CN210500262U - Four-degree-of-freedom generalized spherical parallel mechanism with closed ring containing son - Google Patents
Four-degree-of-freedom generalized spherical parallel mechanism with closed ring containing son Download PDFInfo
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- CN210500262U CN210500262U CN201921527838.0U CN201921527838U CN210500262U CN 210500262 U CN210500262 U CN 210500262U CN 201921527838 U CN201921527838 U CN 201921527838U CN 210500262 U CN210500262 U CN 210500262U
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Abstract
The utility model discloses a four-degree-of-freedom generalized spherical parallel mechanism with a closed loop containing a son, which comprises a first closed loop branched chain, a second branched chain, a third branched chain, a static platform and a movable platform; the parallel mechanism is provided with a movable sphere center and a fixed sphere center, the fixed sphere center is fixed in the motion process of the parallel mechanism, the movable sphere center rotates around the fixed sphere center, and the distance between the movable sphere center and the fixed sphere center is unchanged. The parallel mechanism is applied to the design of the ankle joint of the rehabilitation robot, so that the fitting degree of the rehabilitation robot and the ankle joint can be improved, the man-machine interaction performance is enhanced, and the use comfort of the rehabilitation robot is improved.
Description
Technical Field
The utility model relates to the field of mechanical engineering, concretely relates to four degree of freedom generalized sphere parallel mechanism that contain son closed loop.
Background
With the continuous development of the medical rehabilitation field and the robot field, people have higher requirements on the use comfort and the human-computer interaction performance of the medical rehabilitation machine. However, the existing rehabilitation robots, such as joint rehabilitation robots based on spherical mechanisms, generally have the problems of poor human-computer interaction, low fitting degree with human joints and the like.
Human ankle joint includes shin bone, fibula, talus, navicular bone and calcaneus, plays the primary role to ankle joint motion and is shin bone, talus and calcaneus, and the motion between shin bone and the talus can be considered as spherical pair, and motion between talus and the calcaneus also can be considered as spherical pair, has the certain distance between two spherical pair's the center of rotation moreover. At present, ankle joint motion is generally regarded as standard spherical motion in the design of a rehabilitation robot ankle joint, and if motion between a tibia and a calcaneus is simply regarded as standard spherical motion, the existence of a talus is ignored, so that the problems of uncoordinated human-computer interaction, poor fitting degree and the like are caused. For example, the smart eye mechanism is a three-branched-chain spherical parallel mechanism with three degrees of freedom, the mechanism has a fixed movement spherical center which is superposed with the center of an ankle joint of a human body, but the fitting effect is poor because the actual movement of the ankle joint is not standard spherical movement.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the present invention is to provide a four-degree-of-freedom generalized spherical parallel mechanism with closed ring containing mechanism.
The utility model provides a technical scheme that technical problem adopted is:
a four-degree-of-freedom generalized spherical parallel mechanism with a closed loop containing a son comprises a first closed loop branched chain, a second branched chain, a third branched chain, a static platform and a movable platform;
the first closed-loop branched chain comprises a first closed-loop branched chain connecting rod, a second closed-loop branched chain connecting rod, a third closed-loop branched chain connecting rod, a fourth closed-loop branched chain connecting rod, a fifth closed-loop branched chain connecting rod, a sixth closed-loop branched chain connecting rod and a seventh closed-loop branched chain connecting rod; the second branched chain comprises a first connecting rod of the second branched chain, a second connecting rod of the second branched chain, a third connecting rod of the second branched chain and a fourth connecting rod of the second branched chain; the third branched chain comprises a first connecting rod of the third branched chain, a second connecting rod of the third branched chain, a third connecting rod of the third branched chain and a fourth connecting rod of the third branched chain;
the static platform is provided with a first static platform hinged support, a second static platform hinged support, a third static platform hinged support and a fourth static platform hinged support which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the four hinged supports are converged at a point M;
the movable platform is provided with a first movable platform hinged support, a second movable platform hinged support and a third movable platform hinged support which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the three hinged supports are converged at a point N;
