CN1673606A - Space four freedom mechanism for realizing three rotating and one moving - Google Patents
Space four freedom mechanism for realizing three rotating and one moving Download PDFInfo
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- CN1673606A CN1673606A CN 200510050250 CN200510050250A CN1673606A CN 1673606 A CN1673606 A CN 1673606A CN 200510050250 CN200510050250 CN 200510050250 CN 200510050250 A CN200510050250 A CN 200510050250A CN 1673606 A CN1673606 A CN 1673606A
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Abstract
The present invention discloses one kind of four-freedom spatial structure realizing three rotation freedoms and one translation freedom. There are four driving branch chains, each of which has upper joint connected between one corner of the upper platform and the upper end of one linear motion executor, and lower joint connected between one corner of the lower platform and the lower end of the linear motion executor, and one driven branch chain, which has upper joint connected between the upper platform and the upper end of the driven branch member and lower end member connected to the lower platform vertically. The present invention can realize the rotation of the upper platform around three spatial coordinate axes and one transition along one axis. The present invention is used in various stably tracking platform, motion simulator, shuttle butt connector, etc.
Description
Technical field
The present invention relates to space multiple-degree-of-freedom mechanism in parallel, particularly relate to a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize.
Background technique
Paralleling mechanism has series of advantages such as rigidity is big, bearing capacity is strong, error is little, precision is high, response is fast, mass-power ratio is little, is used widely in fields such as emulation platform, robot, lathe, airship docking mechanisms.
High quality satellite communication during motion carrier (vehicle, naval vessel, aircraft etc.) is advanced, the steady aim of the MISSILE LAUNCHING in the motion, tank and self-propelled gun and so on tactical vehicle, tracking shooting, and the attitude stabilization of sonar transducer array etc. or the like all has very important significance, and this just needs to realize the isolation to carrier driftage, rolling, pitching and heave movement.
At present, can realize that the mechanism that Three Degree Of Freedom rotates mainly contains three-axle table, the six-degree-of-freedom platform etc. that drives in parallel.The three-axle table that electronic or electric liquid drives has been a matured product at present, and existing at home and abroad application more widely is especially in field of aerospace.Its main feature is the control accuracy height, and slewing area is big; Deficiency is that carrying is less.Driving six-degree-of-freedom platform in parallel can be realized the motion of six-freedom degree, i.e. three linear motions and three rotations.The advantage of this mechanism is that structural rigidity is big, bearing capacity is strong, and faster system response; Deficiency is that working space is less, and dexterity is relatively poor; Because the six-degree-of-freedom platform is the imaginary axis structure, and its angle attitude control accuracy is also low than three-axle table, even when the no movement instruction of a certain axle, because the structural failure and the departure of platform, the motion of other degrees of freedom also can cause the rotation error on this again; And when the six-degree-of-freedom platform used as Three-degree of Freedom Rotational Platform, unnecessary degrees of freedom was a kind of wasting of resources in fact.
The present invention adopts four actuators to drive, and big bearing capacity is arranged, and the higher angular attitude control accuracy is arranged, can satisfy corner stroke peculiar to vessel and vehicle-mounted requirement, be the desirable Integrated Solution of parallel tenacious tracking platform.
The present invention also can be widely used in except that above-mentioned application:
1. motion simulator.The motion simulator that can be used for naval vessel, vehicle, available it come analog simulation spectrum of road surface roughness and sea spectrum, train, experimental test, combination system checking etc., very wide application is all arranged on military and civilian; Very application prospects is also arranged on show business simultaneously.
2. the airship docking adapter in the space flight, the submarine rescue docking adapter in the navigation.
3. robot.The parallel 3-DOF robot is as a member of parallel manipulator philtrum, constitutes complementary relationship with the application of the tandem robot of present extensive use, thereby enlarges entire machine people's application.
4. lathe.In order to overcome the defective of traditional lathe in configuration aspects, many countries have all developed the virtual-shaft machine tool based on paralleling mechanism that is called as " numerically controlled processing equipment of new generation of 21 century ".Because the characteristics of paralleling mechanism make machining accuracy, quality of processing and the processing speed of this lathe all improve greatly.
