CN204209685U - A kind of novel two one-rotation parallel mechanisms - Google Patents

A kind of novel two one-rotation parallel mechanisms Download PDF

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CN204209685U
CN204209685U CN201420621439.1U CN201420621439U CN204209685U CN 204209685 U CN204209685 U CN 204209685U CN 201420621439 U CN201420621439 U CN 201420621439U CN 204209685 U CN204209685 U CN 204209685U
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platform
axis
moving platform
static
branch chain
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宋轶民
齐杨
孙涛
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Tianjin University
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Abstract

本实用新型公开了一种新型两转动并联机构,它由静平台、动平台和连接动、静平台的第一支链、第二支链和第三支链构成,所述第一支链、所述第二支链和所述第三支链呈120度空间对称分布。本实用新型的一种新型两转动并联机构由连杆、虎克铰链和转动副组成,各支链完全由普通简单铰链组成,机构结构简单,易于装配;由于机构内部不具有特殊复杂铰链,机构刚度性能优越,可应用于卫星追踪定位,机器人肩/腕关节姿态调整等场合。

The utility model discloses a novel two-rotation parallel mechanism, which is composed of a static platform, a dynamic platform and a first branch chain connecting the dynamic and static platforms, a second branch chain and a third branch chain, the first branch chain, The second branch chain and the third branch chain are symmetrically distributed in a space of 120 degrees. A novel two-rotation parallel mechanism of the utility model is composed of a connecting rod, a Hooke hinge and a revolving pair. Each branch chain is completely composed of an ordinary simple hinge. Excellent stiffness performance, can be used in satellite tracking and positioning, robot shoulder/wrist joint attitude adjustment and other occasions.

Description

一种新型两转动并联机构A New Two-rotation Parallel Mechanism

技术领域technical field

本实用新型涉及两转动并联机构,尤其涉及支链非对称的两转动并联机构。The utility model relates to a two-rotation parallel mechanism, in particular to a two-rotation parallel mechanism with asymmetric branch chains.

背景技术Background technique

两转动并联机构在工业领域具有广泛的应用前景,可用于星间链路卫星的定位追踪装置,机器人肩/腕关节,微创手术机器手等,上述应用领域均要求两转动并联机构易于装配并具有一定的刚度性能。The two-rotation parallel mechanism has broad application prospects in the industrial field. It can be used in positioning and tracking devices for inter-satellite link satellites, robot shoulder/wrist joints, minimally invasive surgical robotic hands, etc. The above-mentioned application fields require that the two-rotation parallel mechanism is easy to assemble and Has a certain stiffness performance.

目前,已提出的并联机构主要存在以下不足:1)已提出的两转动并联机构结构复杂,多含复杂铰链,如专利CN102079090A和CN102294693A中所述机构由多条支链组成,结构复杂;支链包含复杂铰链,装配难度高;2)已有机构无法提供足够的刚度以完成所需操作,如专利CN102126212A和CN103624559A所描述的机构结构特征可等同为一类平面机构,该机构无法为机构法线方向提供足够的支撑刚度,故无法支撑卫星、机器人手臂等完成所需追踪定位操作。At present, the proposed parallel mechanism mainly has the following deficiencies: 1) The proposed two-rotation parallel mechanism has a complex structure and contains complex hinges. As described in patents CN102079090A and CN102294693A, the mechanism is composed of multiple branch chains, and the structure is complex; Contains complex hinges and is difficult to assemble; 2) The existing mechanism cannot provide sufficient rigidity to complete the required operations. The structural features of the mechanism described in patents CN102126212A and CN103624559A can be equivalent to a type of planar mechanism, which cannot be normal to the mechanism The direction provides sufficient support stiffness, so it cannot support satellites, robot arms, etc. to complete the required tracking and positioning operations.

综上所述,现有的两转动并联机构无法满足上述应用领域的要求。In summary, the existing two-rotation parallel mechanism cannot meet the requirements of the above application fields.

发明内容Contents of the invention

本实用新型的目的在于克服已有技术的缺点,提供一种铰链结构简单、刚度性能优越的新型两转动并联机构。The purpose of the utility model is to overcome the shortcomings of the prior art and provide a novel two-rotation parallel mechanism with a simple hinge structure and superior rigidity performance.