the first hinge support of the movable platform is hinged with the upper end of the seventh connecting rod of the closed-loop branched chain to form a revolute pair C1, and the lower end of the seventh connecting rod of the closed-loop branched chain is hinged with the upper end of the third connecting rod of the closed-loop branched chain and the upper end of the sixth connecting rod of the closed-loop branched chain to form a revolute pair D1; the lower end of the closed-loop branched chain No. six connecting rod is hinged with the upper end of the closed-loop branched chain No. five connecting rod to form a revolute pair E1, the lower end of the closed-loop branched chain No. five connecting rod is hinged with the upper end of the closed-loop branched chain No. four connecting rod to form a revolute pair F1, and the lower end of the closed-loop branched chain No. four connecting rod is hinged with the first hinged support of the static platform to form a revolute pair; the lower end of the third connecting rod of the closed-loop branched chain is hinged with the upper end of the second connecting rod of the closed-loop branched chain to form a revolute pair E11, the lower end of the second connecting rod of the closed-loop branched chain is hinged with the upper end of the first connecting rod of the closed-loop branched chain to form a revolute pair F11, and the lower end of the first connecting rod of the closed-loop branched chain is hinged with the fourth hinged support of the static platform to form a revolute pair;
the second hinged support of the movable platform is hinged with the upper end of the second branched chain fourth connecting rod to form a revolute pair C2, and the lower end of the second branched chain fourth connecting rod is hinged with the upper end of the second branched chain third connecting rod to form a revolute pair D2; the lower end of the third connecting rod of the second branched chain is hinged with the upper end of the second connecting rod of the second branched chain to form a revolute pair E2, the lower end of the second connecting rod of the second branched chain is hinged with the upper end of the first connecting rod of the second branched chain to form a revolute pair F2, and the lower end of the first connecting rod of the second branched chain is hinged with the second hinged support of the static platform to form a revolute pair G2;
the third hinged support of the movable platform is hinged with the upper end of the third branched chain fourth connecting rod through a revolute pair C3, and the lower end of the third branched chain fourth connecting rod is hinged with the upper end of the third branched chain third connecting rod through a revolute pair D3; the lower end of the third branched chain connecting rod III is hinged with the upper end of the third branched chain connecting rod II to form a revolute pair E3, the lower end of the third branched chain connecting rod II is hinged with the upper end of the third branched chain connecting rod I to form a revolute pair F3, and the lower end of the third branched chain connecting rod I is hinged with the third support of the static platform to form a revolute pair G3;
the axes of rotation of the revolute pairs C1, C2, C3, D1, D2, D3, E1 and E11 converge at a point which is the center of the moving sphere of the parallel mechanism and coincides with the point N; the rotation axes of the revolute pairs E2, E3, F1, F2, F3, G1, G2, G3, F11 and G11 are converged at a point which is the centering of the sphere of the parallel mechanism and is coincident with a point M, the point M is fixed in the motion process of the parallel mechanism, the point N rotates around the point M, and the distance between the point M and the point N is unchanged.
Compared with the prior art, the beneficial effects of the utility model are that:
1) the utility model provides a new design idea about the parallel mechanism, which provides an important theoretical basis for the ankle joint design of the novel rehabilitation robot; the utility model provides an axis in both ends hole is the generalized spherical connecting rod that does not always intersect but has two generalized sphere centers in the space, and the line of two generalized sphere centers of all generalized spherical connecting rods is complete coincidence and distance all the time equals in same parallel mechanism.
2) The parallel mechanism of the utility model can be used for the ankle joint design of the rehabilitation robot, the input angle control point N of the first connecting rod of the closed loop branched chain and the fourth connecting rod of the closed loop branched chain winds the spherical motion of the point M, has 2 degrees of freedom, and is mainly used for fitting the relative motion between the tibia and the talus of the ankle joint; the input angles of the first connecting rod of the second branched chain and the first connecting rod of the third branched chain control the spherical motion of the brake platform around a point N, have 2 degrees of freedom, and mainly fit the relative motion between the ankle joint talus and the calcaneus; the invention has high dexterity, more accurate and reasonable fitting to the motion of the human ankle joint and higher fitting degree; compared with the common three-degree-of-freedom parallel spherical connecting rod mechanism, the three-degree-of-freedom parallel spherical connecting rod mechanism can greatly weaken the human-computer interaction force in the human-computer fitting process, and solves the problem of poor motion interaction performance of the fitting ankle joint of the traditional three-degree-of-freedom parallel spherical connecting rod mechanism from the configuration of the parallel mechanism.
