CN1480954A - New type series-parallel connected three degrees of freedom mechanism in pure rotational motion - Google Patents
New type series-parallel connected three degrees of freedom mechanism in pure rotational motion Download PDFInfo
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- CN1480954A CN1480954A CNA021328641A CN02132864A CN1480954A CN 1480954 A CN1480954 A CN 1480954A CN A021328641 A CNA021328641 A CN A021328641A CN 02132864 A CN02132864 A CN 02132864A CN 1480954 A CN1480954 A CN 1480954A
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Abstract
The mechanism consists of rotating joint, connecting bar possessing motion degree of freedom, central constraint pole, upper platform and lower platform. Revolving axis of the rotating joint is connected to the upper platform rigidly. One end of the central constraint pole is connected to the center of the lower platform rigidly, and the other end is connected to the upper platform through a ball pair. Two ends of two pieces of connecting bar possessing motion degree of freedom are connected to upper platform and lower platform through ball pairs, and distributed on a circle with a crossing point between the central constraint pole and platform being as circle center. The invention realizes interlocked rotations around three coordinate axes. Continuous turning can be realized in rolling degree of freedom, rotating range of other two-degree of rotational freedom is not large. The invented mechanism is utilized to application needed of high rigidity and small sectional area.
Description
Technical field
The present invention relates to the pure rotating mechanism of a kind of Three Degree Of Freedom, specifically is a kind of new type series-parallel connected three degrees of freedom mechanism in pure rotational motion.
Background technology
Existing realize that the pure rotating mechanism of Three Degree Of Freedom is a lot, mainly be divided into two kinds, a kind of is the cascaded structure form, promptly respectively around the rotation of three coordinate axis; Another kind is the parallel-connection structure form, and promptly majority is the versions such as parallel kinematic platform based on the STEWART platform structure.Above-mentioned two kinds of forms have relative merits and application scenario separately.When a kind of mechanism of needs, realization is around the rotation interlock of three coordinate axis, wherein lift-over degree of freedom can realize continuous revolution, two other rotary freedom slewing area requires little, and under the little situation of the rigidity height, the sectional area that require mechanism, adopt above-mentioned two kinds of forms to be difficult to satisfy the designing technique index request respectively.
Summary of the invention
For solving the technological difficulties of above-mentioned application scenario, the purpose of this invention is to provide a kind of new type series-parallel connected three degrees of freedom mechanism in pure rotational motion that in parallel and serial mechanism organically can be combined, it can realize the rotation interlock around three coordinate axis, wherein lift-over degree of freedom can realize continuous revolution, two other rotary freedom slewing area requires little, and requires the little application scenario of rigidity height, sectional area of mechanism.
The object of the present invention is achieved like this, is made up of rotary joint, the connecting rod with one-movement-freedom-degree, center constraining rod, lower platform, upper mounting plate, and wherein: the revolving shaft and the upper mounting plate of rotary joint are affixed; The center of center constraining rod one end and lower platform connects firmly, and the other end and upper mounting plate connect with the ball parafacies; Two connecting rod two ends with one-movement-freedom-degree connect with the ball parafacies with upper and lower platform respectively in addition, and being distributed in center constraining rod and platform intersection point is on the circumference at center;
Described connecting rod with one-movement-freedom-degree and the upper and lower platform intersection point and two centers of circle be wired to the right angle; Angle is not 0 degree or 180 degree between the line in described connecting rod with one-movement-freedom-degree and the upper and lower platform intersection point and two centers of circle; Described connecting rod with one-movement-freedom-degree is expansion link structure or guide rail slide block sliding connection structure.
The present invention has following advantage:
1. the present invention organically combines parallel institution and serial mechanism, realization is around the pure rotation of space coordinates three axes, be lift-over, pitching and driftage, the advantage of having given full play to parallel institution and serial mechanism solves the actual techniques difficult problem of certain applications.
2. the present invention can realize the independently moving of lift-over, driftage and pitching, also can realize the coupling of pitching and driftage, and lift-over can be turned round continuously.
3. compact conformation of the present invention, simple, sectional area is little, rigidity is high.
Description of drawings
Fig. 1 is a schematic diagram of mechanism of the present invention.
Fig. 2 is the one embodiment of the invention schematic diagram of mechanism.
Fig. 3 is the another embodiment of the present invention schematic diagram of mechanism.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail
Put example 1 in fact
As shown in Figure 1, the present invention is made up of rotary joint 1, the connecting rod 2 with one-movement-freedom-degree, center constraining rod 4, lower platform 5, upper mounting plate 6, and wherein: the revolving shaft of rotary joint 1 and upper mounting plate 6 are affixed; The center of center constraining rod 4 one ends and lower platform 5 connects firmly, and the other end links to each other with upper mounting plate 6 by ball pair 3; In addition two connecting rod 2 two ends with one-movement-freedom-degree link to each other with upper and lower platform 5,6 by ball pair 3 respectively, and being distributed in center constraining rod 4 and platform intersection point is on the circumference at center, its intersection point and the center of circle be wired to the right angle.