Summary of the invention
The purpose of this invention is to provide a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize.
In order to achieve the above object, the technical solution used in the present invention is: comprise upper mounting plate, the active branched chain of four same structures, lower bolster, driven side chain; Wherein:
1) active branched chain comprises: active branched chain upper joint, rectilinear movement executor, active branched chain hypozygal; One end of each active branched chain upper joint is connected with an angle of upper mounting plate respectively, and the other end of each active branched chain upper joint is connected with the rectilinear movement executor upper end respectively; One end of each active branched chain hypozygal is connected with an angle of lower bolster respectively, and the other end of each active branched chain hypozygal is connected with the rectilinear movement executor lower end respectively; Four active branched chain upper joint central points are connected to the last rectangle that radius is the circle of r in constituting one; Four active branched chain hypozygal central points are connected to the following rectangle that radius is the circle of R in constituting one, and the Elongation of upper and lower rectangle is inequality;
2) driven side chain comprises: driven side chain lower-end member, driven kinematic pair, driven side chain upper component, driven side chain upper joint; One end of driven side chain upper joint is connected with upper mounting plate, the central point of driven side chain upper joint is positioned at the center of rectangle, the other end of driven side chain upper joint is connected with driven side chain upper component upper end, driven side chain lower-end member is connected with the lower bolster vertical fixing, and tie point is the center of following rectangle; The lower end of the upper end of driven side chain lower-end member and driven side chain upper component is connected by driven kinematic pair;
The present invention compares with background technique, and the useful effect that has is: at present, can realize that the mechanism that Three Degree Of Freedom rotates mainly contains three-axle table, the six-degree-of-freedom platform etc. that drives in parallel.The three-axle table that electronic or electric liquid drives has been a matured product at present, and existing at home and abroad application more widely is especially in field of aerospace.Its main feature is the control accuracy height, and slewing area is big; Deficiency is that carrying is less.Driving six-degree-of-freedom platform in parallel can be realized the motion of six-freedom degree, i.e. three linear motions and three rotations.The advantage of this mechanism is that structural rigidity is big, bearing capacity is strong, and faster system response; Deficiency is that working space is less, and dexterity is relatively poor; Because the six-degree-of-freedom platform is the imaginary axis structure, and its angle attitude control accuracy is also low than three-axle table, even when the no movement instruction of a certain axle, because the structural failure and the departure of platform, the motion of other degrees of freedom also can cause the rotation error on this again; And when the six-degree-of-freedom platform used as Three-degree of Freedom Rotational Platform, unnecessary degrees of freedom was a kind of wasting of resources in fact.The present invention adopts the driving in parallel of four actuators, and big bearing capacity is arranged, and the higher angular attitude control accuracy is arranged, can satisfy corner stroke peculiar to vessel and vehicle-mounted requirement, be the desirable Integrated Solution of parallel tenacious tracking platform.
Description of drawings
Fig. 1 is a structural principle schematic representation of the present invention;
Fig. 2 is a 3 d effect graph of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As shown in Figure 1 and Figure 2, the present invention includes the active branched chain 2 of 1, four same structure of upper mounting plate, lower bolster 6, driven side chain 9; Wherein:
1) active branched chain 2 comprises: active branched chain upper joint 3, rectilinear movement executor 4, active branched chain hypozygal 5 are rigid member; One end of each active branched chain upper joint 3 is connected with an angle of upper mounting plate 1 respectively, and the other end of each active branched chain upper joint 3 is connected with rectilinear movement executor 4 upper ends respectively; One end of each active branched chain hypozygal 5 is connected with an angle of lower bolster 6 respectively, and the other end of each active branched chain hypozygal 5 is connected with rectilinear movement executor 4 lower ends respectively; Four active branched chain upper joint 3 central point B
1, B
2, B
3, B
4Being connected to radius in constituting one is the last rectangle B of the circle of r
1B
2B
3B
4Four active branched chain hypozygal 5 central point A
1, A
2, A
3, A
4Being connected to radius in constituting one is the following rectangle A of the circle of R
1A
2A
3A
4, the Elongation of upper and lower rectangle is inequality;
2) driven side chain 9 comprises: driven side chain lower-end member 7, driven kinematic pair 8, driven side chain upper component 10, driven side chain upper joint 11 are rigid member; One end of driven side chain upper joint 11 is connected with upper mounting plate 1, and the central point of driven side chain upper joint 11 is positioned at rectangle B
1B
2B
3B
4Center O ', the other end of driven side chain upper joint 11 is connected with driven side chain upper component 10 upper ends, driven side chain lower-end member 7 is connected with lower bolster 6 vertical fixing, tie point is following rectangle A
1A
2A
3A
4Center O; The lower end of the upper end of driven side chain lower-end member 7 and driven side chain upper component 10 is connected by driven kinematic pair 8;
The kinematic pair of described active branched chain upper joint 3, rectilinear movement executor 4, active branched chain hypozygal 5 is respectively the combination of the Hooke's hinge of two-freedom, sliding pair and rotary pair, the Hooke's hinge of two-freedom.