3) Compared with the existing seat type exoskeleton and the spring power-assisted supporting exoskeleton, the lower limb rehabilitation robot provided with the parallel mechanism has stronger adaptability, the freedom degree of each joint is more consistent with the real motion of the human body joint, and the stable supporting effect is realized on the human body; the invention has simple structure and easy realization.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of a first closed-loop branched chain of the present invention;
FIG. 3 is a schematic structural diagram of the second branched chain and the third branched chain of the present invention;
1. a closed loop branched chain; 101. a closed-loop branched chain I connecting rod; 102. a closed-loop branched chain connecting rod II; 103. a closed-loop branched chain third connecting rod; 104. a closed-loop branched chain fourth connecting rod; 105. a closed-loop branched chain connecting rod No. five; 106. a closed-loop branched chain link; 107. a closed-loop branched chain No. seven connecting rod;
2. a second branched chain; 21. a connecting rod of the second branched chain; 22. a second connecting rod of the second branched chain; 23. a second branched chain and a third connecting rod; 24. a second branched chain fourth connecting rod;
3. a third branched chain; 31. a third branched chain and a first connecting rod; 32. a third branched chain and a second connecting rod; 33. a third branched chain and a third connecting rod; 34. a third branched chain fourth connecting rod;
4. a static platform; 41. a first hinge support of the static platform; 42. a second hinged support of the static platform; 43. a third hinged support of the static platform; 44. a fourth hinged support of the static platform;
5. a movable platform; 51. a first hinge support of the movable platform; 52. a second hinged support of the movable platform; 53. a third hinged support of the movable platform;
Detailed Description
Specific embodiments of the present invention are given below. The specific examples are only used to illustrate the present invention in further detail, and do not limit the scope of the present invention.
The utility model provides a four-degree-of-freedom generalized spherical parallel mechanism (a parallel mechanism for short, see figures 1-3) of a closed loop containing a son, which comprises a first closed loop branched chain 1, a second branched chain 2, a third branched chain 3, a static platform 4 and a movable platform 5;
the first closed-loop branched chain 1 comprises a first closed-loop branched chain connecting rod 101, a second closed-loop branched chain connecting rod 102, a third closed-loop branched chain connecting rod 103, a fourth closed-loop branched chain connecting rod 104, a fifth closed-loop branched chain connecting rod 105, a sixth closed-loop branched chain connecting rod 106 and a seventh closed-loop branched chain connecting rod 107; the second branched chain 2 comprises a first connecting rod 21 of the second branched chain, a second connecting rod 22 of the second branched chain, a third connecting rod 23 of the second branched chain and a fourth connecting rod 24 of the second branched chain; the third branched chain 3 comprises a first connecting rod 31 of the third branched chain, a second connecting rod 32 of the third branched chain, a third connecting rod 33 of the third branched chain and a fourth connecting rod 34 of the third branched chain;
the static platform 4 is provided with a static platform I hinged support 41, a static platform II hinged support 42, a static platform III hinged support 43 and a static platform IV hinged support 44 which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the four hinged supports are converged at a point M;
the movable platform 5 is provided with a first movable platform hinged support 51, a second movable platform hinged support 52 and a third movable platform hinged support 53 which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the three hinged supports are converged at a point N;
