CN205394532U - Big working space sphere two rotates parallel mechanism - Google Patents
Big working space sphere two rotates parallel mechanism Download PDFInfo
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- CN205394532U CN205394532U CN201620231506.8U CN201620231506U CN205394532U CN 205394532 U CN205394532 U CN 205394532U CN 201620231506 U CN201620231506 U CN 201620231506U CN 205394532 U CN205394532 U CN 205394532U
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Abstract
The utility model provides a big working space sphere two rotates parallel mechanism, it is main includes allocate the platform, move the platform, connects four sport branch that move, allocate the platform. Every sport branch is by connecting rod, well connecting rod down and go up connecting rod composition, lower connecting rod with allocate the platform and be connected through revolute pair or spherical pair, go up, well connecting rod passes through the revolute pair and connect in, lower connecting rod passes through the revolute pair connection, upward the connecting rod with move that the platform passes through the revolute pair or the spherical pair is connected, article four, pass through four coupling connecting rod and a central connecting rod interconnect between the sport branch, the well connecting rod among coupling connecting rod one end and the sport branch links firmly, and the other end passes through the revolute pair with central connecting rod and is connected. The utility model discloses can realize moving the platform and allocate the platform relatively and do two degrees of freedom on the sphere and rotate, and have small, rigidity is big, the precision is high, rotate advantages such as working space is big, but wide application in robot field such as bionic robot especially.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly to one big workspace spherical face two one-rotation parallel mechanism.
Background technology
Parallel institution is compared traditional serial mechanism and is had the advantages such as higher without cumulative error, precision, compact conformation, rigidity high, bearing capacity is big, in addition the driving device of parallel institution is placed on fixed platform or close to the position of fixed platform, thus having good dynamic response, full symmetric parallel institution also has good isotropism.But it is less that the work space of parallel institution compares serial mechanism, seriously constraining the parallel institution application in fields such as industry and robots, therefore research has the parallel institution of big work space, has important theory significance and actual application value.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein one-movement-freedom-degree can pass through the way increase mobile working space of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size.External class parallel institution that big work space is rotated is studied relatively early, US Patent No. 4651589 proposes a kind of big work space 3-freedom parallel mechanism, and it is successfully applied to lock-on equipment, US Patent No. 4686866 discloses a kind of big work space two one-rotation parallel mechanism, and it is successfully applied in industrial spraying robot, US Patent No. 6658962B1 discloses a kind of four side chain big work space two one-rotation parallel mechanism, and it is applied in bio-robot, achieve good effect.Domestic less to having big rotation work space parallel mechanism achievement in research, wherein big work space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements.But the above-mentioned parallel institution with big rotation work space broadly falls into aspheric surface parallel institution, the moving platform center of rotation of mechanism is not unique, making moving platform can produce the movement added in rotation process, this character seriously limits the application in robot particularly bio-robot field of this kind of mechanism.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of big workspace spherical face two one-rotation parallel mechanism, moving platform can be realized do sphere two-freedom relative to fixed platform and rotate, and this mechanism has the advantages such as volume is little, rigidity big, rotation work space is big, can be widely applied to the fields such as robot particularly bio-robot.
Technical scheme is specific as follows:
The invention mainly comprises fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it has six kinds of connected modes:
The first connected mode: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The second connected mode: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The third connected mode: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
4th kind of connected mode: four articles of movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
5th kind of connected mode: the first, the 4th movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；Second, third movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
6th kind of connected mode: the first, the 4th movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；Second, third movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The present invention compared with prior art has the advantage that
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and center of rotation is unique；(2) moving platform relative fixed platform rotation work space is big, and rotational angle is up to ± 90 degree；(3) organization volume is little, and rigidity is big；(4) intercouple between four movement branched chain of mechanism, substantially increase the stress performance of mechanism.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 deflection state stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 3 deflection state stereochemical structure simplified schematic diagram.
Fig. 7 is the embodiment of the present invention 4 stereochemical structure simplified schematic diagram.
Fig. 8 is the embodiment of the present invention 4 deflection state stereochemical structure simplified schematic diagram.
Fig. 9 is the embodiment of the present invention 5 stereochemical structure simplified schematic diagram.
Figure 10 is the embodiment of the present invention 5 deflection state stereochemical structure simplified schematic diagram.
Figure 11 is the embodiment of the present invention 6 stereochemical structure simplified schematic diagram.