The kinematic pair of described active branched chain upper joint 3, rectilinear movement executor 4, active branched chain hypozygal 5 is respectively the ball pivot of the ball pivot of Three Degree Of Freedom, sliding pair, Three Degree Of Freedom.
The kinematic pair of described active branched chain upper joint 3, rectilinear movement executor 4, active branched chain hypozygal 5 is respectively the ball pivot of the Hooke's hinge of two-freedom, sliding pair, Three Degree Of Freedom.
The kinematic pair of described active branched chain upper joint 3, rectilinear movement executor 4, active branched chain hypozygal 5 is respectively the Hooke's hinge of the ball pivot of Three Degree Of Freedom, sliding pair, two-freedom.
The kinematic pair of described driven side chain upper joint 11, driven kinematic pair 8 is respectively the combination of the Hooke's hinge of two-freedom, sliding pair and rotary pair.
The kinematic pair of described driven side chain upper joint 11, driven kinematic pair 8 is respectively the combination of the ball pivot of Three Degree Of Freedom, sliding pair and rotary pair.
The kinematic pair of described driven side chain upper joint 11, driven kinematic pair 8 is respectively the ball pivot of Three Degree Of Freedom, sliding pair.
Upper mounting plate 1 and lower bolster 6 keeping parallelisms, the position shape that not have rotation around the Z axle, four rectilinear movement executor 4 displacements be 0 o'clock mechanism are defined as the initial bit shape of mechanism.
Set up system of coordinates as shown in Figure 1, define basis coordinates system (O-XYZ) and kinetic coordinate system (O '-X ' Y ' Z '), kinetic coordinate system (O '-X ' Y ' Z ') be based upon on the upper mounting plate 1, initial point O ' is positioned at rectangle B
1B
2B
3B
4The center, O '-X ' Y ' plane and rectangle B
1B
2B
3B
4The place planes overlapping; Basis coordinates system (O-XYZ) is fixed on the lower bolster 6, and the direction of its direction kinetic coordinate system during with initial bit shape (O '-X ' Y ' Z ') is identical, and initial point O is positioned at rectangle A
1A
2A
3A
4The center, O-XY plane and rectangle A
1A
2A
3A
4The place planes overlapping.A
1, A
2Angle and A with the Y-axis postive direction
3, A
4Be θ with the angle of Y-axis negative direction
1, B
1, B
2Angle and B with Y ' axle postive direction
3, B
4Be θ with the angle of Y ' axle negative direction
2, θ
1, θ
2Unequal, and all greater than 0 °, less than 90 °.
According to Kutzbach Grubler formula, mechanism freedom is:
In the formula: the number of degrees of freedom of M-mechanism
The exponent number of d-loop
The n-number of components
G-kinematic pair number
f
iThe number of degrees of freedom an of-Di i kinematic pair
The number of degrees of freedom that calculates this paralleling mechanism is: M=4.
Degrees of freedom to mechanism is analyzed, after the kinematic pair of active branched chain 2 is amounted to into the single-degree-of-freedom pair, the series connection open kinematic chain that is equivalent to 6 single-degree-of-freedom pairs, to not constraint of upper mounting plate, after the kinematic pair of driven side chain 9 is amounted to into the single-degree-of-freedom pair, the series connection open kinematic chain that is equivalent to 4 single-degree-of-freedom pairs, so driven side chain 9 is given 1 two constraints of upper mounting plate, two translational degree of freedom of upper mounting plate 1 on O ' X ' Y ' plane have been retrained, upper mounting plate is subjected to two constraints altogether, remaining four degrees of freedom, promptly upper mounting plate has around X ', Y ', the rotational freedom that Z ' is three and along the one-movement-freedom-degree of Z '.
