CN111390871B - Two-degree-of-freedom rotation parallel mechanism for ball hinge control - Google Patents
Two-degree-of-freedom rotation parallel mechanism for ball hinge control Download PDFInfo
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- CN111390871B CN111390871B CN202010171705.5A CN202010171705A CN111390871B CN 111390871 B CN111390871 B CN 111390871B CN 202010171705 A CN202010171705 A CN 202010171705A CN 111390871 B CN111390871 B CN 111390871B
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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
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
The invention provides a two-degree-of-freedom rotation parallel mechanism for controlling a ball hinge, which comprises a transmission part, a tail end execution part and a ball hinge mechanism, wherein the transmission part comprises a first output end connecting piece, a second output end connecting piece, a first connecting rod, a second connecting rod, a first transition piece, a second transition piece, a third transition piece, a main transmission shaft and a telescopic rod; the first output end connecting piece, the first connecting rod, the first transition piece, the second transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a first group of four-bar mechanisms; the second output end connecting piece, the second connecting rod, the third transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a second group of four-bar mechanisms; the directions of the first and second groups of four-bar mechanisms are orthogonal and completely decoupled; the invention has the characteristics of high precision, flexible structure, fast dynamic response, complete decoupling, low control cost and the like.
Description
Technical Field
The invention relates to the field of robot automation, in particular to a two-degree-of-freedom rotation parallel mechanism for controlling a ball hinge.
Background
The two-degree-of-freedom parallel robot is a closed-loop mechanism connected through two independent kinematic chains, and compared with a serial robot, the two-degree-of-freedom parallel robot has the following characteristics: the precision is higher, and no accumulated error exists; the driving mechanism can be arranged on the fixed platform, and the transmission part has a simple structure and quick dynamic response. Compared with a more-freedom-degree parallel mechanism, the two-freedom-degree parallel mechanism has the characteristics of simple structure, smaller volume and lower control cost.
The document retrieval of the prior art finds that Chinese patent with publication number CN105619398A provides a branched-chain coupled two-degree-of-freedom parallel mechanism, which has a larger action range and bearing capacity, but has the problems of branched-chain coupling, complex motion solution, higher control cost and the like; the Chinese patent with the publication number of CN102126212A provides a motion decoupling two-degree-of-freedom rotation parallel mechanism, two rotational degrees of freedom are completely decoupled, but the Hooke hinge structure also limits the action range of the mechanism; the Chinese patent with the publication number of CN104308833A provides a two-degree-of-freedom parallel mechanism with a hemispherical working range, but the whole volume is large, and the position relation between a movable platform and a static platform is limited; chinese patent publication No. CN106426109A proposes a two-degree-of-freedom parallel mechanism for global working space, which can realize decoupling and full spherical range of motion, but has a complex overall structure and low carrying capacity.
The existing two-degree-of-freedom parallel mechanism still has the problems of complex structure, limited action range, high control cost, coupling of the mechanism and the like, and cannot be suitable for controlling the ball hinge mechanism.
Therefore, it is necessary to develop a two-degree-of-freedom parallel mechanism which has a simple structure and is applicable to control of the ball hinge mechanism.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a two-degree-of-freedom rotating parallel mechanism for controlling a ball hinge.