the first hinge support 51 of the movable platform is hinged with the upper end of the seventh closed-loop branched chain connecting rod 107 to form a revolute pair C1, and the lower end of the seventh closed-loop branched chain connecting rod 107 is hinged with the upper end of the third closed-loop branched chain connecting rod 103 and the upper end of the sixth closed-loop branched chain connecting rod 106 to form a revolute pair D1; the lower end of the closed-loop branched chain six-way connecting rod 106 is hinged with the upper end of the closed-loop branched chain five-way connecting rod 105 to form a revolute pair E1, the lower end of the closed-loop branched chain five-way connecting rod 105 is hinged with the upper end of the closed-loop branched chain four-way connecting rod 104 to form a revolute pair F1, and the lower end of the closed-loop branched chain four-way connecting rod 104 is hinged with the static platform I hinged support 41 to form a revolute pair G1; the lower end of the third connecting rod 103 of the closed-loop branched chain is hinged with the upper end of the second connecting rod 102 of the closed-loop branched chain to form a revolute pair E11, the lower end of the second connecting rod 102 of the closed-loop branched chain is hinged with the upper end of the first connecting rod 101 of the closed-loop branched chain to form a revolute pair F11, and the lower end of the first connecting rod 101 of the closed-loop branched chain is hinged with the fourth hinged support 44 of the static platform to form a revolute pair;
the second hinged support 52 of the movable platform is hinged with the upper end of the second branched chain fourth connecting rod 24 to form a revolute pair C2, and the lower end of the second branched chain fourth connecting rod 24 is hinged with the upper end of the second branched chain third connecting rod 23 to form a revolute pair D2; the lower end of the second branched chain third connecting rod 23 is hinged with the upper end of the second branched chain second connecting rod 22 to form a revolute pair E2, the lower end of the second branched chain second connecting rod 22 is hinged with the upper end of the second branched chain first connecting rod 21 to form a revolute pair F2, and the lower end of the second branched chain first connecting rod 21 is hinged with the static platform second hinged support 42 to form a revolute pair G2;
the third hinged support 53 of the movable platform is hinged with the upper end of the third branched chain fourth connecting rod 34 to form a revolute pair C3, and the lower end of the third branched chain fourth connecting rod 34 is hinged with the upper end of the third branched chain third connecting rod 33 to form a revolute pair D3; the lower end of the third branched chain third connecting rod 33 is hinged with the upper end of the third branched chain second connecting rod 32 to form a revolute pair E3, the lower end of the third branched chain second connecting rod 32 is hinged with the upper end of the third branched chain first connecting rod 31 to form a revolute pair F3, and the lower end of the third branched chain first connecting rod 31 is hinged with the static platform third support 43 to form a revolute pair G3;
the axes of rotation of the revolute pairs C1, C2, C3, D1, D2, D3, E1 and E11 converge at a point which is the center of the moving sphere of the parallel mechanism and coincides with the point N; the axes of revolution of revolute pairs E2, E3, F1, F2, F3, G1, G2, G3, F11 and G11 converge at a point which is the centering of the sphere of the parallel mechanism and which coincides with point M; the point M is fixed in the motion process of the parallel mechanism, the point N rotates around the point M, the distance between the point M and the point N is unchanged, and the distance between the point M and the point N can be flexibly designed in the practical application of the parallel mechanism;
the static platform 4, the first closed-loop branched chain connecting rod 101, the fourth closed-loop branched chain connecting rod 104, the second closed-loop branched chain connecting rod 102 and the fifth closed-loop branched chain connecting rod 105 form a spherical five-rod mechanism with the degree of freedom of 2; the static platform 4, the first connecting rod 21 of the second branched chain, the second connecting rod 22 of the second branched chain and the third connecting rod 23 of the second branched chain jointly form a spherical four-bar mechanism with the degree of freedom of 1, and the static platform 4, the first connecting rod 31 of the third branched chain, the second connecting rod 32 of the third branched chain and the third connecting rod 33 of the third branched chain jointly form another spherical four-bar mechanism with the degree of freedom of 1, so that the parallel mechanism can be regarded as that the movable platform 5 does spherical motion with the degree of freedom of 2 around a point N, and the point N does spherical motion with the degree of freedom of 2 around a point M.