为了达到上述目的,本实用新型采用的技术方案是:In order to achieve the above object, the technical scheme that the utility model adopts is:

本实用新型的一种新型两转动并联机构,它由静平台、动平台和连接动、静平台的第一支链、第二支链和第三支链构成,所述第一支链、所述第二支链和所述第三支链呈120度空间对称分布;A novel two-rotation parallel mechanism of the utility model is composed of a static platform, a dynamic platform, and a first branch chain connecting the dynamic and static platforms, a second branch chain and a third branch chain. The first branch chain, the The second branch chain and the third branch chain are distributed symmetrically in a space of 120 degrees;

所述第一支链包括安装在静平台上的第一静平台转动副,所述的第一静平台转动副的转轴与下弧形杆一端转动连接,所述下弧形杆另一端通过第一中间转动副与上弧形杆一端转动连接,所述上弧形杆另一端通过第一动平台转动副与动平台转动连接,所述第一静平台转动副、第一中间转动副和第一动平台转动副轴线汇交于动平台的中心点;The first branch chain includes a first static platform revolving pair installed on the static platform, the rotating shaft of the first static platform revolving pair is rotatably connected to one end of the lower arc-shaped rod, and the other end of the lower arc-shaped rod passes through the second An intermediate rotating pair is rotatably connected to one end of the upper arc-shaped rod, and the other end of the upper arc-shaped rod is rotatably connected to the moving platform through the first moving platform rotating pair. The first static platform rotating pair, the first intermediate rotating pair and the second A moving platform rotating auxiliary axes meet at the center point of the moving platform;

所述第二支链包括安装在静平台上的第二静平台虎克铰链,所述的静平台通过第二静平台虎克铰链与第一下连杆一端转动连接,所述第一下连杆另一端通过第二中间转动副与第一上连杆一端转动连接,所述第一上连杆另一端通过第二动平台虎克铰链与动平台转动连接,所述第二静平台虎克铰链近架轴线和第二动平台虎克铰链近架轴线汇交于所述动平台的中心点,所述第二静平台虎克铰链远架轴线、第二中间转动副轴线和第二动平台虎克铰链远架轴线彼此平行;The second branch chain includes a second static platform Hooke hinge installed on the static platform, and the static platform is rotationally connected to one end of the first lower link through the second static platform Hooke hinge, and the first lower link The other end of the rod is rotatably connected to one end of the first upper link through the second intermediate rotating pair, and the other end of the first upper link is rotatably connected to the moving platform through the second moving platform Hooke hinge, and the second static platform Hooke The axis of the near frame of the hinge and the axis of the near frame of the Hooke hinge of the second moving platform meet at the center point of the moving platform, and the axis of the far frame of the Hooke hinge of the second static platform, the axis of the second intermediate rotating pair and the axis of the second moving platform The axes of the Hooke hinges are parallel to each other;

所述第三支链包括安装在静平台上的第三静平台转动副,所述的静平台通过第三静平台转动副与第二下连杆一端转动连接,所述第二下连杆另一端通过第三中间转动副与第二上连杆一端转动连接,所述第二上连杆另一端通过第三动平台虎克铰链与动平台转动连接,所述第三静平台转动副轴线、第三中间转动副轴线和第三动平台虎克铰链远架轴线彼此平行,所述第三动平台虎克铰链近架轴线通过所述动平台的中心点;The third branch chain includes a third static platform rotating pair installed on the static platform, and the static platform is rotationally connected with one end of the second lower connecting rod through the third static platform rotating pair, and the second lower connecting rod is One end is rotatably connected to one end of the second upper link through the third intermediate rotating pair, and the other end of the second upper link is rotatably connected to the moving platform through the Hooke hinge of the third moving platform. The axis of rotation of the third static platform, The axis of the third intermediate rotating pair and the axis of the far frame of the Hooke hinge of the third moving platform are parallel to each other, and the axis of the near frame of the Hooke hinge of the third moving platform passes through the center point of the moving platform;

所述第一动平台转动副轴线、第二动平台虎克铰链近架轴线和第三动平台虎克铰链近架轴线共面且呈120度对称分布。The axes of the revolving pair of the first moving platform, the near-frame axis of the Hooke hinge of the second moving platform and the near-frame axis of the Hooke hinge of the third moving platform are coplanar and symmetrically distributed at 120 degrees.

本实用新型的优点在于:The utility model has the advantages of:

本实用新型的一种新型两转动并联机构由连杆、虎克铰链和转动副组成,各支链完全由普通简单铰链组成,机构结构简单,易于装配;由于机构内部不具有特殊复杂铰链,机构刚度性能优越,可应用于卫星追踪定位,机器人肩/腕关节姿态调整等场合。A novel two-rotation parallel mechanism of the utility model is composed of a connecting rod, a Hooke hinge and a revolving pair. Each branch chain is completely composed of an ordinary simple hinge. Excellent stiffness performance, can be used in satellite tracking and positioning, robot shoulder/wrist joint attitude adjustment and other occasions.

