CN207807714U - A kind of planar three freedom rigid motion follower - Google Patents
A kind of planar three freedom rigid motion follower Download PDFInfo
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- CN207807714U CN207807714U CN201721551841.7U CN201721551841U CN207807714U CN 207807714 U CN207807714 U CN 207807714U CN 201721551841 U CN201721551841 U CN 201721551841U CN 207807714 U CN207807714 U CN 207807714U
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- connecting rod
- pedestal
- freedom
- point
- rigid motion
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Abstract
The utility model discloses a kind of planar three freedom rigid motion followers, the mechanism includes a pedestal and ten connecting rods, wherein six roots of sensation connecting rod constitutes the rotary-type graph imitation device mechanism of a two degrees of freedom with pedestal, and conventional revolute pair connection is all made of between each connecting rod and between pedestal and connecting rod.Rigid motion follower is whole symmetrical about the coercive mechanism O on pedestal, and the position of the 9th connecting rod (10) and posture and the position of the 11st connecting rod (12) and posture are also symmetrical about coercive mechanism O always.The utility model is simple in structure and symmetry is good, the leg mechanism that can be used for constructing multi-foot robot or the multiple degrees of freedom remote centre of motion mechanism in medical robot.
Description
Technical field
The utility model is related to a kind of planar three freedom rigid motion followers, belong to mechanism design field.
Background technology
If the movement of some component in mechanism can track the rigid motion of another component in the mechanism, in other words,
The position of two components in mechanism and posture are always to maintain fixed simple mapping relations (such as translation, rotation, reflection
Deng), then the mechanism can be referred to as rigid motion follower.Rigid motion follower can be applied to multi-foot robot
Leg mechanism realizes that the gait between polypody is synchronous or differs a stationary phase, it can also be used to construct in medical robot
Multiple degrees of freedom remote centre of motion mechanism.
Plane Rigid Body movement tracking mechanisms can be constructed by the combination of Liang Ge graph imitation devices mechanism.Graph imitation device mechanism is one
Kind can carry out figure in the drawing link mechanism of simple transformation (such as translation, rotation, scaling etc.).Many scholars are to imitative figure
The construction of instrument mechanism and application are studied, and have applied for related patents, such as CN 2013102733591 and CN
2006101651217.Common graph imitation device mechanism is five bar graph imitation device mechanisms of Sylvester, as shown in Figure 1, its satisfaction is as follows
Relationship：The quadrangle ABDE that connecting rod AB, connecting rod BD, connecting rod DE and connecting rod EA are constituted is parallelogram, and △ BCD are similar to
△EDF.Point C is input point, and point E is output point, and there are following relationships for the track that the track that C points are drawn is drawn with E points：The former around
A points rotation angle ∠ EAB simultaneously obtain the latter after amplifying k=BD/BC times.
Graph imitation device mechanism and rigid motion follower difference lies in：Graph imitation device mechanism is used for the movement to certain point
Tracking, i.e. the position of two in mechanism point is always to maintain a fixed simple mapping relations；Rigid motion follower is then
For the tracking of the movement to a certain rigid body, i.e. the position of two in mechanism rigid body and posture is always to maintain a fixed letter
Single mapping relations.Due to this feature, rigid motion follower can be used for the leg mechanism of multi-foot robot and long-range fortune
Dynamic central authority.The utility model constructs a kind of planar three freedom rigid motion tracing machine based on rotary-type graph imitation device mechanism
Structure.
Invention content
The utility model proposes a kind of the planar three freedom rigid motion follower based on graph imitation device mechanism, structure
Simple and compact has rotational symmetry, can track arbitrary rigid motion in plane.
A kind of planar three freedom rigid motion follower based on graph imitation device mechanism comprising a pedestal (1) and
Ten connecting rods, mutual connection are all made of conventional revolute pair, as shown in Figures 2 and 3.Ten connecting rods are respectively to connect
Bar 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 8, connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod 12.Wherein, connecting rod
2, connecting rod 3, connecting rod 4, connecting rod 5 constitute a parallelogram, and connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 2 also constitute one and put down
Row quadrangle, and the two parallelogram are congruent always.Connecting rod 2 is connected at respective midpoint by revolute pair with connecting rod 5, and
And it is connected by revolute pair with pedestal in the point；Also point is connected by revolute pair with pedestal connecting rod 8 wherein；Connecting rod 9 and connecting rod
11 equal length, and hinge position is also identical；The equal length of connecting rod 10 and connecting rod 12, and hinge position is also right
It answers identical.
In the rigid motion follower, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7 and pedestal one
It rises and constitutes the rotary-type graph imitation device mechanism of a two degrees of freedom, as shown in Figure 4.The movement characteristic of the graph imitation device mechanism is：Input point B
Pass through fixed point O always with the line of output point E, and the distance of point B and point E to point O are equal always, i.e. input point B and defeated
It is symmetrical about fixed point O always to go out point E.
In the rigid motion follower, the position of connecting rod 10 and posture are closed always with the position of connecting rod 12 and posture
Symmetrical in fixed point O, i.e., connecting rod 12 tracks the movement of connecting rod 10 always.Connecting rod 10 or connecting rod 12 in the utility model mechanism can
To do arbitrary plane motion.
If increasing a revolute pair in the distal point I of connecting rod 10 to connect pedestal, connecting rod 10 will rotate around I,
And connecting rod 12 is also correspondingly rotated around fixed point L, carrier phase shift 180 degree, the mechanism is a remote centre of motion machine at this time
Structure；If connecting rod 10 does translational motion, connecting rod 12 also does translational motion in opposite direction.I.e.：The movement of connecting rod 10 and connecting rod 12
Always symmetrical about fixed point O.
