mechanisms, x-axis and the first revolute pair axis are same
To y-axis and the second revolute pair axis are in the same direction, and z-axis is determined by x-axis and y-axis multiplication cross.Spherical five-bar mechanisms are the driving of the first branch
Pair, the first revolute pair and the second revolute pair being connected by selection driving or locked spherical five-bar mechanisms with fixed platform, first
Branch has 4 kinds of different sub- structure states, and the first branch, which has, becomes born of the same parents' characteristic.
When driving the first revolute pair and the second revolute pair simultaneously, spherical five-bar mechanisms output is that 2DOF rotates, accordingly
First branch has 3T2R movement (when indicating movement, tee represents movement, and letter r represents rotation, similarly hereinafter), and the first branch is deposited
In 1 constraint couple of force, for the constraint couple of force along the normal direction of motion platform, motion platform is restrained along the rotation of its normal direction, and first
Chain is moved with 3T2R, and the first branch is claimed to be switched to sub- structure state A at this time (with reference to Fig. 4).Then change born of the same parents' parallel institution of the invention is cut
It is changed to operation mode A.
When driving the first revolute pair, the second revolute pair is locked, spherical five-bar mechanisms are equivalent to the single-degree-of-freedom rotated around x-axis
Revolute pair, corresponding first branch have 3T1RX(subscript X represent around x-axis rotate) movement, the first branch there are 2 constraint couple of forces,
Claim the first branch to be switched to sub- structure state B at this time (with reference to Fig. 5).Motion platform along reference axis y to along reference axis z to rotation quilt
Constraint, motion platform have 3T1RXMovement, then change born of the same parents' parallel institution of the invention is switched to operation mode B.
When driving the second revolute pair, the first revolute pair is locked, spherical five-bar mechanisms are equivalent to the single-degree-of-freedom rotated around y-axis
Revolute pair, corresponding first branch have 3T1RY(subscript Y represent around y-axis rotate) movement, the first branch there are 2 constraint couple of forces,
Claim the first branch to be switched to sub- structure state C at this time (with reference to Fig. 6).Motion platform along reference axis x to along reference axis z to rotation quilt
Constraint, motion platform have 3T1RYMovement, then change born of the same parents' parallel institution of the invention is switched to operation mode C.
When simultaneously, locked first revolute pair and the second revolute pair, spherical five-bar mechanisms are locked, no output, and corresponding first
Branch is moved with 3T, and there are 3 constraint couple of forces for the first branch, and 3 independent rotations of first branch in space are all restrained,
Claim the first branch to be switched to sub- structure state D at this time (with reference to Fig. 3).3 independent rotations of the motion platform in space are all restrained, fortune
Moving platform is moved with 3T, then change born of the same parents' parallel institution of the invention is switched to operation mode D.
When the input corner of the first revolute pair and the second revolute pair is zero, switched over for the different sub- structure states of the first branch
Initial bit shape, the first branch when initial bit shape is also as shown in Figure 3.
Change born of the same parents' parallel institution of the invention can be applied to setting for multi-mode 3D printing robot and restructural parallel machine
Meter.
Embodiment described above is only that preferred embodiment of the invention is described, and is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, those of ordinary skill in the art make technical solution of the present invention
Various changes and improvements, should all fall into claims of the present invention determine protection scope in.
Claims (5)
1. a kind of change born of the same parents' parallel institution, it is characterised in that: including fixed platform (1) and motion platform (2), the fixed platform
(1) it is connected by first branch (3) with three the second branches (4) with motion platform (2), during first branch (3) is
Branch is entreated, three second branches (4) are axial symmetry arrangement about the first branch (3)；
First branch (3) includes the spherical five-bar mechanisms (301) being sequentially connected, the first space parallelogram mechanism
(302) connect with second space parallelogram mechanism (303), the spherical five-bar mechanisms (301) and the fixed platform (1)
It connects, the second space parallelogram mechanism (303) connect with the motion platform (2)；
Second branch (4) includes the 6th revolute pair (401) being sequentially connected, first connecting rod (402), the 13rd Hooke's hinge
(403), second connecting rod (404) and ball are secondary (405), and the 6th revolute pair (401) connect with the fixed platform (1), described
Ball pair (405) is connect with the motion platform (2).
2. change born of the same parents' parallel institution according to claim 1, it is characterised in that: the spherical five-bar mechanisms (301) include hanging down
The first straight-bar (30101) and the second straight-bar (30102) being directly fixed on the fixed platform (1)；First straight-bar
(30101) end is connected with one end of the first curved bar (30104), second straight-bar by the first revolute pair (30103)
(30102) end is connected with one end of the second curved bar (30106) by the second revolute pair (30105)；First curved bar
(30104) the other end is connected with one end of third curved bar (30108), second curved bar by third revolute pair (30107)
(30106) the other end is connected with one end of the 4th curved bar (30110), the 4th curved bar by the 4th revolute pair (30109)
(30110) the other end is connect with the other end of the third curved bar (30108) by the 5th revolute pair (30111)；
First curved bar (30104), the second curved bar (30106), third curved bar (30108) and the 4th curved bar (30110) it is curved
Angle angle is 90 °；The lower end of first space parallelogram mechanism (302) is fixed on the 4th curved bar (30110)；
When plane is parallel with plane where the fixed platform (1) where the 4th curved bar (30110), first rotation
The axis of secondary (30103), the second revolute pair (30105), the 4th revolute pair (30109) and the 5th revolute pair (30111) is located at same
On one horizontal plane, and wherein the axis of two neighboring revolute pair is mutually perpendicular to, and the axis of the third revolute pair (30107) is vertical
Plane where the fixed platform (1).