附图说明Description of drawings

图1是本实用新型的一种新型两转动并联机构的结构示意图;Fig. 1 is a structural representation of a novel two-rotation parallel mechanism of the utility model;

图2是图1所示的机构中的第一支链的结构示意图;Fig. 2 is the structural representation of the first branch chain in the mechanism shown in Fig. 1;

图3是图1所示的机构中的第二支链的结构示意图;Fig. 3 is the structural representation of the second branch chain in the mechanism shown in Fig. 1;

图4是图1所示的机构中的第三支链的结构示意图;Fig. 4 is the structural representation of the 3rd branch chain in the mechanism shown in Fig. 1;

附图标记:静平台 1  第一支链 2  第二支链 3  第三支链 4  动平台 5  第一静平台转动副 6  下弧形杆 7  第一中间转动副 8  上弧形杆 9  第一动平台转动副 10第二静平台虎克铰链 11  第一下连杆 12  第二中间转动副 13  第一上连杆 14  第二动平台虎克铰链 15  第三静平台转动副 16  第二下连杆 17  第三中间转动副 18  第二上连杆 19  第三动平台虎克铰链 20  动平台中心点 P  第一静平台转动副轴线 a第一中间转动副轴线 b  第一动平台转动副轴线 c  第二静平台虎克铰链近架轴线 d  第二静平台虎克铰链远架轴线 e  第二中间转动副轴线 f  第二动平台虎克铰链远架轴线 g第二动平台虎克铰链近架轴线 h  第三静平台转动副轴线 i  第三中间转动副轴线 j第三动平台虎克铰链远架轴线 k  第三动平台虎克铰链近架轴线 mReference signs: static platform 1 first branch chain 2 second branch chain 3 third branch chain 4 moving platform 5 first static platform revolving pair 6 lower arc rod 7 first middle revolving pair 8 upper arc rod 9 first Moving platform revolving pair 10 Second static platform Hooke hinge 11 First lower link 12 Second intermediate revolving pair 13 First upper link 14 Second moving platform Hooke hinge 15 Third static platform revolving pair 16 Second lower link Rod 17 The third intermediate rotating pair 18 The second upper link 19 The third moving platform Hooke hinge 20 The center point of the moving platform P The first static platform rotating auxiliary axis a The first intermediate rotating auxiliary axis b The first moving platform rotating auxiliary axis c The second static platform Hooke hinge near frame axis d the second static platform Hooke hinge far frame axis e the second intermediate rotation axis f the second moving platform Hooke hinge far frame axis g the second dynamic platform Hooke hinge near frame axis h Axis of the third static platform rotating pair i Axis of the third intermediate rotating pair j Axis of the far frame of the third moving platform Hooke hinge k Axis of the near frame of the third moving platform Hooke hinge m

具体实施方式Detailed ways

下面结合具体实施例对本实用新型进行详细描述。The utility model is described in detail below in conjunction with specific embodiments.

如附图所示的本实用新型的一种新型两转动并联机构,由静平台1、动平台5和连接动、静平台的第一支链2、第二支链3和第三支链4构成,所述第一支链、所述第二支链和所述第三支链呈120度空间对称分布;As shown in the accompanying drawings, a novel two-rotation parallel mechanism of the present utility model consists of a static platform 1, a dynamic platform 5 and a first branch chain 2, a second branch chain 3 and a third branch chain 4 connecting the dynamic and static platforms. Composition, the first branch chain, the second branch chain and the third branch chain are distributed symmetrically in a space of 120 degrees;

所述第一支链2包括安装在静平台1上的第一静平台转动副6,所述的第一静平台转动副的转轴与下弧形杆7一端转动连接,所述下弧形杆7另一端通过第一中间转动副8与上弧形杆9一端转动连接,所述上弧形杆9另一端通过第一动平台转动副10与动平台5转动连接,所述第一静平台转动副轴线a、第一中间转动副轴线b和第一动平台转动副轴线c汇交于动平台的中心点P;The first branch chain 2 includes the first static platform rotating pair 6 installed on the static platform 1, the rotating shaft of the first static platform rotating pair is rotationally connected with one end of the lower arc rod 7, and the lower arc rod 7 The other end is rotationally connected to one end of the upper arc-shaped rod 9 through the first intermediate rotating pair 8, and the other end of the upper arc-shaped rod 9 is rotationally connected to the moving platform 5 through the first moving platform rotating pair 10, and the first static platform The rotating pair axis a, the first intermediate rotating pair axis b and the first moving platform rotating pair axis c converge at the center point P of the moving platform;

