CN110434838B - Five-degree-of-freedom generalized spherical parallel mechanism - Google Patents
Five-degree-of-freedom generalized spherical parallel mechanism Download PDFInfo
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- CN110434838B CN110434838B CN201910868658.7A CN201910868658A CN110434838B CN 110434838 B CN110434838 B CN 110434838B CN 201910868658 A CN201910868658 A CN 201910868658A CN 110434838 B CN110434838 B CN 110434838B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 86
- 230000003068 static effect Effects 0.000 claims abstract description 23
- QWCKQJZIFLGMSD-UHFFFAOYSA-N alpha-aminobutyric acid Chemical compound CCC(N)C(O)=O QWCKQJZIFLGMSD-UHFFFAOYSA-N 0.000 claims abstract description 14
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 18
- 210000004233 talus Anatomy 0.000 claims description 18
- 210000000459 calcaneus Anatomy 0.000 claims description 7
- 210000002303 tibia Anatomy 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 210000003423 ankle Anatomy 0.000 description 9
- 238000013461 design Methods 0.000 description 7
- 230000003993 interaction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 230000013011 mating Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 210000000450 navicular bone Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention relates to a five-degree-of-freedom generalized spherical parallel mechanism, which comprises a movable platform, a static platform and a branched chain; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, all branched chains are composed of an A-type connecting rod and a B-type connecting rod, the A-type connecting rod is a spherical connecting rod, the B-type connecting rod is a double-sphere center spherical connecting rod, the distances between the two sphere centers of all the B-type connecting rods in the same parallel mechanism are equal, the centering sphere centers of all the B-rods are overlapped to form the centering sphere center of the generalized spherical parallel mechanism, and the movable sphere centers of all the B-rods are overlapped to form the movable sphere center of the generalized spherical parallel mechanism; the movable platform moves around the movable spherical center to perform spherical motion with the degree of freedom of 3, and the movable spherical center moves around the fixed spherical center to perform spherical motion with the degree of freedom of 2; the branched chains of the five-degree-of-freedom generalized spherical parallel mechanism are of two types, namely an AABA branched chain and an ABAA branched chain; two AABA branched chains and three ABAA branched chains. The mechanism has higher flexibility and stronger adaptability.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a five-degree-of-freedom generalized spherical parallel mechanism.
Background
With the continuous development of the medical health field and the robot field, more and more health robots enter the field of vision of people. The rehabilitation robot not only can help the patient with joint injury to do rehabilitation exercise, but also can be used for the exercise training of athletes and the joint correction of the old. The existing rehabilitation robot generally has the advantages of high rigidity, high bearing capacity and high flexibility. However, aiming at the complexity of human body joint movement, the fitting precision of a rehabilitation robot is difficult to improve by using the existing mechanism, the man-machine interaction force is eliminated, and the mechanism design of the rehabilitation robot encounters a large bottleneck. Taking an ankle rehabilitation robot as an example, most of the structures are based on a smart eye mechanism (three-degree-of-freedom spherical parallel mechanism), the mechanism is provided with a movable platform, a static platform and three branched chains, each linear chain is provided with two spherical connecting rods and three revolute pairs, the rotation center shafts of all revolute pairs of the mechanism intersect with one point of space, the ankle joint of a human body is equivalent to a standard spherical pair, the ankle joint of the human body is one of the most complex joints of the human body, and the ankle joint comprises tibia, fibula, talus, navicular bone, calcaneus and the like, and if the ankle joint is simply simplified to be the standard spherical pair, larger man-machine interaction force can be generated. To solve such problems, it would be very interesting to propose a new mechanism that can adequately fit the ankle motion.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a five-degree-of-freedom generalized spherical parallel mechanism and provide a theoretical basis for the design scheme of a novel human ankle rehabilitation robot. The mechanism has the freedom degree and the movement space which are suitable for the ankle joint of a human body, and fully considers the problem of spherical misalignment caused by the existence of the talus of the ankle joint (the current ankle joint rehabilitation robot design regards the ankle joint as standard spherical movement, but the movement is that the relative movement between the tibia and the talus of the ankle joint is not standard spherical movement, and the problem of serious misalignment exists); the mechanism has enough flexibility, simplicity, dexterity, changeability and strong adaptability.