According to the present invention, there is provided a two-degree-of-freedom rotation parallel mechanism for ball hinge control, comprising: transmission part, end executive component, ball hinge mechanism, wherein:
the transmission member includes: the device comprises a first output end connecting piece, a second output end connecting piece, a first connecting rod, two second connecting rods, a first transition piece, a second transition piece, two third transition pieces, a main transmission shaft and a telescopic rod; the lower end of the first connecting rod is connected with the first output end connecting piece through a bearing, the upper end of the first connecting rod is connected with the first transition piece through a bearing, and the first transition piece and the first output end connecting piece are arranged in parallel; the second transition piece is connected with the first transition piece through a bearing, and the first output end connecting piece, the first connecting rod, the first transition piece and the second transition piece are positioned in the same plane; the two second connecting rods are arranged in parallel, the lower ends of the two second connecting rods are respectively connected with the second output end connecting piece through bearings, the upper ends of the two second connecting rods are respectively connected with the two third transition pieces through bearings, and the second output end connecting piece, the two second connecting rods and the two third transition pieces are positioned in the same plane; the third transition piece and the second transition piece are coaxially arranged, and the first transition piece, the second transition piece and the two third transition pieces are positioned in the same plane; the second transition piece and the third transition piece are sleeved on the main transmission shaft and are connected through a bearing; the telescopic rod is connected with one end of the main transmission shaft;
one end of the tail end executing component is connected with the telescopic rod of the transmission component, the other end of the tail end executing component is fixedly connected with the upper end of the ball hinge mechanism, and the tail end executing component is driven by the transmission component to perform spherical motion together with the ball hinge mechanism;
the upper end of the ball hinge mechanism is rotatably connected with the other end of the tail end execution part; the first output end connecting piece, the first connecting rod, the first transition piece, the second transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a first group of four-bar mechanisms; the second output end connecting piece, the second connecting rod, the third transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a second group of four-bar mechanisms; the directions of the first group of four-bar mechanisms and the second group of four-bar mechanisms are orthogonal, and the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
Preferably, the four-bar linkage type four-bar linkage type four-bar linkage type four-bar linkage type four-linkage type four-bar linkage type four-bar linkage type four-linkage type four-bar linkage type four-linkage type four-linkage type four-linkage type four-linkage;
the first group of driving parts and the second group of driving parts are positioned on the same plane and are vertically distributed;
the first set of drive members and the second set of drive members lie in a plane parallel to a plane in which the first transition piece, the second transition piece, and the two third transition pieces lie.
Preferably, the driving parts of the first group of driving parts comprise a first motor, a first speed reducer and a first fixing support, the first motor is connected with the first speed reducer, an output shaft of the first speed reducer is connected with the first output end connecting piece, and the first speed reducer is fixed through the first fixing support;
the second group of driving components comprise a second motor, a second speed reducer and a second fixing support, the second motor is connected with the second speed reducer, an output shaft of the second speed reducer is connected with the second output end connecting piece, and the second speed reducer is fixed through the second fixing support.
Preferably, the telescopic rod comprises a first telescopic rod and a second telescopic rod, the first telescopic rod is provided with a first chute, the second telescopic rod is provided with a first boss, the first boss is clamped on the first chute, and the first boss can move linearly on the first chute, so that the length of the telescopic rod can be adjusted; one end of the second telescopic rod is connected with the main transmission shaft.
Preferably, the first telescopic rod and the second telescopic rod are fixed in a manner of tightening a jackscrew, and are used for limiting movement.
Preferably, the first telescopic rod is an L-shaped member, the long sides and the short sides of the L-shaped member, the first sliding groove is arranged along the length direction of the long side of the L-shaped member, and the second sliding groove is arranged along the length direction of the short side of the L-shaped member; the second sliding groove is perpendicular to the length direction of the first sliding groove.
Preferably, end executive component includes telescopic link connecting piece, U-shaped board and ball hinge mechanism connecting piece, wherein, the telescopic link connecting piece with the minor face sliding connection of L shape component, U-shaped board center is equipped with first through-hole, U-shaped board both sides are equipped with second through-hole and third through-hole respectively, the one end of telescopic link connecting piece with the first through-hole of U-shaped board passes through the bearing and connects, the both ends of ball hinge mechanism connecting piece respectively with the second through-hole of U-shaped board, third through-hole with ball hinge mechanism connecting piece passes through the bearing and connects.
Preferably, the other end of the telescopic rod connecting piece is provided with a second boss, the second boss is connected to the second sliding groove of the short side of the L-shaped member in a clamping mode, and the second boss can move linearly on the second sliding groove, so that the telescopic rod connecting piece can move linearly on the first telescopic rod.
Preferably, the ball hinge mechanism comprises a connecting rod and a ball hinge base, the upper end of the connecting rod is connected with the ball hinge mechanism connecting piece, and the lower end of the connecting rod is in constraint fit with the ball hinge base through a ball hinge.
Preferably, the first link is disposed in parallel with the second link.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the structure adopts a two-degree-of-freedom parallel mechanism structure of two groups of four-bar mechanisms, is designed based on the four-bar mechanism principle, and has simple structure and wide application range; the device is suitable for controlling the ball hinge mechanism, has more excellent performance on the control of the ball hinge mechanism, and specifically comprises the advantages of high precision, flexible structure, fast dynamic response, complete decoupling, low control cost and the like, and can control the ball hinge mechanism to realize all-dimensional motion.