所述第二支链3包括安装在静平台1上的第二静平台虎克铰链11,所述的静平台1通过第二静平台虎克铰链11与第一下连杆12一端转动连接,所述第一下连杆12另一端通过第二中间转动副13与第一上连杆14一端转动连接,所述第一上连杆14另一端通过第二动平台虎克铰链15与动平台5转动连接,所述第二静平台虎克铰链近架轴线d和第二动平台虎克铰链近架轴线h汇交于所述动平台的中心点P,所述第二静平台虎克铰链远架轴线e、第二中间转动副轴线f和第二动平台虎克铰链远架轴线g彼此平行;The second branch chain 3 includes a second static platform Hooke hinge 11 installed on the static platform 1, and the static platform 1 is rotationally connected with one end of the first lower link 12 through the second static platform Hooke hinge 11, The other end of the first lower link 12 is rotatably connected to one end of the first upper link 14 through the second intermediate rotating pair 13, and the other end of the first upper link 14 is connected to the moving platform through the second moving platform Hooke hinge 15. 5 Rotational connection, the second static platform Hooke hinge near-frame axis d and the second moving platform Hooke hinge near-frame axis h meet at the center point P of the moving platform, and the second static platform Hooke hinge The axis e of the far frame, the axis f of the second intermediate rotating pair and the axis g of the far frame of the second moving platform Hooke hinge are parallel to each other;

所述第三支链4包括安装在静平台1上的第三静平台转动副16,所述的静平台1通过第三静平台转动副16与第二下连杆17一端转动连接,所述第二下连杆17另一端通过第三中间转动副18与第二上连杆19一端转动连接,所述第二上连杆19另一端通过第三动平台虎克铰链20与动平台5转动连接,所述第三静平台转动副轴线i、第三中间转动副轴线j和第三动平台虎克铰链远架轴线k彼此平行,所述第三动平台虎克铰链近架轴线m通过所述动平台的中心点P;The third branch chain 4 includes a third static platform revolving pair 16 installed on the static platform 1, and the static platform 1 is rotatably connected to one end of the second lower link 17 through the third static platform revolving pair 16. The other end of the second lower link 17 is rotationally connected to one end of the second upper link 19 through the third intermediate rotating pair 18, and the other end of the second upper link 19 is rotated with the moving platform 5 through the third moving platform Hooke hinge 20 connection, the axis i of the third static platform revolving pair, the axis j of the third intermediate revolving pair and the axis k of the far frame of the Hooke hinge of the third moving platform are parallel to each other, and the axis m of the near frame of the Hooke hinge of the third moving platform passes through the The center point P of the moving platform;

所述第一动平台转动副轴线c、第二动平台虎克铰链近架轴线h和第三动平台虎克铰链近架轴线m共面且呈120度对称分布。The revolving pair axis c of the first moving platform, the hooke hinge proximal axis h of the second moving platform, and the hooke hinge proximal axis m of the third moving platform are coplanar and symmetrically distributed at 120 degrees.

下面再结合每一幅图对本实用新型加以详细说明。The utility model is described in detail below again in conjunction with each figure.

如图1所示,本实用新型的一种新型两转动并联机构,由静平台1、动平台5和连接动、静平台的第一支链2、第二支链3和第三支链4构成。所述第一支链2、所述第二支链3和所述第三支链4呈120度空间对称分布形式,并具有不一致的机械结构组成。As shown in Figure 1, a novel two-rotation parallel mechanism of the present invention consists of a static platform 1, a dynamic platform 5 and a first branch chain 2, a second branch chain 3 and a third branch chain 4 connecting the dynamic and static platforms. constitute. The first branch chain 2 , the second branch chain 3 and the third branch chain 4 are distributed symmetrically in a space of 120 degrees, and have inconsistent mechanical structure composition.

如图2所示,所述第一支链2由第一静平台转动副6、下弧形杆7、第一中间转动副8、上弧形杆9和第一动平台转动副10组成。所述静平台1通过所述第一静平台转动副6与所述下弧形杆7一端转动连接,所述下弧形杆7另一端通过所述第一中间转动副8与所述上弧形杆9一端转动连接,所述上弧形杆9另一端通过所述第一动平台转动副10与所述动平台5转动连接。所述第一静平台转动副轴线a、所述第一中间转动副轴线b和所述第一动平台转动副轴线c汇交于动平台中心点P。As shown in FIG. 2 , the first branch chain 2 is composed of the first static platform rotating pair 6 , the lower arc-shaped rod 7 , the first middle rotating pair 8 , the upper arc-shaped rod 9 and the first moving platform rotating pair 10 . The static platform 1 is rotationally connected to one end of the lower arc rod 7 through the first static platform rotating pair 6, and the other end of the lower arc rod 7 is connected to the upper arc rod 7 through the first intermediate rotating pair 8. One end of the shaped rod 9 is rotatably connected, and the other end of the upper arc-shaped rod 9 is rotatably connected with the moving platform 5 through the first moving platform rotating pair 10 . The first static platform rotation axis a, the first intermediate rotation axis b and the first moving platform rotation axis c converge at the center point P of the moving platform.