Figure 12 is the embodiment of the present invention 6 deflection state stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4, D4). middle connecting rod, (A5, B5, C5, D5). upper connecting rod, (A6, B6, C6, D6). coupled links, 7. center rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and Sij represents a spherical pair, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by revolute pair R11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by revolute pair R15 between upper connecting rod A5 and moving platform 2；Second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by revolute pair R21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by revolute pair R25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by revolute pair R31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by revolute pair R35 between upper connecting rod C5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by revolute pair R41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by revolute pair R45 between upper connecting rod D5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 2
It is the 2nd embodiment disclosed by the invention as shown in Figure 3, Figure 4, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by revolute pair R11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by spherical pair S15 between upper connecting rod A5 and moving platform 2；Second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by revolute pair R21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by spherical pair S25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by revolute pair R31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by spherical pair S35 between upper connecting rod C5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by revolute pair R41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by spherical pair S45 between upper connecting rod D5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 3
It is the 3rd embodiment disclosed by the invention as shown in Figure 5, Figure 6, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by spherical pair S11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by revolute pair R15 between upper connecting rod A5 and moving platform 2；Second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by spherical pair S21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by revolute pair R25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by spherical pair S31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by revolute pair R35 between upper connecting rod C5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by spherical pair S41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by revolute pair R45 between upper connecting rod D5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 4
It is the 4th embodiment disclosed by the invention as shown in Figure 7, Figure 8, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by spherical pair S11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by spherical pair S15 between upper connecting rod A5 and moving platform 2；Second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by spherical pair S21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by spherical pair S25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by spherical pair S31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by spherical pair S35 between upper connecting rod C5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by spherical pair S41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by spherical pair S45 between upper connecting rod D5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R42, revolute pair R43, revolute pair R44 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 5
It is the 5th embodiment disclosed by the invention as shown in Figure 9, Figure 10, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.The first, the 4th movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by spherical pair S11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by revolute pair R15 between upper connecting rod A5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by spherical pair S41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by revolute pair R45 between upper connecting rod D5 and moving platform 2；Second, third movement branched chain structure is identical, wherein the second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by revolute pair R21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by spherical pair S25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by revolute pair R31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by spherical pair S35 between upper connecting rod C5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 6
It is the 6th embodiment disclosed by the invention as shown in Figure 11, Figure 12, a kind of big workspace spherical face two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.The first, the 4th movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3, middle connecting rod A4 and upper connecting rod A5, it is connected by revolute pair R11 between lower link A3 with fixed platform 1, lower link A3 is connected by revolute pair R12 with middle connecting rod A4, middle connecting rod A4 is connected by revolute pair R13 with upper connecting rod A5, is connected by revolute pair R15 between upper connecting rod A5 and moving platform 2；4th movement branched chain is made up of lower link D3, middle connecting rod D4 and upper connecting rod D5, it is connected by revolute pair R41 between lower link D3 with fixed platform 1, lower link D3 is connected by revolute pair R42 with middle connecting rod D4, middle connecting rod D4 is connected by revolute pair R43 with upper connecting rod D5, is connected by revolute pair R45 between upper connecting rod D5 and moving platform 2；Second, third movement branched chain structure is identical, wherein the second movement branched chain is made up of lower link B3, middle connecting rod B4 and upper connecting rod B5, it is connected by spherical pair S21 between lower link B3 with fixed platform 1, lower link B3 is connected by revolute pair R22 with middle connecting rod B4, middle connecting rod B4 is connected by revolute pair R23 with upper connecting rod B5, is connected by spherical pair S25 between upper connecting rod B5 and moving platform 2；3rd movement branched chain is made up of lower link C3, middle connecting rod C4 and upper connecting rod C5, it is connected by spherical pair S31 between lower link C3 with fixed platform 1, lower link C3 is connected by revolute pair R32 with middle connecting rod C4, middle connecting rod C4 is connected by revolute pair R33 with upper connecting rod C5, is connected by spherical pair S35 between upper connecting rod C5 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod 7.Wherein first coupled links A6 one end is fixing with the middle connecting rod A4 in the first movement branched chain is connected, and the coupled links A6 other end is connected by revolute pair R14 with center rod 7；Second coupled links B6 one end is fixing with the middle connecting rod B4 in the second movement branched chain to be connected, and the coupled links B6 other end is connected by revolute pair R24 with center rod 7；3rd coupled links C6 one end is fixing with the middle connecting rod C4 in the 3rd movement branched chain to be connected, and the coupled links C6 other end is connected by revolute pair R34 with center rod 7；4th coupled links D6 one end is fixing with the middle connecting rod D4 in the 4th movement branched chain to be connected, and the coupled links D6 other end is connected by revolute pair R44 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Claims (6)
1. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
2. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
3. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
4. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
5. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: the first, the 4th movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；Second, third movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
6. big workspace spherical face two one-rotation parallel mechanism, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: the first, the 4th movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；Second, third movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article four, coupled links is connected the dead in line of four revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
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| CN201620231506.8U CN205394532U (en) | 2016-03-24 | 2016-03-24 | Big working space sphere two rotates parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598952A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Large-working space spherical two-rotation parallel mechanism |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598952A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Large-working space spherical two-rotation parallel mechanism |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
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