2. According to the structure of the invention, the driving part is fixed on the static platform, so that the driving part can be prevented from being fixed in the transmission part, the weight of the transmission part is reduced, and the dynamic response characteristic is improved.
3. According to the structure, the telescopic rod is adopted in the structure of the transmission part, so that the rotation range can be adjusted to adapt to ball hinge mechanisms with different sizes and positions.
4. According to the structure, the two-degree-of-freedom rotation parallel mechanism is completely decoupled, the problems of complex motion control and the like caused by mechanism coupling are solved, the control cost is reduced, and the motion control precision is improved; the method has the characteristics of high precision, flexible structure, quick dynamic response, complete decoupling, low control cost and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom rotary parallel mechanism for ball hinge control according to a preferred embodiment of the present invention;
the scores in the figure are indicated as: the device comprises a first motor 1-A, a second motor 1-B, a first speed reducer 2-A, a second speed reducer 2-B, a first fixing support 3-A, a second fixing support 3-B, a first output end connecting piece 4-A, a second output end connecting piece 4-B, a first connecting rod 5-A, a second connecting rod 5-B, a first transition piece 6, a second transition piece 7, a third transition piece 8, a main transmission shaft 9, a first telescopic rod 10, a second telescopic rod 11, a telescopic rod connecting piece 12, a U-shaped plate 13, a ball hinge mechanism connecting piece 14, a connecting rod 15 and a ball hinge base 16.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a two-degree-of-freedom rotation parallel mechanism for ball hinge control according to a preferred embodiment of the present invention is shown, in which the two-degree-of-freedom rotation parallel mechanism includes a transmission component, an end effector, and a ball hinge mechanism. The two-degree-of-freedom parallel mechanism structure of the two groups of four-bar mechanisms is formed by the transmission component, the tail end executing component and the spherical hinge mechanism, the directions of the two groups of four-bar mechanisms are orthogonal, and the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
The transmission part comprises a first output end connecting piece 4-A, a second output end connecting piece 4-B, a first connecting rod 5-A, two second connecting rods 5-B, a first transition piece 6, a second transition piece 7, two third transition pieces 8, a main transmission shaft 9 and a telescopic rod; wherein, the lower end of the first connecting rod 5-A is connected with the first output end connecting piece 4-A through a shaft and a bearing; the first transition piece 6 is connected with the upper end of the first connecting rod 5-A through a shaft and a bearing and is parallel to the first output end connecting piece 4-A; the second transition piece 7 is connected with the first transition piece 6 through a shaft and a bearing, and the first output end connecting piece 4-A, the first connecting rod 5-A, the first transition piece 6 and the second transition piece 7 are positioned in the same plane. The second link 5-B is arranged in parallel with the first link 5-A. The lower ends of the two second connecting rods 5-B are respectively connected with the second output end connecting piece 4-B through a shaft and a bearing and are parallel to each other; the two third transition pieces 8 are connected with the upper ends of the second connecting rods 5-B through shafts and bearings, and the second output end connecting piece 4-B, the two second connecting rods 5-B, the second transition piece 7 and the two third transition pieces 8 are positioned in the same plane; the first transition piece 6, the second transition piece 7 and the two third transition pieces 8 are located in the same plane and parallel to the plane in which the two sets of drive components are located. The centers of the second transition piece 7 and the third transition piece 8 are positioned on the same straight line and are provided with through holes, and the main transmission shaft 9 passes through the through holes and is connected with the second transition piece 7 and the third transition piece 8 through shafts and bearings. One end of the main transmission shaft 9 is provided with a through hole which is connected with the telescopic rod.