如图3所示,所述第二支链3由第二静平台虎克铰链11、第一下连杆12、第二中间转动副13、第一上连杆14和第二动平台虎克铰链15组成。所述静平台1通过所述第二静平台虎克铰链11与所述第一下连杆12一端转动连接,所述第一下连杆12另一端通过所述第二中间转动副13与所述第一上连杆14一端转动连接,所述第一上连杆14另一端通过所述第二动平台虎克铰链15与所述动平台5转动连接。所述第二静平台虎克铰链近架轴线d和所述第二动平台虎克铰链近架轴线h汇交于所述动平台中心点P,所述第二静平台虎克铰链远架轴线e、所述第二中间转动副轴线f和所述第二动平台虎克铰链远架轴线g彼此平行。As shown in Figure 3, the second branch chain 3 is composed of the second static platform Hooke hinge 11, the first lower link 12, the second intermediate rotating pair 13, the first upper link 14 and the second dynamic platform Hooke Hinge 15 forms. The static platform 1 is rotationally connected to one end of the first lower link 12 through the second static platform Hooke hinge 11, and the other end of the first lower link 12 is connected to the second intermediate rotating pair 13. One end of the first upper link 14 is rotatably connected, and the other end of the first upper link 14 is rotatably connected to the moving platform 5 through the second moving platform Hooke hinge 15 . The near-frame axis d of the Hookee hinge on the second static platform and the near-frame axis h of the Hookee hinge on the second moving platform meet at the central point P of the moving platform, and the far-frame axis of the Hookee hinge on the second static platform e. The axis f of the second intermediate rotating pair and the axis g of the remote frame of the Hooke hinge of the second moving platform are parallel to each other.

如图4所示,所述第三支链4包括第三静平台转动副16、第二下连杆17、第三中间转动副18、第二上连杆19和第三动平台虎克铰链20。所述静平台1通过所述第三静平台转动副16与所述第二下连杆17一端转动连接,所述第二下连杆17另一端通过所述第三中间转动副18与所述第二上连杆19一端转动连接,所述第二上连杆19另一端通过所述第三动平台虎克铰链20与所述动平台5转动连接。所述第三静平台转动副轴线i、所述第三中间转动副轴线j和所述第三动平台虎克铰链远架轴线k彼此平行,所述第三动平台虎克铰链近架轴线m通过所述动平台中心点P。As shown in Figure 4, the third branch chain 4 includes the third static platform rotating pair 16, the second lower connecting rod 17, the third intermediate rotating pair 18, the second upper connecting rod 19 and the third moving platform Hooke hinge 20. The static platform 1 is rotationally connected to one end of the second lower connecting rod 17 through the third static platform rotating pair 16, and the other end of the second lower connecting rod 17 is connected to the second lower connecting rod 17 through the third intermediate rotating pair 18. One end of the second upper link 19 is rotatably connected, and the other end of the second upper link 19 is rotatably connected to the moving platform 5 through the third moving platform Hooke hinge 20 . The axis i of the rotating pair of the third static platform, the axis j of the third intermediate rotating pair and the axis k of the far frame of the Hooke hinge of the third moving platform are parallel to each other, and the axis m of the near frame of the Hooke hinge of the third moving platform Pass through the center point P of the moving platform.

所述第一动平台转动副轴线c、所述第二动平台虎克铰链近架轴线h和所述第三动平台虎克铰链近架轴线m共面且呈120度对称分布。The axis c of the revolving pair of the first moving platform, the axis h of the Hooke hinge near the second moving platform, and the axis m of the Hooke hinge near the third moving platform are coplanar and symmetrically distributed at 120 degrees.