The technical scheme for solving the technical problems is that the invention provides a five-degree-of-freedom generalized spherical parallel mechanism, which comprises a movable platform, a static platform and a branched chain; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, and the distance between the two sphere centers is an adjustable fixed value, and is characterized in that the whole parallel mechanism is regarded as a spherical motion with the freedom degree of 3 by the movable platform around the movable sphere center, and the movable sphere center is a spherical motion with the freedom degree of 2 around the centering sphere center; the branched chains of the five-degree-of-freedom generalized spherical parallel mechanism are of two types, namely an AABA branched chain for controlling the spherical motion of a brake spherical center around a centering spherical center and an ABAA branched chain for controlling the spherical motion of a movable platform around the centering spherical center; two AABA branched chains and three ABAA branched chains; all branched chains are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axes of two end holes of the A-shaped connecting rod intersect at one point, the B-shaped connecting rod is a double-spherical-center spherical connecting rod, namely the B-shaped connecting rod is provided with two generalized spherical centers, which are respectively a B-rod centering spherical center and a B-rod moving spherical center, a line segment formed by connecting the two generalized spherical centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is a double-center distance, the double-center distances of all the B-shaped connecting rods in the same parallel mechanism are required to be equal, the double-center line segments of all the B-shaped connecting rods always completely coincide in the movement process, namely the centering spherical centers of all the B-rods coincide to form the centering spherical centers of the generalized spherical parallel mechanism, and the moving spherical centers of all the B-rods coincide to form the moving spherical centers of the generalized spherical parallel mechanism.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a five-degree-of-freedom generalized spherical parallel mechanism configuration for the first time, the mechanism is provided with two rotating spherical centers, one is a centering spherical center and the other is a movable spherical center, the movable spherical center rotates in two degrees of freedom relative to the centering spherical center, the movable platform rotates in three degrees of freedom around the movable spherical center, the mechanism is provided with five branched chains, and a revolute pair is formed between every two adjacent branched chains. The mechanism has the characteristics of strong bearing capacity, high movement flexibility and the like of the parallel mechanism, and can fit the movement of part of the series mechanism.
The parallel mechanism can be applied to the ankle joint design of the human body health robot, is more in line with the motion rule of the human body ankle joint, has high flexibility, is more accurate and reasonable in fitting, is lower in manufacturing cost, simple in structure and convenient to control, effectively solves the problem that the conventional three-degree-of-freedom spherical parallel mechanism is poor in motion interaction performance of the ankle joint fitting, has higher fitting precision of the five-degree-of-freedom generalized spherical parallel mechanism, is relatively higher in number of required motors, is relatively higher in cost, and is particularly suitable for occasions with higher precision requirements, such as being applied to high-end markets.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
Fig. 2 is a schematic diagram of the partial structure of branches No. 1 and No. 5 according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of the partial structures of branches No. 2, 3, and 4 according to an embodiment of the present invention.
In the figure, a first branched chain is 1; 11. a first branched chain and a first connecting rod; 12. a first branched chain second connecting rod; 13. a first branched chain connecting rod III; 14. a first branched chain four-bar linkage; 15. a first shaft of a first branched chain; 16. a first branched chain and a second shaft; 17. a first branched chain and a third shaft; 18. a first branched chain and a fourth shaft; 19. a first branched chain fifth shaft; 2. a second branched chain; 21. a second branched chain first connecting rod; 22. a second branched chain second connecting rod; 23. a second branched chain third connecting rod; 24. a second branched chain fourth connecting rod; 25. a first shaft of a second branched chain; 26. a second shaft of a second branched chain; 27. a second branched chain is a third shaft; 28. a second branched chain is a fourth shaft; 29. a second branched chain is a fifth shaft; 3. a third branch; 31. a third branched chain first connecting rod; 32. a third branched chain connecting rod II; 33. a third branched chain third connecting rod; 34. a third branched chain fourth connecting rod; 35. a first shaft of a third branched chain; 36. a third branched chain second shaft; 37. a third shaft of a third branched chain; 38. a third branched chain and a fourth shaft; 39. a third branched chain fifth shaft; 4. a fourth branch; 41. a connecting rod with a fourth branched chain I; 42. a fourth branched chain connecting rod II; 43. a connecting rod with a fourth branched chain and a third branched chain; 44. a fourth branched chain fourth connecting rod; 45. a first shaft of a fourth branched chain; 46. a second shaft of the fourth branched chain; 47. a third shaft of a fourth branched chain; 48. a fourth shaft of a fourth branched chain; 49. a fifth shaft of a fourth branched chain; 5. a fifth branch; 51. a fifth branched chain first connecting rod; 52. a fifth branched chain connecting rod II; 53. a fifth branched chain connecting rod III; 54. a fifth branched chain fourth connecting rod; 55. a first shaft of a fifth branched chain; 56. a second shaft of the fifth branched chain; 57. a fifth branched chain is a third shaft; 58. a fifth branched chain is a fourth shaft; 59. a fifth shaft of a fifth branched chain; 6. a static platform; 7. a movable platform;
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for further detailed description of the present invention and do not limit the scope of the present application.