In the movement process, a certain spatial attitude corresponding to mechanism, resolve the displacement that draws active branched chain 2 needs realizations by kinology, drive by rectilinear movement executor 4, driven side chain 9 can only be done accompany movement and outputting power not, or in the process of accompany movement the load gravity on the balance upper mounting plate 1.
Claims (8)
1, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize, it is characterized in that: it comprises upper mounting plate (1), the active branched chain of four same structures (2), lower bolster (6), driven side chain (9); Wherein:
1) active branched chain (2) comprising: active branched chain upper joint (3), rectilinear movement executor (4), active branched chain hypozygal (5); One end of each active branched chain upper joint (3) is connected with an angle of upper mounting plate (1) respectively, and the other end of each active branched chain upper joint (3) is connected with rectilinear movement executor (4) upper end respectively; One end of each active branched chain hypozygal (5) is connected with an angle of lower bolster (6) respectively, and the other end of each active branched chain hypozygal (5) is connected with rectilinear movement executor (4) lower end respectively; Four active branched chain upper joints (3) central point is connected to the last rectangle that radius is the circle of r in constituting one; Four active branched chain hypozygals (5) central point is connected to the following rectangle that radius is the circle of R in constituting one, and the Elongation of upper and lower rectangle is inequality;
2) driven side chain (9) comprising: driven side chain lower-end member (7), driven kinematic pair (8), driven side chain upper component (10), driven side chain upper joint (11); One end of driven side chain upper joint (11) is connected with upper mounting plate (1), the central point of driven side chain upper joint (11) is positioned at the center of rectangle, the other end of driven side chain upper joint (11) is connected with driven side chain upper component (10) upper end, driven side chain lower-end member (7) is connected with lower bolster (6) vertical fixing, and tie point is the center of following rectangle; The lower end of the upper end of driven side chain lower-end member (7) and driven side chain upper component (10) is connected by driven kinematic pair (8);
2, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described active branched chain upper joint (3), rectilinear movement executor (4), active branched chain hypozygal (5) is respectively the combination of Hooke's hinge, sliding pair and the rotary pair of two-freedom, the Hooke's hinge of two-freedom.
3, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described active branched chain upper joint (3), rectilinear movement executor (4), active branched chain hypozygal (5) is respectively the ball pivot of the ball pivot of Three Degree Of Freedom, sliding pair, Three Degree Of Freedom.
4, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described active branched chain upper joint (3), rectilinear movement executor (4), active branched chain hypozygal (5) is respectively the ball pivot of the Hooke's hinge of two-freedom, sliding pair, Three Degree Of Freedom.
5, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described active branched chain upper joint (3), rectilinear movement executor (4), active branched chain hypozygal (5) is respectively the Hooke's hinge of the ball pivot of Three Degree Of Freedom, sliding pair, two-freedom.
6, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described driven side chain upper joint (11), driven kinematic pair (8) is respectively the combination of Hooke's hinge, sliding pair and the rotary pair of two-freedom.
7, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described driven side chain upper joint (11), driven kinematic pair (8) is respectively the combination of ball pivot, sliding pair and the rotary pair of Three Degree Of Freedom.
8, a kind of three rotation and space four-degree-of-freedom mechanisms that move that realize according to claim 1, it is characterized in that: the kinematic pair of described driven side chain upper joint (11), driven kinematic pair (8) is respectively ball pivot, the sliding pair of Three Degree Of Freedom.