在所述第一静平台转动副6、所述第一中间转动副8和所述第一动平台转动副10作用下,所述第一支链具有空间三自由度转动能力。由于所述第一静平台转动副轴线a、所述第一中间转动副轴线b和所述第一动平台转动副轴线c汇交于所述动平台中心点P,故所述第一支链2的三自由度转动中心为动平台中心点P,其三条转动轴线分别与所述第一静平台转动副轴线a、所述第一中间转动副轴线b和所述第一动平台转动副轴线c重合。Under the action of the first static platform revolving pair 6 , the first intermediate revolving pair 8 and the first moving platform revolving pair 10 , the first branch chain has the ability to rotate in three degrees of freedom in space. Since the first static platform rotation axis a, the first intermediate rotation axis b, and the first moving platform rotation axis c converge at the center point P of the moving platform, the first branch chain The three-degree-of-freedom rotation center of 2 is the center point P of the moving platform, and its three rotation axes are respectively connected to the first static platform rotation axis a, the first intermediate rotation axis b, and the first moving platform rotation axis c coincides.

在所述第二静平台虎克铰链11、所述第二中间转动副13和所述第二动平台虎克铰链15作用下,所述第二支链具有空间三自由度转动和空间两自由度移动能力。所述第二静平台虎克铰链近架轴线d和所述第二动平台虎克铰链近架轴线h汇交于所述动平台中心点P,所述第二静平台虎克铰链远架轴线e、所述第二中间转动副轴线f和所述第二动平台虎克铰链远架轴线g彼此平行且垂直于所述第二静平台虎克铰链近架轴线d及所述第二动平台虎克铰链近架轴线h,故所述第二支链的三转动中心为动平台中心点P,其三条转动轴线分别与第二静平台虎克铰链近架轴线d和所述第二动平台虎克铰链近架轴线h重合,与第二静平台虎克铰链远架轴线e平行,其两自由度移动轴线为空间内任意两条垂直于所述第二静平台虎克铰链远架轴线e的互不平行的直线。Under the action of the second static platform Hooke hinge 11, the second intermediate revolving pair 13 and the second moving platform Hooke hinge 15, the second branch chain has three degrees of freedom in space and two degrees of freedom in space. degree of mobility. The near-frame axis d of the Hookee hinge on the second static platform and the near-frame axis h of the Hookee hinge on the second moving platform meet at the central point P of the moving platform, and the far-frame axis of the Hookee hinge on the second static platform e. The axis f of the second intermediate rotating pair and the axis g of the far frame of the Hooke hinge of the second moving platform are parallel to each other and perpendicular to the axis d of the proximal frame of the Hooke hinge of the second static platform and the second moving platform The Hooke hinge is near the frame axis h, so the three rotation centers of the second branch chain are the center point P of the moving platform, and its three rotation axes are respectively connected to the second static platform Hooke hinge near the frame axis d and the second moving platform. The axis h of the near frame of the Hooke hinge coincides with the axis e of the far frame of the second static platform Hooke hinge. non-parallel straight lines.

在所述第三静平台转动副16、所述第三中间转动副18和所述第三动平台虎克铰链20作用下,所述第三支链具有空间两自由度转动能力和空间两自由度移动能力。所述第三动平台虎克铰链近架轴线m通过所述动平台中心点P,所述第三静平台转动副轴线i、所述第三中间转动副轴线j和所述第三动平台虎克铰链远架轴线k彼此平行且垂直于所述第三动平台虎克铰链近架轴线m,故所述第三支链4的两转动中心为动平台中心点P,两条转动轴线分别与所述第三动平台虎克铰链近架轴线m和第三动平台虎克铰链远架轴线k平行,两自由度移动轴线为空间内任意两条垂直于所述第三静平台转动副轴线i的互不平行的直线。(有关转动中心点与移动平面的定义可详见文献“Hervé JM.The Lie group of rigid body displacements,afundamental tool for mechanism design.Mech Mach Theory 1999;34:719-730.”(Hervé JM.刚体位移李子群,机械设计基础工具.机械原理1999;34:719-730.”)Under the action of the third static platform revolving pair 16, the third intermediate revolving pair 18 and the third moving platform Hooke hinge 20, the third branch chain has the ability to rotate with two degrees of freedom in space and two degrees of freedom in space. degree of mobility. The hooke hinge near frame axis m of the third moving platform passes through the center point P of the moving platform, the rotation axis i of the third static platform, the third intermediate rotation axis j and the axis j of the third moving platform The axis k of the far frame of the Hooke hinge is parallel to each other and perpendicular to the axis m of the near frame of the Hooke hinge of the third moving platform, so the two rotation centers of the third branch chain 4 are the center point P of the moving platform, and the two rotation axes are respectively connected to The near-frame axis m of the Hooke hinge of the third moving platform is parallel to the far-frame axis k of the Hooke hinge of the third moving platform. non-parallel straight lines. (The definition of the center point of rotation and the moving plane can be found in the literature "Hervé JM. The Lie group of rigid body displacements, afundamental tool for mechanism design. Mech Mach Theory 1999; 34:719-730." (Hervé JM. Rigid body displacement Li Ziqun, Basic tools for mechanical design. Mechanics 1999; 34:719-730.")