The invention relates to a five-degree-of-freedom generalized spherical parallel mechanism, which comprises a movable platform, a static platform and a branched chain; the parallel mechanism is provided with two misaligned rotary sphere centers, namely a centering sphere center and a movable sphere center, the distance between the two sphere centers is an adjustable fixed value, the whole parallel mechanism is regarded as a movable platform to move around the movable sphere center to perform spherical motion with the degree of freedom of 3, and the movable sphere center to move around the centering sphere center to perform spherical motion with the degree of freedom of 2, so that the generalized spherical parallel mechanism has 5 degrees of freedom and can be fully adapted to and matched with the degree of freedom of an ankle joint; the 5-degree-of-freedom generalized spherical parallel mechanism branched chains are of two types, namely an AABA branched chain and an ABAA branched chain, wherein the AABA branched chain mainly controls the spherical motion of a movable spherical center around a static spherical center, and the ABAA branched chain mainly controls the spherical motion of a movable platform around the movable spherical center; all branched chains of the generalized spherical parallel mechanism are composed of an A-shaped connecting rod and a B-shaped connecting rod, wherein the A-shaped connecting rod is a spherical connecting rod, the axial lines of two end holes of the A-shaped connecting rod are intersected at one point, the B-shaped connecting rod is a generalized spherical connecting rod, the B-shaped connecting rod can be seen to be a double-spherical-center spherical connecting rod in the parallel mechanism, namely the B-shaped connecting rod is provided with two generalized spherical centers which are respectively a B-rod centering spherical center and a B-rod movable spherical center, the axial lines of the two end holes of the B-shaped connecting rod are not necessarily intersected in space, a line segment formed by connecting the two generalized spherical centers of the B-shaped connecting rod is defined as a double-center line segment, the length of the double-center line segment is a double-center distance, the generalized spherical parallel mechanism requires that the double-center distances of all the B-shaped connecting rods in the same generalized spherical parallel mechanism are equal, the motion process is that the double-center line segments of all the B-shaped connecting rods are always completely coincident, namely the centering spherical centers of all the B-rods are coincident to form the centering spherical centers of the generalized spherical parallel mechanism, and the movable spherical centers of all the B-rods are coincident to form the generalized spherical centers of the generalized spherical parallel mechanism.
The equivalent model with more reasonable motion of the human ankle joint is as follows: the mating connection between the lower tibial surface and the upper talus surface is considered as a spherical pair, the mating connection between the lower talus surface and the upper calcaneus surface is considered as a spherical pair, and the distance between the centers of the two spherical pairs is a constant determined by the relevant dimensional parameters of the talus of the user.
The five-degree-of-freedom generalized spherical parallel mechanism is applied to an ankle rehabilitation robot, the average relative rotation spherical center between the tibia and the talus of a patient and the average relative rotation spherical center between the talus and the calcaneus of the patient can be determined according to the parameter of the talus of the patient, the distance parameter between the two spherical centers can be calculated, the double-center distance of the generalized spherical parallel mechanism can be determined according to the parameter, the fact that the mechanism centering spherical center always coincides with the average relative rotation spherical center between the talus and the calcaneus in the motion fitting process, the mechanism moving spherical center always coincides with the average relative rotation spherical center between the tibia and the talus is achieved, and compared with the traditional three-degree-of-freedom spherical parallel mechanism (smart eye mechanism), the fitting of the generalized spherical parallel mechanism to ankle motion is more accurate and reasonable, and the fitting effect is remarkably improved.
The distance between two centers (the centering center and the moving center) is an adjustable fixed value, which means that the distance size can be arbitrarily selected in the mechanism configuration design process and is not limited by the sizes of other components, but cannot be changed once the size is determined to be completely manufactured. The dimensions of the type a links given in the configuration are not all the same nor are the dimensions of the type B links necessarily all the same, but the "double pitch" of all the type B links must be equal.