Three branched chains of the parallel mechanism are respectively composed of an A-type connecting rod and a B-type connecting rod, and a second branched chain 2 and a third branched chain 3 are respectively ABAA-type branched chains and jointly realize the motion of the movable platform 5 around a point N; wherein, the first connecting rod 21 of the second branched chain is an A-type connecting rod, the second connecting rod 22 of the second branched chain is an A-type connecting rod, the third connecting rod 23 of the second branched chain is a B-type connecting rod, and the fourth connecting rod 24 of the second branched chain is an A-type connecting rod; the third branched chain first connecting rod 31 is an A-type connecting rod, the third branched chain second connecting rod 32 is an A-type connecting rod, the third branched chain third connecting rod 33 is a B-type connecting rod, and the third branched chain fourth connecting rod 34 is an A-type connecting rod; the first closed-loop branched chain 1 is an A-2ABA closed-loop branched chain, and the motion of a point N around a point M is realized; the first closed-loop branched chain connecting rod 101 is an A-type connecting rod, the second closed-loop branched chain connecting rod 102 is a B-type connecting rod, the third closed-loop branched chain connecting rod 103 is an A-type connecting rod, the fourth closed-loop branched chain connecting rod 104 is an A-type connecting rod, the fifth closed-loop branched chain connecting rod 105 is a B-type connecting rod, the sixth closed-loop branched chain connecting rod 106 is an A-type connecting rod, and the seventh closed-loop branched chain connecting rod 107 is an A-type connecting rod; the static platform 4 and the movable platform 5 can be regarded as A-shaped connecting rods;
the A-shaped connecting rod is a spherical connecting rod, and the axes of the holes at the two ends are intersected at one point; the B-type connecting rod is a generalized spherical connecting rod, a B rod centering spherical center is arranged on the axis of the hole at one end, and a B rod moving spherical center is arranged on the axis of the hole at the other end, so that the B-type connecting rod can be regarded as a double-spherical-center spherical connecting rod in the parallel mechanism; the line segment formed by connecting the B rod centering sphere center and the B rod dynamic sphere center of the B type connecting rod is a ' double-center line segment ', the length of the double-center line segment ' is ' double-center distance ', the ' double-center distances ' of all the B type connecting rods in the whole parallel mechanism are equal, and the ' double-center line segments ' of all the B type connecting rods are completely overlapped all the time in the motion process of the parallel mechanism, namely, the B rod centering sphere centers are overlapped to form the centering sphere center (point M) of the parallel mechanism, and the B rod dynamic sphere centers are overlapped to form the dynamic sphere center (point N) of the parallel mechanism;
this parallel mechanism can be arranged in the design of recovered robot ankle joint, according to the parameter of user's talus, confirm the average relative rotation centre of sphere between user's shin bone and the talus and the average relative rotation centre of sphere position between talus and the calcaneus, make parallel mechanism's dynamic sphere centre (point N) coincide with the average relative rotation centre of sphere of user's talus and calcaneus all the time, parallel mechanism's fixed sphere centre (point M) coincides with the average relative rotation centre of sphere of user's shin bone and talus all the time, confirm spatial position and the distance of parallel mechanism's fixed sphere centre (point M) and dynamic sphere centre (point N) promptly, realize parallel mechanism and the abundant fit of human ankle joint motion.
The utility model discloses a theory of operation and work flow are:
the first connecting rod 101, the fourth connecting rod 104, the first connecting rod 21 and the first connecting rod 31 of the second branch chain of the closed loop branched chain are four driving links of the parallel mechanism, and four rotation angles of the fourth connecting rod relative to the static platform 4 are input quantities of the parallel mechanism, namely four degrees of freedom of the parallel mechanism;
the first connecting rod 101 and the fourth connecting rod 104 of the closed-loop branched chain respectively drive the second connecting rod 102 and the fifth connecting rod 105 of the closed-loop branched chain to rotate, and the static platform 4, the first connecting rod 101 of the closed-loop branched chain and the fourth connecting rod 104 of the closed-loop branched chain are all A-type connecting rods, so that the B rod centering center of the second connecting rod 102 of the closed-loop branched chain and the B rod centering center of the fifth connecting rod 105 of the closed-loop branched chain which are all B-type connecting rods coincide with a point M; because the 'double-center distances' of all the B-type connecting rods of the parallel mechanism are equal, and the closed-loop branched chain third connecting rod 103 and the closed-loop branched chain sixth connecting rod 106 are both A-type connecting rods, the movable ball centers of the B rods of the closed-loop branched chain second connecting rod 102 and the closed-loop branched chain fifth connecting rod 105 which are both B-type connecting rods coincide with a point N, and the movement of the closed-loop branched chain second connecting rod 102 and the closed-loop branched chain fifth connecting rod 105 is the rotation around MN; the static platform 4, the first closed-loop branched chain connecting rod 101, the fourth closed-loop branched chain connecting rod 104, the second closed-loop branched chain connecting rod 102 and the fifth closed-loop branched chain connecting rod 105 jointly form a spherical five-rod mechanism with the degree of freedom of 2, and the input angles of the first closed-loop branched chain connecting rod 101 and the fourth closed-loop branched chain connecting rod 104 determine the positions of a point M and a point N in space;