由于所述第一支链2的三转动中心、所述第二支链3的三转动中心和所述第三支链4的两转动中心均为动平台中心点P,故在所述第一支链2、所述第二支链3和所述第三支链4共同作用下,所述动平台5可实现转动中心点为动平台中心点P的两自由度转动,其转动轴线分别与第三动平台虎克铰链近架轴线m和第三动平台虎克铰链远架轴线k平行。同时,由于第一支链2不具有空间移动能力,故所述第二支链3和所述第三支链4的两自由度移动能力被第一支链2限制,则所述动平台5仅能够实现空间两转动运动。Since the three rotation centers of the first branch chain 2, the three rotation centers of the second branch chain 3 and the two rotation centers of the third branch chain 4 are the center point P of the moving platform, in the first Under the joint action of the branch chain 2, the second branch chain 3 and the third branch chain 4, the moving platform 5 can realize the two-degree-of-freedom rotation whose center point of rotation is the center point P of the moving platform, and its rotation axis is respectively in line with The axis m of the near frame of the Hooke hinge of the third moving platform is parallel to the axis k of the far frame of the Hooke hinge of the third moving platform. Simultaneously, since the first branch chain 2 does not have the ability to move in space, the two-degree-of-freedom movement capabilities of the second branch chain 3 and the third branch chain 4 are limited by the first branch chain 2, and the moving platform 5 Only two rotational movements in space can be realized.

当选取所述第一静平台转动副6、所述第二静平台虎克铰链11和所述第三静平台转动副16作为驱动时,本实用新型的机构为冗余驱动的一类新型两转动并联机构;当任意选取所述第一静平台转动副6、所述第二静平台虎克铰链11和所述第三静平台转动副16中两个运动副作为驱动时,本实用新型的机构为非冗余驱动的一类新型两转动并联机构。When the first static platform revolving pair 6, the second static platform Hooke hinge 11 and the third static platform revolving pair 16 are selected as drives, the mechanism of the present utility model is a new type of two-stage redundant drive. Rotating parallel mechanism; when two kinematic pairs in the first static platform revolving pair 6, the second static platform Hooke hinge 11 and the third static platform revolving pair 16 are randomly selected as drives, the utility model The mechanism is a new type of two-rotation parallel mechanism with non-redundant drive.

本实用新型的一种新型两转动并联机构由三条结构互不相同的支链组成,各支链完全由普通铰链即转动副和虎克铰链构成,各支链完全由普通简单铰链组成,机构结构简单,易于装配;由于机构内部不具有特殊复杂铰链,机构具有一定的刚度性能,故本实用新型的一种新型两转动并联机构可满足卫星定位追踪,机器人手臂姿态调整等对于转动并联机构的需求。A new two-rotation parallel mechanism of the utility model is composed of three branch chains with different structures, each branch chain is completely composed of ordinary hinges, that is, revolving pairs and Hooke hinges, and each branch chain is completely composed of ordinary simple hinges. Simple and easy to assemble; because there is no special complex hinge inside the mechanism, the mechanism has a certain rigidity performance, so a new type of two-rotation parallel mechanism of the utility model can meet the requirements of satellite positioning tracking, robot arm attitude adjustment, etc. for the rotation parallel mechanism .

以上对本实用新型的描述仅仅是示意性的,而不是限制性的,所以,本实用新型的实施方式并不局限于上述的具体实施方式。如果本领域的普通技术人员受其启示,在不脱离本实用新型宗旨和权利要求所保护范围的情况下,做出其他变化或变型,均属于本实用新型的保护范围。The above description of the utility model is only illustrative rather than restrictive, so the implementation of the utility model is not limited to the above specific implementation. If a person of ordinary skill in the art is inspired by it and makes other changes or modifications without departing from the gist of the utility model and the protection scope of the claims, all of them belong to the protection scope of the utility model.