One end of the tail end executing component is connected with the telescopic rod of the transmission component, the other end of the tail end executing component is fixedly connected with the upper end of the ball hinge mechanism, and the tail end executing component is driven by the transmission component to perform spherical motion together with the ball hinge mechanism;
the first output end connecting piece 4-A, the first connecting rod 5-A, the first transition piece 6, the second transition piece 7, the main transmission shaft 9, the telescopic rod, the tail end executing part and the ball hinge mechanism form a first group of four-bar mechanisms; the second output end connecting piece 4-B, the second connecting rod 5-B, the third transition piece 8, the main transmission shaft 9, the telescopic rod, the tail end executing part and the ball hinge mechanism form a second group of four-bar mechanisms; the directions of the first group of four-bar mechanisms and the second group of four-bar mechanisms are orthogonal, and the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
In some other preferred embodiments, the two-degree-of-freedom rotary parallel mechanism for ball hinge control further comprises a first group of driving parts and a second group of driving parts, wherein the first group of driving parts are connected with the first group of four-bar mechanisms to provide power for the first group of four-bar mechanisms, and the second group of driving parts are connected with the second group of four-bar mechanisms to provide power for the second group of four-bar mechanisms. Specifically, referring to fig. 1, the first group of driving components includes a first motor 1-a, a first speed reducer 2-a and a first fixing support 3-a, wherein the first motor 1-a is connected with the first speed reducer 2-a, an output shaft of the first speed reducer 2-a is connected with a first output end connecting piece 4-a, the first speed reducer 2-a is fixed by the first fixing support 3-a, and the first fixing support 3-a is fixed on the stationary platform. The second group of driving components comprises a second motor 1-B, a second speed reducer 2-B and a second fixed support 3-B, wherein the second motor 1-B is connected with the second speed reducer 2-B, an output shaft of the second speed reducer 2-B is connected with a second output end connecting piece 4-B, the second speed reducer 2-B is fixed through the second fixed support 3-B, and the second fixed support 3-B is fixed on the static platform. The first group of driving parts and the second group of driving parts are positioned on the same plane and are vertically distributed. When the mechanism works, in the rotating process of the first motor 1-A and the second motor 1-B, the first connecting rod 5-A and the second connecting rod 5-B are always kept parallel, and the planes of the first transition piece 6, the second transition piece 7 and the two third transition pieces 8 are always parallel to the planes of the two groups of driving parts.
The planes in which the two sets of drive components lie are parallel to the planes in which the first transition piece 6, the second transition piece 7 and the two third transition pieces 8 lie.
In other preferred embodiments, the telescopic rods comprise a first telescopic rod 10 and a second telescopic rod 11, the first telescopic rod 10 is provided with a first sliding groove, the second telescopic rod 11 is provided with a first boss, the first boss is clamped on the first sliding groove, the first boss can linearly move on the first sliding groove and is fixed in a tightening manner through a jackscrew to limit movement, and the length adjusting function of the telescopic rods is realized; one end of the second telescopic rod 11 is connected with the main transmission shaft 9 through a bolt. Further, in a preferred embodiment, the first telescopic rod 10 is an L-shaped member, and the first sliding slot is arranged along the length direction of the long side of the L-shaped member. And a second sliding groove is also arranged in the length direction of the short side of the L-shaped component, and the length direction of the second sliding groove is vertical to that of the first sliding groove, so that the length adjustment in two directions can be realized.
In other partially preferred embodiments, referring to fig. 1, the end effector includes a telescoping rod attachment 12, a U-shaped plate 13, and a ball-and-socket joint mechanism attachment 14, wherein one end of the telescoping rod attachment 12 is connected to the first telescoping rod and the other end of the telescoping rod attachment 12 is connected to the U-shaped plate 13. The center of U-shaped plate 13 is equipped with first through-hole, and the both sides of U-shaped plate 13 are equipped with second through-hole, third through-hole respectively. The other end of the telescopic rod connecting piece 12 is connected with a first through hole (central through hole) of the U-shaped plate 13 through a shaft and a bearing; two ends of the ball hinge mechanism connecting piece 14 are respectively connected with the second through hole and the third through hole of the U-shaped plate 13 through a shaft and a bearing. The telescopic rod connecting piece 12, the U-shaped plate 13 and the ball hinge mechanism connecting piece 14 are located on the same horizontal plane, wherein the U-shaped plate 13 comprises a bottom plate and two side plates, the open end of the U-shaped plate 13 is arranged towards one side, the telescopic rod connecting piece 12 is connected with the bottom plate shaft of the U-shaped plate 13, the ball hinge mechanism connecting piece 14 is a rod-shaped part, and the ball hinge mechanism connecting piece 14 is rotatably connected between the two side plates of the U-shaped plate 13.