3. change born of the same parents' parallel institution according to claim 2, it is characterised in that: first space parallelogram mechanism
It (302) include the first halfpace (30201), third straight-bar (30202), the 4th straight-bar (30203) and the 5th straight-bar
(30204)；The lower end of the third straight-bar (30202), the 4th straight-bar (30203) and the 5th straight-bar (30204) passes through respectively
One Hooke's hinge (30205), the second Hooke's hinge (30206) and third Hooke's hinge (30207) and first halfpace (30201)
Upper surface connection；The upper end of the third straight-bar (30202), the 4th straight-bar (30203) and the 5th straight-bar (30204) leads to respectively
Cross the 4th Hooke's hinge (30208), the 5th Hooke's hinge (30209) and the 6th Hooke's hinge (30210) parallel with the second space four
Bian Xing mechanism (303) connection；The third straight-bar (30202), the 4th straight-bar (30203) and the 5th straight-bar (30204) are mutually flat
Row；First Hooke's hinge (30205), the second Hooke's hinge (30206) and third Hooke's hinge (30207) and the first halfpace
(30201) three tie points in a circular trace, the 4th Hooke's hinge (30208), the 5th Hooke's hinge (30209) and
Three tie points of the 6th Hooke's hinge (30210) and second space parallelogram mechanism (303) also in a circular trace,
And two circular trace diameters are identical；
First halfpace (30201) is fixed on the 4th curved bar (30110), the first halfpace (30201) institute
It is parallel with plane where the 4th curved bar (30110) in plane；First Hooke's hinge (30205), the second Hooke's hinge (30206) and
The central axis of three formed circular traces of tie point of third Hooke's hinge (30207) and the first halfpace (30201) passes through
Cross the inflection point of the 4th curved bar (30110).
4. change born of the same parents' parallel institution according to claim 3, it is characterised in that: the second space parallelogram mechanism
It (303) include the second halfpace (30301), the 6th straight-bar (30302), the 7th straight-bar (30303) and the 8th straight-bar
(30304)；The lower end of 6th straight-bar (30302), the 7th straight-bar (30303) and the 8th straight-bar (30304) passes through respectively
Seven Hooke's hinges (30305), the 8th Hooke's hinge (30306) and the 9th Hooke's hinge (30307) and second halfpace (30301)
Upper surface connection；The upper end of 6th straight-bar (30302), the 7th straight-bar (30303) and the 8th straight-bar (30304) leads to respectively
Cross the tenth Hooke's hinge (30308), the 11st Hooke's hinge (30309) and the 12nd Hooke's hinge (30310) and the motion platform (2)
Lower end surface connection；6th straight-bar (30302), the 7th straight-bar (30303) and the 8th straight-bar (30304) are parallel to each other；Institute
State the 7th Hooke's hinge (30305), the 8th Hooke's hinge (30306) and the 9th Hooke's hinge (30307) and the second halfpace (30301)
Three tie points in a circular trace, the tenth Hooke's hinge (30308), the 11st Hooke's hinge (30309) and the tenth
Three tie points of two Hooke's hinges (30310) and motion platform (2) are also in a circular trace, and two circular trace diameters
It is identical；
The upper end of 4th Hooke's hinge (30208), the 5th Hooke's hinge (30209) and the 6th Hooke's hinge (30210) and described the
The lower end surface of two halfpaces (30301) is fixedly connected, and the 4th Hooke's hinge (30208), the 5th Hooke's hinge (30209) and the 6th
Circular trace and the 7th Hooke's hinge where Hooke's hinge (30210) and three tie points of the second halfpace (30301)
(30305), three tie points of the 8th Hooke's hinge (30306) and the 9th Hooke's hinge (30307) and the second halfpace (30301)
The circular trace of place circular trace is overlapped.
5. change born of the same parents' parallel institution according to claim 1, it is characterised in that: the axis phase of the 6th revolute pair (401)
It is cut in the circular trace by three the 6th revolute pairs (401).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682323A (en) * | 2019-09-03 | 2020-01-14 | 上海工程技术大学 | Mechanical arm joint with controllable rigidity |
| CN113682472A (en) * | 2021-09-26 | 2021-11-23 | 天津大学 | Full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping wing motion |
-
2019
- 2019-03-19 CN CN201910207944.9A patent/CN109807868A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682323A (en) * | 2019-09-03 | 2020-01-14 | 上海工程技术大学 | Mechanical arm joint with controllable rigidity |
| CN110682323B (en) * | 2019-09-03 | 2022-10-14 | 上海工程技术大学 | Mechanical arm joint with controllable rigidity |
| CN113682472A (en) * | 2021-09-26 | 2021-11-23 | 天津大学 | Full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping wing motion |
| CN113682472B (en) * | 2021-09-26 | 2024-04-23 | 天津大学 | Full-revolute pair single-degree-of-freedom mechanism capable of realizing space splayed flapping wing movement |
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Application publication date: 20190528 |