Parallel institution of the present invention is to realize pitching and driftage angle like this:
(slightly rotary joint 1) as shown in Figure 2, be SPS type two-degree-of-freedom parallel mechanism sketch of the present invention, can realize lift-over and yaw freedom, wherein said rotary joint 1 can be realized the lift-over degree of freedom, lower platform 5 is a stationary platform, center constraining rod 4 is middle constraint mechanism, connecting rod 2 with one-movement-freedom-degree is the expansion link structure, because an end of center constraining rod 4 and the center of lower platform 5 (stationary platform) connect firmly, the other end links to each other with upper mounting plate 6 by ball is secondary, two two ends with connecting rod 2 of one-movement-freedom-degree link to each other with last lower platform by ball pair 3 in addition, being distributed in center constraining rod 4 is on the circumference at center with the platform intersection point, its intersection point and the center of circle be wired to the right angle; When two length with connecting rod 2 of one-movement-freedom-degree change, can realize upper mounting plate, rotatablely move around the two-freedom of center constraining rod 4, realize the motion that lift-over and driftage angle are not coupled mutually, and the connecting rod 2 that has an one-movement-freedom-degree when two of this parallel institutions does not overlap with the pin joint of platform, and when not being the right angle and the straight angle with the angle of central point, parallel institution realizes that pitching and crab angle are coupled.
Embodiment 2
(slightly rotary joint 1) is PSS type two-degree-of-freedom parallel mechanism sketch of the present invention as shown in Figure 3, and two length with connecting rod 2 of one-movement-freedom-degree immobilize, and the one end is slidingly connected along fixing guide rail slide block.
Claims (4)
1. new type series-parallel connected three degrees of freedom mechanism in pure rotational motion, it is characterized in that: be made up of rotary joint (1), the connecting rod (2) with one-movement-freedom-degree, center constraining rod (4), lower platform (5), upper mounting plate (6), wherein: the revolving shaft of rotary joint (1) and upper mounting plate (6) are affixed; The center of center constraining rod (4) one ends and lower platform (5) connects firmly, and the other end links to each other with ball pair (3) with upper mounting plate (6); Two connecting rod (2) two ends with one-movement-freedom-degree link to each other with ball pair (3) with upper and lower platform (5,6) respectively in addition, and being distributed in center constraining rod (4) is on the circumference at center with the platform intersection point.
2. by the described new type series-parallel connected three degrees of freedom mechanism in pure rotational motion of claim 1, it is characterized in that: described connecting rod (2) with one-movement-freedom-degree and upper and lower platform (5, the 6) intersection point and two centers of circle be wired to the right angle.
3. by the described new type series-parallel connected three degrees of freedom mechanism in pure rotational motion of claim 1, it is characterized in that: angle is not that 0 degree or 180 is spent between the line in described connecting rod (2) with one-movement-freedom-degree and upper and lower platform (5, the 6) intersection point and two centers of circle.
4. by the described new type series-parallel connected three degrees of freedom mechanism in pure rotational motion of claim 1, it is characterized in that: described connecting rod (2) with one-movement-freedom-degree is expansion link structure or guide rail slide block sliding connection structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02132864 CN1240077C (en) | 2002-09-04 | 2002-09-04 | New type series-parallel connected three degrees of freedom mechanism in pure rotational motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02132864 CN1240077C (en) | 2002-09-04 | 2002-09-04 | New type series-parallel connected three degrees of freedom mechanism in pure rotational motion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1480954A true CN1480954A (en) | 2004-03-10 |
| CN1240077C CN1240077C (en) | 2006-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02132864 Expired - Fee Related CN1240077C (en) | 2002-09-04 | 2002-09-04 | New type series-parallel connected three degrees of freedom mechanism in pure rotational motion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1240077C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760038A (en) * | 2015-03-13 | 2015-07-08 | 燕山大学 | Three-degree-of-freedom series-parallel rotating platform |
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
-
2002
- 2002-09-04 CN CN 02132864 patent/CN1240077C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760038A (en) * | 2015-03-13 | 2015-07-08 | 燕山大学 | Three-degree-of-freedom series-parallel rotating platform |
| CN109545038A (en) * | 2018-12-05 | 2019-03-29 | 南京航空航天大学 | A kind of general posture demonstration platform of aircraft and teaching system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1240077C (en) | 2006-02-01 |
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