In other preferred embodiments, a second boss is provided at the end of the extension pole attachment member 12 that is located at the end of the extension pole attachment member 12 that is connected to the first extension pole 10. The second boss joint is on the second spout of the minor face of first telescopic link 10(L shape component), and the linear motion can be made in the length direction of second spout to the second boss can be fixed through the tight mode in jackscrew top, the restriction removes. The telescopic rod connecting piece 12 moves linearly on the first telescopic rod 10, so that the U-shaped plate 13 is driven to move linearly, and the linear movement of the ball hinge mechanism is finally realized. The length of the combination of the first telescopic rod 10 and the second telescopic rod 11 after the connection of the two telescopic rods and the length of the combination of the second telescopic rod 11 and the telescopic rod connecting piece 12 after the connection of the two telescopic rods in the four-bar mechanism are adjusted.
In other preferred embodiments, the ball hinge mechanism comprises a connecting rod 15 and a ball hinge base 16, the upper end of the connecting rod 15 is fixedly connected with the ball hinge mechanism connecting piece 14, and the lower end of the connecting rod 15 is in constrained fit with the ball hinge base 16 through a ball hinge.
The two-degree-of-freedom rotation parallel mechanism is applied to control of the control lever, the connecting rod 15 and the spherical hinge base 16 can be regarded as operation lever objects connected by the spherical hinge, such as an automobile gear lever, an operation lever or a rocker of an equipment console and the like, the terminal execution part is fixedly connected with the controlled operation lever, the all-round control of the operation lever can be realized, and the control complexity is greatly reduced due to the complete decoupling of the mechanism.
Through the optimization design of various structures, the invention has the characteristics of high precision, flexible structure, fast dynamic response, complete decoupling, low control cost and the like.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A two-degree-of-freedom rotation parallel mechanism for ball hinge control is characterized by comprising: transmission part, end executive component, ball hinge mechanism, wherein:
the transmission member includes: the device comprises a first output end connecting piece, a second output end connecting piece, a first connecting rod, two second connecting rods, a first transition piece, a second transition piece, two third transition pieces, a main transmission shaft and a telescopic rod; the lower end of the first connecting rod is connected with the first output end connecting piece through a bearing, the upper end of the first connecting rod is connected with the first transition piece through a bearing, and the first transition piece and the first output end connecting piece are arranged in parallel; the second transition piece is connected with the first transition piece through a bearing, and the first output end connecting piece, the first connecting rod, the first transition piece and the second transition piece are positioned in the same plane; the two second connecting rods are arranged in parallel, the lower ends of the two second connecting rods are respectively connected with the second output end connecting piece through bearings, the upper ends of the two second connecting rods are respectively connected with the two third transition pieces through bearings, and the second output end connecting piece, the two second connecting rods and the two third transition pieces are positioned in the same plane; the third transition piece and the second transition piece are coaxially arranged, and the first transition piece, the second transition piece and the two third transition pieces are positioned in the same plane; the second transition piece and the third transition piece are sleeved on the main transmission shaft and are connected through a bearing; the telescopic rod is connected with one end of the main transmission shaft;
one end of the tail end executing component is connected with the telescopic rod of the transmission component, the other end of the tail end executing component is fixedly connected with the upper end of the ball hinge mechanism, and the tail end executing component is driven by the transmission component to perform spherical motion together with the ball hinge mechanism;
the first output end connecting piece, the first connecting rod, the first transition piece, the second transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a first group of four-bar mechanisms; the second output end connecting piece, the second connecting rod, the third transition piece, the main transmission shaft, the telescopic rod, the tail end executing part and the ball hinge mechanism form a second group of four-bar mechanisms; the directions of the first group of four-bar mechanisms and the second group of four-bar mechanisms are orthogonal, and the two-degree-of-freedom motion of the whole mechanism is completely decoupled.
2. The two-degree-of-freedom rotary parallel mechanism for ball hinge control according to claim 1, further comprising a first group of driving members and a second group of driving members, wherein the first group of driving members is connected to the first group of four-bar linkages to power the first group of four-bar linkages, and the second group of driving members is connected to the second group of four-bar linkages to power the second group of four-bar linkages;
the first group of driving parts and the second group of driving parts are positioned on the same plane and are vertically distributed;
the first set of drive members and the second set of drive members lie in a plane parallel to a plane in which the first transition piece, the second transition piece, and the two third transition pieces lie.