Examples
The embodiment provides a five-degree-of-freedom generalized spherical parallel mechanism configuration design scheme for ankle rehabilitation training, which comprises a static platform 6, a dynamic platform 7, three ABAA branched chains (a first branched chain 1, a second branched chain 2 and a third branched chain 3) and two AABA branched chains (a fourth branched chain 4 and a fifth branched chain 5); the static platform 6 and the movable platform 7 are spherical connecting rods with five revolute pairs, namely the axes of the five side through holes of the movable platform are spatially converged at one point (the axes of the five side through holes of the movable platform are converged at all B-rod movable spherical centers, namely the movable spherical centers of the generalized spherical parallel mechanism, and the axes of the five side through holes of the static platform are converged at all B-rod centering spherical centers, namely the centering spherical centers of the generalized spherical parallel mechanism); the first branched chain 1 is an ABAA type branched chain, wherein the first branched chain four-way connecting rod 14 is an A type connecting rod, the first branched chain three-way connecting rod 13 is a B type connecting rod, the first branched chain two-way connecting rod 12 is an A type connecting rod, and the first branched chain one-way connecting rod 11 is an A type connecting rod; the movable platform 7 is connected and matched with a first branch chain hole and the upper end hole of a first branch chain No. four connecting rod 14 through a first branch chain No. five shaft 19 to form a revolute pair; the lower end hole of the first branched-chain No. four connecting rod 14 is connected and matched with the upper end hole of the first branched-chain No. three connecting rod 13 through a first branched-chain No. four shaft 18 to form a revolute pair; the lower end hole of the first branched chain third connecting rod 13 is connected and matched with the upper end hole of the first branched chain second connecting rod 12 through a first branched chain third shaft 17 to form a revolute pair; the lower end hole of the first branched chain second connecting rod 12 is connected and matched with the upper end hole of the first branched chain first connecting rod 11 through a first branched chain second shaft 16 to form a revolute pair; the lower end hole of the first branched chain first connecting rod 11 is connected and matched with the first branched chain hole of the static platform 6 through a first branched chain first shaft 15 to form a revolute pair;
the second branched chain 2 is an ABAA branched chain, wherein the second branched chain four-way connecting rod 24 is an A-shaped connecting rod, the second branched chain three-way connecting rod 23 is a B-shaped connecting rod, the second branched chain two-way connecting rod 22 is an A-shaped connecting rod, and the second branched chain one-way connecting rod 21 is an A-shaped connecting rod; the movable platform 7 is connected and matched with the second branch chain hole and the upper end hole of the second branch chain fourth connecting rod 24 through a second branch chain fifth shaft 29 to form a revolute pair; the lower end hole of the second branched-chain fourth connecting rod 24 is connected and matched with the upper end hole of the second branched-chain third connecting rod 23 through a second branched-chain fourth shaft 28 to form a revolute pair; the lower end hole of the second branched chain third connecting rod 23 is connected and matched with the upper end hole of the second branched chain second connecting rod 22 through a second branched chain third shaft 27 to form a revolute pair; the lower end hole of the second branched chain second connecting rod 22 is connected and matched with the upper end hole of the second branched chain first connecting rod 21 through a second branched chain second shaft 26 to form a revolute pair; the lower end hole of the first connecting rod 21 of the second branched chain is connected and matched with the second branched chain hole of the static platform 6 through a first shaft 25 of the second branched chain to form a revolute pair;
the third branched chain 3 is an ABAA branched chain, wherein the third branched chain four-bar connecting rod 34 is an A-type connecting rod, the third branched chain three-bar connecting rod 33 is a B-type connecting rod, the third branched chain two-bar connecting rod 32 is an A-type connecting rod, and the third branched chain one-bar connecting rod 31 is an A-type connecting rod; the third branch chain hole of the movable platform 7 is connected and matched with the upper end hole of the third branch chain fourth connecting rod 34 through a third branch chain fifth shaft 39 to form a revolute pair; the lower end hole of the third branched-chain fourth connecting rod 34 is connected and matched with the upper end hole of the third branched-chain third connecting rod 33 through a third branched-chain fourth shaft 38 to form a revolute pair; the lower end hole of the third branched chain third connecting rod 33 is connected and matched with the upper end hole of the third branched chain second connecting rod 32 through a third branched chain third shaft 37 to form a revolute pair; the lower end hole of the third branched chain second connecting rod 32 is connected and matched with the upper end hole of the third branched chain first connecting rod 31 through a third branched chain second shaft 36 to form a revolute pair; the lower end hole of the third branched chain first connecting rod 31 is connected and matched with the third branched chain hole of the static platform 6 through a third branched chain first shaft 35 to form a revolute pair;