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| CN 200510050250 CN1673606A (en) | 2005-04-13 | 2005-04-13 | Space four freedom mechanism for realizing three rotating and one moving |
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| CN 200510050250 CN1673606A (en) | 2005-04-13 | 2005-04-13 | Space four freedom mechanism for realizing three rotating and one moving |
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| CN101776197A (en) * | 2010-03-26 | 2010-07-14 | 燕山大学 | Six-cylinder driven tri-axial rotary platform |
| CN102069487A (en) * | 2010-12-22 | 2011-05-25 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102079369A (en) * | 2010-12-31 | 2011-06-01 | 大连理工大学 | Three-degree of freedom (TDOF) adjustable pier for ship |
| CN103035159A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Double parallel type heavy-duty static balance motion simulation platform |
| CN103066388A (en) * | 2011-10-19 | 2013-04-24 | 南京航空航天大学 | Antenna test robot of two degrees of freedom |
| CN103192377A (en) * | 2013-03-18 | 2013-07-10 | 安科智慧城市技术（中国）有限公司 | Free motion device |
| CN103317499A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type four-degree-of-freedom parallel connected stable platform |
| CN103423558A (en) * | 2013-07-16 | 2013-12-04 | 燕山大学 | Coupled four-freedom-degree parallel connection vibration isolation platform |
| CN103498756A (en) * | 2013-09-17 | 2014-01-08 | 中国船舶重工集团公司第七一〇研究所 | Device for interconversion between random motion and spatial linear motion |
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| CN105500341A (en) * | 2016-01-13 | 2016-04-20 | 燕山大学 | Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots |
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Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101776197A (en) * | 2010-03-26 | 2010-07-14 | 燕山大学 | Six-cylinder driven tri-axial rotary platform |
| CN102069487A (en) * | 2010-12-22 | 2011-05-25 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102069487B (en) * | 2010-12-22 | 2012-07-04 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102079369A (en) * | 2010-12-31 | 2011-06-01 | 大连理工大学 | Three-degree of freedom (TDOF) adjustable pier for ship |
| CN103066388A (en) * | 2011-10-19 | 2013-04-24 | 南京航空航天大学 | Antenna test robot of two degrees of freedom |
| CN103066388B (en) * | 2011-10-19 | 2015-11-25 | 南京航空航天大学 | Two-freedom antenna measurement robot |
| CN103035159B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Double parallel type heavy-duty static balance motion simulation platform |
| CN103035159A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Double parallel type heavy-duty static balance motion simulation platform |
| CN103192377A (en) * | 2013-03-18 | 2013-07-10 | 安科智慧城市技术（中国）有限公司 | Free motion device |
| CN103192377B (en) * | 2013-03-18 | 2015-11-04 | 安科智慧城市技术（中国）有限公司 | Freely-movable device |
| CN103317499A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type four-degree-of-freedom parallel connected stable platform |
| CN103423558A (en) * | 2013-07-16 | 2013-12-04 | 燕山大学 | Coupled four-freedom-degree parallel connection vibration isolation platform |
| CN103498756A (en) * | 2013-09-17 | 2014-01-08 | 中国船舶重工集团公司第七一〇研究所 | Device for interconversion between random motion and spatial linear motion |
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| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
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| CN104626130A (en) * | 2015-03-13 | 2015-05-20 | 洛阳理工学院 | Variable-topology four-degrees-of-freedom parallel mechanism |
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| CN106838568A (en) * | 2016-11-29 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | Series-parallel connection Three Degree Of Freedom cradle head mechanism |
| CN106838568B (en) * | 2016-11-29 | 2019-02-05 | 哈尔滨工业大学深圳研究生院 | Mixed connection Three Degree Of Freedom cradle head mechanism |
| CN106641634B (en) * | 2016-11-29 | 2019-05-03 | 哈尔滨工业大学深圳研究生院 | Compact cradle head mechanism |
| CN108279576A (en) * | 2017-12-26 | 2018-07-13 | 湖北航天技术研究院总体设计所 | A kind of composite shaft target following emulation test system |
| CN108656079A (en) * | 2018-04-13 | 2018-10-16 | 上海大学 | A kind of parallel institution of three flat one turn of four-degree-of-freedoms |
| CN109253839A (en) * | 2018-09-27 | 2019-01-22 | 上海长征医院 | A kind of autobalance workbench |
| CN113947968A (en) * | 2021-12-20 | 2022-01-18 | 江苏普旭科技股份有限公司 | Slide rail type double-motion platform butt joint simulation system and method |
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