3. The two-degree-of-freedom rotary parallel mechanism for the ball hinge control according to claim 2, wherein the first group of driving components comprises a first motor, a first speed reducer and a first fixed bracket, the first motor is connected with the first speed reducer, an output shaft of the first speed reducer is connected with the first output end connecting piece, and the first speed reducer is fixed through the first fixed bracket;
the second group of driving components comprise a second motor, a second speed reducer and a second fixing support, the second motor is connected with the second speed reducer, an output shaft of the second speed reducer is connected with the second output end connecting piece, and the second speed reducer is fixed through the second fixing support.
4. The two-degree-of-freedom rotating parallel mechanism for the ball hinge control as claimed in claim 1, wherein the telescopic rod comprises a first telescopic rod and a second telescopic rod, the first telescopic rod is provided with a first chute, the second telescopic rod is provided with a first boss, the first boss is clamped on the first chute, the first boss can move linearly on the first chute, and the length adjustment of the telescopic rod is realized; one end of the second telescopic rod is connected with the main transmission shaft.
5. The two-degree-of-freedom rotary parallel mechanism for the ball hinge control as claimed in claim 4, wherein the first telescopic rod and the second telescopic rod are fixed in a manner of tightening a jackscrew for limiting movement.
6. The two-degree-of-freedom rotary parallel mechanism for the ball hinge control as claimed in claim 4, wherein the first telescopic rod is an L-shaped member, the long side and the short side of the L-shaped member are provided with the first sliding slot arranged along the length direction of the long side of the L-shaped member, and the short side of the L-shaped member is provided with the second sliding slot arranged along the length direction of the short side of the L-shaped member; the second sliding groove is perpendicular to the length direction of the first sliding groove.
7. The two-degree-of-freedom rotary parallel mechanism for ball hinge control according to claim 6, wherein the end effector comprises a telescopic rod connector, a U-shaped plate and a ball hinge mechanism connector, wherein the telescopic rod connector is slidably connected with the short side of the L-shaped member, a first through hole is formed in the center of the U-shaped plate, a second through hole and a third through hole are respectively formed in two sides of the U-shaped plate, one end of the telescopic rod connector is connected with the first through hole of the U-shaped plate through a bearing, and two ends of the ball hinge mechanism connector are respectively connected with the second through hole and the third through hole of the U-shaped plate and the ball hinge mechanism connector through bearings.
8. The two-degree-of-freedom rotary parallel mechanism for ball hinge control according to claim 7, wherein a second boss is provided at the other end of the telescopic link connecting member, the second boss is engaged with the second sliding slot of the short side of the L-shaped member, and the second boss can move linearly on the second sliding slot, so that the telescopic link connecting member can move linearly on the first telescopic link.
9. The two-degree-of-freedom rotary parallel mechanism for ball hinge control according to claim 7, wherein the ball hinge mechanism comprises a connecting rod and a ball hinge base, the upper end of the connecting rod is connected with the ball hinge mechanism connecting piece, and the lower end of the connecting rod is in constrained fit with the ball hinge base through a ball hinge.
10. A two degree-of-freedom rotary parallel mechanism for ball hinge control according to any one of claims 1-9, wherein the first link is disposed in parallel with the second link.
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| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| CN1155458C (en) * | 2001-12-31 | 2004-06-30 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN100348377C (en) * | 2006-01-18 | 2007-11-14 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101590650B (en) * | 2009-07-03 | 2011-04-27 | 东华大学 | Decoupled three-rotational-degree-of-freedom parallel mechanism |
| CN102079090B (en) * | 2011-01-28 | 2012-05-16 | 北京航空航天大学 | Double-DOF (degree of freedom) space rotation parallel mechanism |
| CN104354154B (en) * | 2014-09-19 | 2016-05-11 | 深圳职业技术学院 | Three translating parallel robot mechanisms |
| CN104526685B (en) * | 2015-01-09 | 2016-04-20 | 天津大学 | Containing the redundant drive plane two-degree-of-freedoparallel parallel manipulator of parallelogram side chain |
| CN105619398A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Branched-chain coupling two-rotation parallel mechanism |
| JP2018001385A (en) * | 2016-07-08 | 2018-01-11 | ソニー株式会社 | Parallel linkage device, industrial robot, and force indicating apparatus |
| CN107571247A (en) * | 2017-10-21 | 2018-01-12 | 长沙展朔轩兴信息科技有限公司 | A kind of two-freedom rotating decoupling parallel robot mechanism |
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