the fourth branched chain 4 is an AABA type branched chain, wherein a fourth branched chain 44 is an A type connecting rod, a third branched chain 43 is an A type connecting rod, a second branched chain 42 is a B type connecting rod, and a first branched chain 41 is an A type connecting rod; the fourth branch chain hole of the movable platform 7 is connected and matched with the upper end hole of the fourth branch chain fourth connecting rod 44 through a fourth branch chain fifth shaft 49 to form a revolute pair; the lower end hole of the fourth connecting rod 44 of the fourth branched chain is connected and matched with the upper end hole of the third connecting rod 43 of the fourth branched chain through a fourth shaft 48 of the fourth branched chain to form a revolute pair; the lower end hole of the fourth branched chain third connecting rod 43 is connected and matched with the upper end hole of the fourth branched chain second connecting rod 42 through a fourth branched chain third shaft 47 to form a revolute pair; the lower end hole of the fourth branched chain second connecting rod 42 is connected and matched with the upper end hole of the fourth branched chain first connecting rod 41 through a fourth branched chain second shaft 46 to form a revolute pair; the lower end hole of the fourth branched chain first connecting rod 41 is connected and matched with the fourth branched chain hole of the static platform 6 through a fourth branched chain first shaft 45 to form a revolute pair;
the branched chain 5 is AABA branched chain, wherein the branched chain four-way connecting rod 54 is a type connecting rod, the branched chain three-way connecting rod 53 is a type connecting rod, the branched chain two-way connecting rod 52 is a type connecting rod, and the branched chain one-way connecting rod 51 is a type connecting rod; the fifth branched chain hole of the movable platform 7 is connected and matched with the upper end hole of the fifth branched chain fourth connecting rod 54 through a fifth branched chain fifth shaft 59 to form a revolute pair; the lower end hole of the fifth branched-chain No. four connecting rod 54 is connected and matched with the upper end hole of the fifth branched-chain No. three connecting rod 53 through a fifth branched-chain No. four shaft 58 to form a revolute pair; the lower end hole of the fifth branched chain No. three connecting rod 53 is connected and matched with the upper end hole of the fifth branched chain No. two connecting rod 52 through a fifth branched chain No. three shaft 57 to form a revolute pair; the lower end hole of the fifth branched chain second connecting rod 52 is connected and matched with the upper end hole of the fifth branched chain first connecting rod 51 through a fifth branched chain second shaft 56 to form a revolute pair; the lower end hole of the first connecting rod 51 of the fifth branch is connected and matched with the fifth branch hole of the static platform 6 through a first shaft 55 of the fifth branch to form a revolute pair;
the axial lead spaces of the first branch first shaft 15, the first branch second shaft 16, the first branch third shaft 17, the second branch first shaft 25, the second branch second shaft 26, the second branch third shaft 27, the third branch first shaft 35, the third branch second shaft 36, the third branch third shaft 37, the fourth branch first shaft 45, the fourth branch second shaft 46, the fifth branch first shaft 55 and the fifth branch second shaft 56 are converged at one point, and the point is the sphere centering of the generalized spherical parallel mechanism; the axial spaces of the first branched chain No. four shaft 18, the first branched chain No. five shaft 19, the second branched chain No. four shaft 28, the second branched chain No. five shaft 29, the third branched chain No. four shaft 38, the third branched chain No. five shaft 39, the fourth branched chain No. three shaft 47, the fourth branched chain No. four shaft 48, the fourth branched chain No. five shaft 49, the fifth branched chain No. three shaft 57, the fifth branched chain No. four shaft 58 and the fifth branched chain No. five shaft 59 are converged at one point, and the point is the movable sphere center of the generalized spherical parallel mechanism.
In this embodiment, three ABAA branched chains are adjacent, two AABA branched chains are adjacent, the ABAA type is a A, B, A, A type connecting rod from the moving platform to the static platform, and the AABA type is a A, A, B, A type connecting rod from the moving platform to the static platform.