Since this rigid motion follower has the symmetry about fixed coercive mechanism O, the quiet of mechanism may be implemented
Dynamic balance.
Description of the drawings
Fig. 1 is the schematic diagram of Sylvester graph imitation devices mechanism.
Fig. 2 is the utility model Three Degree Of Freedom rigid motion follower.
Fig. 3 is another state of the utility model Three Degree Of Freedom rigid motion follower.
Fig. 4 is the two degrees of freedom graph imitation device mechanism for including in the utility model Three Degree Of Freedom rigid motion follower.
1- pedestals, 2- connecting rods 2,3- connecting rods 3,4- connecting rods 4,5- connecting rods 5,6- connecting rods 6,7- connecting rods 7,8- connecting rods 8,9- connecting rods
9,10- connecting rods 10,11- connecting rods 11,12- connecting rods 12.
Specific implementation mode
The following describes the utility model in further detail with reference to the accompanying drawings.
As shown in Figures 2 and 3, the utility model is a kind of planar three freedom rigid motion follower, including one
Pedestal and ten connecting rods, ten connecting rods are respectively connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, connecting rod 8, connect
Bar 9, connecting rod 10, connecting rod 11 and connecting rod 12.In this rigid motion follower, connecting rod 2, connecting rod 4, connecting rod 5, connects connecting rod 3
Bar 6, connecting rod 7 constitute the rotary-type graph imitation device mechanism of a two degrees of freedom together with pedestal, as shown in Figure 4.Its input point is B, defeated
Go out is a little E.Connecting rod 2 is connected at respective midpoint by revolute pair with connecting rod 5, and is connected by revolute pair with pedestal in the point
(i.e. O points) is also connected using conventional revolute pair between other connecting rods.Each rod piece meets following relationship in graph imitation device mechanism：AB
∥ CD ∥ FE, BC ∥ AF ∥ DE.Therefore this six roots of sensation connecting rod constitutes parallelogram ABCO and parallelogram ODEF.The imitative figure
The movement characteristic of instrument mechanism is：The line of input point B and output point E pass through fixed point O always, and point B and point E are to point O's
Distance is equal always, i.e. input point B and output point E are symmetrical about fixed point O always.Therefore, the figure that input point B is drawn around
The figure that point E is drawn just is obtained after point O rotation 180 degrees.
The utility model increases connecting rod 8, connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod on the basis of above-mentioned graph imitation device mechanism
12 and several revolute pairs.Point is connected by revolute pair with pedestal connecting rod 8 wherein.Connecting rod 9, connecting rod 10, connecting rod 11 and connecting rod 12
Also meet following relationship：GH=JK, HB=KE, BI=EL.Therefore, the distal point L of the distal point I of connecting rod 10 and connecting rod 12 is always
Symmetrical about fixed point O, the position of connecting rod 10 and posture and the position of connecting rod 12 and posture are also symmetrical about fixed point O always,
I.e. connecting rod 12 tracks the movement of connecting rod 10 always.Connecting rod 10 or connecting rod 12 in the utility model mechanism can do arbitrary plane
Movement.
Claims (3)
1. a kind of planar three freedom rigid motion follower, it is characterised in that：The mechanism includes a pedestal（1）With 11
Root connecting rod, ten connecting rods are respectively first connecting rod (2), second connecting rod (3), third connecting rod (4), fourth link (5), the 5th company
Bar (6), six-bar linkage (7), seven-link assembly (8), the 8th connecting rod (9), the 9th connecting rod (10), the tenth connecting rod (11) and the 11st connect
Bar (12)；Wherein first connecting rod (2), second connecting rod (3), third connecting rod (4), fourth link (5) constitute a parallelogram,
Fourth link (5), the 5th connecting rod (6), six-bar linkage (7), first connecting rod (2) constitute a parallelogram, and the two are flat
Row quadrangle congruence；First connecting rod (2) is connected at respective midpoint by revolute pair with fourth link (5), and respective
Midpoint is connected with pedestal (1) by revolute pair；Also point is connected by revolute pair with pedestal (1) seven-link assembly (8) wherein；8th
The equal length of connecting rod (9) and the tenth connecting rod (11), and hinge position is also identical；9th connecting rod (10) and the 11st connecting rod
(12) equal length, and hinge position also correspond to it is identical.
2. planar three freedom rigid motion follower according to claim 1, it is characterised in that the 9th connects in mechanism
The distal point L of the distal point I of bar (10) and the 11st connecting rod (12) is symmetrical about fixed coercive mechanism O always, the 9th connecting rod (10)
Position and posture and the position of the 11st connecting rod (12) and posture it is also symmetrical about fixed coercive mechanism O always.
3. planar three freedom rigid motion follower according to claim 1, it is characterised in that the in mechanism the 9th
Connecting rod (10) or the 11st connecting rod (12) can do arbitrary plane motion；When the 9th connecting rod (10) is made arbitrarily under external drive
Plane Rigid Body movement when, the 11st connecting rod (12) can correspondingly make similar Plane Rigid Body movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721551841.7U CN207807714U (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721551841.7U CN207807714U (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
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| Publication Number | Publication Date |
|---|---|
| CN207807714U true CN207807714U (en) | 2018-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721551841.7U Expired - Fee Related CN207807714U (en) | 2017-11-20 | 2017-11-20 | A kind of planar three freedom rigid motion follower |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756378A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of planar three freedom rigid motion follower |
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2017
- 2017-11-20 CN CN201721551841.7U patent/CN207807714U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756378A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of planar three freedom rigid motion follower |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180904 Termination date: 20191120 |