Claims (1)

1.一种新型两转动并联机构,其特征在于:它由静平台、动平台和连接动、静平台的第一支链、第二支链和第三支链构成,所述第一支链、所述第二支链和所述第三支链呈120度空间对称分布;1. A novel two-rotation parallel mechanism is characterized in that: it consists of a static platform, a dynamic platform and the first branch chain connecting the dynamic and static platforms, the second branch chain and the third branch chain, the first branch chain , the second branch chain and the third branch chain are distributed symmetrically in a space of 120 degrees; 所述第一支链包括安装在静平台上的第一静平台转动副,所述的第一静平台转动副的转轴与下弧形杆一端转动连接,所述下弧形杆另一端通过第一中间转动副与上弧形杆一端转动连接,所述上弧形杆另一端通过第一动平台转动副与动平台转动连接,所述第一静平台转动副、第一中间转动副和第一动平台转动副轴线汇交于动平台的中心点;The first branch chain includes a first static platform revolving pair installed on the static platform, the rotating shaft of the first static platform revolving pair is rotatably connected to one end of the lower arc-shaped rod, and the other end of the lower arc-shaped rod passes through the second An intermediate rotating pair is rotatably connected to one end of the upper arc-shaped rod, and the other end of the upper arc-shaped rod is rotatably connected to the moving platform through the first moving platform rotating pair. The first static platform rotating pair, the first intermediate rotating pair and the second The axes of the rotary axes of a moving platform meet at the center point of the moving platform; 所述第二支链包括安装在静平台上的第二静平台虎克铰链,所述的静平台通过第二静平台虎克铰链与第一下连杆一端转动连接,所述第一下连杆另一端通过第二中间转动副与第一上连杆一端转动连接,所述第一上连杆另一端通过第二动平台虎克铰链与动平台转动连接,所述第二静平台虎克铰链近架轴线和第二动平台虎克铰链近架轴线汇交于所述动平台的中心点,所述第二静平台虎克铰链远架轴线、第二中间转动副轴线和第二动平台虎克铰链远架轴线彼此平行;The second branch chain includes a second static platform Hooke hinge installed on the static platform, and the static platform is rotationally connected to one end of the first lower link through the second static platform Hooke hinge, and the first lower link The other end of the rod is rotatably connected to one end of the first upper link through the second intermediate rotating pair, and the other end of the first upper link is rotatably connected to the moving platform through the second moving platform Hooke hinge, and the second static platform Hooke The axis of the near frame of the hinge and the axis of the near frame of the Hooke hinge of the second moving platform meet at the center point of the moving platform, and the axis of the far frame of the Hooke hinge of the second static platform, the axis of the second intermediate rotating pair and the axis of the second moving platform The axes of the Hooke hinges are parallel to each other; 所述第三支链包括安装在静平台上的第三静平台转动副,所述的静平台通过第三静平台转动副与第二下连杆一端转动连接,所述第二下连杆另一端通过第三中间转动副与第二上连杆一端转动连接,所述第二上连杆另一端通过第三动平台虎克铰链与动平台转动连接,所述第三静平台转动副轴线、第三中间转动副轴线和第三动平台虎克铰链远架轴线彼此平行,所述第三动平台虎克铰链近架轴线通过所述动平台的中心点;The third branch chain includes a third static platform rotating pair installed on the static platform, and the static platform is rotationally connected with one end of the second lower connecting rod through the third static platform rotating pair, and the second lower connecting rod is One end is rotatably connected to one end of the second upper link through the third intermediate rotating pair, and the other end of the second upper link is rotatably connected to the moving platform through the Hooke hinge of the third moving platform. The axis of rotation of the third static platform, The axis of the third intermediate rotating pair and the axis of the far frame of the Hooke hinge of the third moving platform are parallel to each other, and the axis of the near frame of the Hooke hinge of the third moving platform passes through the center point of the moving platform; 所述第一动平台转动副轴线、第二动平台虎克铰链近架轴线和第三动平台虎克铰链近架轴线共面且呈120度对称分布。The axes of the revolving pair of the first moving platform, the near-frame axis of the Hooke hinge of the second moving platform and the near-frame axis of the Hooke hinge of the third moving platform are coplanar and symmetrically distributed at 120 degrees.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104325456A (en) * 2014-10-24 2015-02-04 天津大学 Novel two-rotation parallel mechanism
CN107932485A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of gear-type multiple-step couples parallel institution
CN107932486A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of multistage coupling parallel institution of link-type altogether
CN107932487A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of multistage coupling parallel institution of slide block type

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104325456A (en) * 2014-10-24 2015-02-04 天津大学 Novel two-rotation parallel mechanism
CN104325456B (en) * 2014-10-24 2016-01-20 天津大学 A kind of novel two one-rotation parallel mechanisms
CN107932485A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of gear-type multiple-step couples parallel institution
CN107932486A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of multistage coupling parallel institution of link-type altogether
CN107932487A (en) * 2017-12-26 2018-04-20 燕山大学 A kind of multistage coupling parallel institution of slide block type

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