The working principle of the five-degree-of-freedom generalized spherical parallel mechanism is as follows:
taking a standing ankle rehabilitation robot as an example, the motion characteristics of the 5-degree-of-freedom generalized spherical parallel mechanism are described. The five servo motors respectively drive the first branched chain first connecting rod 11, the second branched chain first connecting rod 21, the third branched chain first connecting rod 31, the fourth branched chain first connecting rod 41 and the fifth branched chain first connecting rod 51 to rotate relative to the static platform 6, namely five angle inputs of the robot are controlled; the fourth branched chain first connecting rod 41 and the fifth branched chain first connecting rod 51 respectively drive the fourth branched chain second connecting rod 42 and the fifth branched chain second connecting rod 52, and the static platform 6, the fourth branched chain first connecting rod 41 and the fifth branched chain first connecting rod 51 are all A-shaped spherical connecting rods, so that the coincidence of the 'B rod centering' of the B-shaped connecting rod fourth branched chain second connecting rod 42 and the fifth branched chain second connecting rod 52 is limited; because the double center distances of all the B-shaped connecting rods of the generalized spherical parallel mechanism are equal, and the four-branched-chain three-connecting rod 43, the four-branched-chain four-connecting rod 44, the movable platform 7, the five-branched-chain four-connecting rod 54 and the five-branched-chain three-connecting rod 53 are sequentially connected and are all A-shaped spherical connecting rods, the superposition of the B-rod movable centers of the B-shaped branched-chain two-connecting rod 42 and the five-branched-chain two-connecting rod 52 is limited, and at the moment, the movement between the four-branched-chain two-connecting rod 42 and the five-branched-chain two-connecting rod 52 is the rotation of a double-center line segment after winding superposition; at this time, a spherical five-rod mechanism is formed among the static platform 6, the four-branched first connecting rod 41, the four-branched second connecting rod 42, the five-branched first connecting rod 51 and the five-branched second connecting rod 52, and the degree of freedom of the spherical five-rod mechanism is 2, namely, the input angle of the four-branched first connecting rod 41 and the five-branched first connecting rod 51 determines the space position of a moving sphere center of the 5-degree-of-freedom generalized spherical parallel mechanism, and meanwhile, the moving sphere center has 2 degrees of freedom; the first branched chain first connecting rod 11, the second branched chain second connecting rod 12, the first branched chain second connecting rod 21, the second branched chain second connecting rod 22, the first branched chain third connecting rod 31 and the second branched chain second connecting rod 32 are all A-type spherical connecting rods, so that the ball centering of the B rod of the first branched chain third connecting rod 13, the second branched chain third connecting rod 23 and the third branched chain third connecting rod 33 is limited to be overlapped with the ball centering of the B rod of the fourth branched chain second connecting rod 42 and the fifth branched chain second connecting rod 52; the first branched chain No. four connecting rod 14, the second branched chain No. four connecting rod 24, the third branched chain No. four connecting rod 34 and the moving platform 7 are all A-shaped spherical connecting rods, which limit the space movement of the B-shaped connecting rod No. one branched chain No. three connecting rod 13, the second branched chain No. three connecting rod 23 and the third branched chain No. three connecting rod 33 to be overlapped with the B-shaped movable spherical centers of the fourth branched chain No. two connecting rods 42 and the fifth branched chain No. two connecting rods 52, so that the space movement of the first branched chain No. three connecting rod 13, the second branched chain No. three connecting rod 23 and the third branched chain No. three connecting rod 33 is the rotation around a double-heart line segment; if the connecting rod 41 of the first branch of the fourth number and the connecting rod 51 of the first branch of the fifth number are input and given, the space pose of the double-heart line segment of the generalized spherical parallel mechanism is fixed; at this time, the static platform 6, the first branched chain connecting rod 11, the second branched chain connecting rod 12 and the third branched chain connecting rod 13 form a spherical four-bar mechanism, the static platform 6, the first branched chain connecting rod 21, the second branched chain connecting rod 22 and the third branched chain connecting rod 23 form a spherical four-bar mechanism, the static platform 6, the first branched chain connecting rod 31, the second branched chain connecting rod 32 and the third branched chain connecting rod 33 form a spherical four-bar mechanism, and each group of four-bar mechanisms has 1 degree of freedom and totally has 3 degrees of freedom; the first branched chain first connecting rod 11, the second branched chain first connecting rod 21, the third branched chain first connecting rod 31 drive the first branched chain third connecting rod 13, the second branched chain third connecting rod 23 and the third branched chain third connecting rod 33 to rotate around the overlapped double-heart line segments through the first branched chain second connecting rod 12, the second branched chain second connecting rod 22 and the third branched chain second connecting rod 32 respectively; the first branched chain third connecting rod 13, the second branched chain third connecting rod 23 and the third branched chain third connecting rod 33 drive the movable platform 7 to rotate around the movable sphere center through the first branched chain fourth connecting rod 14, the second branched chain fourth connecting rod 24 and the third branched chain fourth connecting rod 34, and at the moment, the fourth branched chain third connecting rod 43, the fourth branched chain fourth connecting rod 44, the fifth branched chain third connecting rod 53 and the fifth branched chain fourth connecting rod 54 only participate in limiting the superposition of the 'B rod movable sphere center' of the generalized spherical parallel mechanism, so that the spherical movement of the movable platform 7 around the 'movable sphere center' is not influenced;
to sum up, the rotational angle input of the fourth branch first connecting rod 41 and the fifth branch first connecting rod 51 controls the spherical motion of the moving sphere center around the centering sphere center, and the rotational angle input has two degrees of freedom. When used in a human ankle rehabilitation robot design, the mechanism mainly fits the relative motion between the tibia and the talus of the user's ankle; the corner input of the first branched chain first connecting rod 11, the second branched chain first connecting rod 21 and the third branched chain first connecting rod 31 controls the spherical motion of the movable platform 7 around the 'movable spherical center', has 3 degrees of freedom, and mainly fits the relative motion between the talus and calcaneus of the ankle joint of a user when the mechanism is used in the design of a human ankle joint rehabilitation robot; the overall upper mechanism has 5 degrees of freedom, so that the generalized spherical parallel mechanism can more accurately fit ankle joint movement, and man-machine interaction force caused by mechanism configuration is greatly reduced.
The invention is applicable to the prior art where it is not described.
Claims (2)
1. A five-degree-of-freedom generalized spherical parallel mechanism comprises a movable platform, a static platform and a branched chain; the parallel mechanism is provided with two misaligned rotary spherical centers, namely a centering spherical center and a moving spherical center, the distance between the two spherical centers is an adjustable fixed value, all branched chains are composed of an A-type connecting rod and a B-type connecting rod, the A-type connecting rod is a spherical connecting rod, the axial centers of two end holes of the A-type connecting rod are intersected at one point, the B-type connecting rod is a double-spherical-center spherical connecting rod, namely the B-type connecting rod is provided with two generalized spherical centers, the centering spherical centers of the B-type connecting rod are respectively equal to the moving spherical centers of the B-type connecting rod, the distances between the two spherical centers of all the B-type connecting rods in the same parallel mechanism are equal, and the line segments formed by connecting the two spherical centers of all the B-type connecting rods in the movement process are always completely overlapped, namely the centering spherical centers of all the B-type connecting rods are overlapped to form the centering spherical centers of the generalized spherical parallel mechanism, and the moving spherical centers of all the B-type connecting rods are overlapped to form the moving spherical centers of the generalized spherical parallel mechanism; it is characterized in that the method comprises the steps of,
the parallel mechanism is integrally regarded as a movable platform which moves around a movable spherical center to perform spherical motion with the degree of freedom of 3, and the movable spherical center moves around a fixed spherical center to perform spherical motion with the degree of freedom of 2; the branched chains of the five-degree-of-freedom generalized spherical parallel mechanism are of two types, namely an AABA branched chain for controlling the spherical motion of a brake spherical center around a centering spherical center and an ABAA branched chain for controlling the spherical motion of a movable platform around the centering spherical center; two AABA branched chains and three ABAA branched chains;
in the ankle joint movement of a human body, the matched connection between the lower surface of the tibia and the upper surface of the talus is regarded as a spherical pair, the average relative rotation sphere center between the tibia and the talus is determined, the matched connection between the lower surface of the talus and the upper surface of the calcaneus is regarded as a spherical pair, the average relative rotation sphere center between the talus and the calcaneus is determined, the distance parameter between the two sphere centers is calculated, the double-center distance of the generalized spherical parallel mechanism is determined according to the parameter, and the distance between the two sphere centers of the two spherical pairs is a constant which is determined by the size parameter of the talus of a user.
2. The parallel mechanism of claim 1, wherein three ABAA branches are adjacent and two AABA branches are adjacent.
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