the second branched chain first connecting rod 21, the second branched chain second connecting rod 22, the third branched chain first connecting rod 31 and the third branched chain second connecting rod 32 are all A-type connecting rods, so that B rod centering ball centers of the second branched chain third connecting rod 23, the third branched chain third connecting rod 33, the closed-loop branched chain second connecting rod 102 and the closed-loop branched chain fifth connecting rod 105 which are all B-type connecting rods coincide with a point M; the second branched chain fourth connecting rod 24, the third branched chain fourth connecting rod 34 and the movable platform 5 are all A-type connecting rods, so that the B rod movable spherical centers of the second branched chain third connecting rod 23, the third branched chain third connecting rod 33, the closed-loop branched chain second connecting rod 102 and the closed-loop branched chain fifth connecting rod 105 which are all B-type connecting rods coincide with a point N; the static platform 4, the first connecting rod 21 of the second branched chain, the second connecting rod 22 of the second branched chain and the third connecting rod 23 of the second branched chain jointly form a spherical four-bar mechanism, the static platform 4, the first connecting rod 31 of the third branched chain, the second connecting rod 32 of the third branched chain and the third connecting rod 33 of the third branched chain jointly form another spherical four-bar mechanism, and the two four-bar mechanisms have 1 degree of freedom, namely the first connecting rod 21 of the second branched chain and the first connecting rod 31 of the third branched chain respectively drive the third connecting rod 23 of the second branched chain and the third connecting rod 33 of the third branched chain to rotate around a line segment MN through the second connecting rod 22 of the second branched chain and the second connecting rod 32 of the third branched chain; the second branched-chain third connecting rod 23 and the third branched-chain third connecting rod 33 respectively drive the movable platform 5 to do spherical motion with the degree of freedom of 2 around the point N under the limitation of the closed-loop branched-chain seventh connecting rod 107 through the second branched-chain fourth connecting rod 24 and the third branched-chain fourth connecting rod 34.
Claims (2)
1. A four-degree-of-freedom generalized spherical parallel mechanism with a closed loop containing a son is characterized in that the parallel mechanism comprises a first closed loop branched chain, a second branched chain, a third branched chain, a static platform and a movable platform;
the first closed-loop branched chain comprises a first closed-loop branched chain connecting rod, a second closed-loop branched chain connecting rod, a third closed-loop branched chain connecting rod, a fourth closed-loop branched chain connecting rod, a fifth closed-loop branched chain connecting rod, a sixth closed-loop branched chain connecting rod and a seventh closed-loop branched chain connecting rod; the second branched chain comprises a first connecting rod of the second branched chain, a second connecting rod of the second branched chain, a third connecting rod of the second branched chain and a fourth connecting rod of the second branched chain; the third branched chain comprises a first connecting rod of the third branched chain, a second connecting rod of the third branched chain, a third connecting rod of the third branched chain and a fourth connecting rod of the third branched chain;
the static platform is provided with a first static platform hinged support, a second static platform hinged support, a third static platform hinged support and a fourth static platform hinged support which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the four hinged supports are converged at a point M;
the movable platform is provided with a first movable platform hinged support, a second movable platform hinged support and a third movable platform hinged support which are uniformly distributed in the circumferential direction, and the central axes of hinged holes of the three hinged supports are converged at a point N;
the first hinge support of the movable platform is hinged with the upper end of the seventh connecting rod of the closed-loop branched chain to form a revolute pair C1, and the lower end of the seventh connecting rod of the closed-loop branched chain is hinged with the upper end of the third connecting rod of the closed-loop branched chain and the upper end of the sixth connecting rod of the closed-loop branched chain to form a revolute pair D1; the lower end of the closed-loop branched chain No. six connecting rod is hinged with the upper end of the closed-loop branched chain No. five connecting rod to form a revolute pair E1, the lower end of the closed-loop branched chain No. five connecting rod is hinged with the upper end of the closed-loop branched chain No. four connecting rod to form a revolute pair F1, and the lower end of the closed-loop branched chain No. four connecting rod is hinged with the first hinged support of the static platform to form a revolute pair; the lower end of the third connecting rod of the closed-loop branched chain is hinged with the upper end of the second connecting rod of the closed-loop branched chain to form a revolute pair E11, the lower end of the second connecting rod of the closed-loop branched chain is hinged with the upper end of the first connecting rod of the closed-loop branched chain to form a revolute pair F11, and the lower end of the first connecting rod of the closed-loop branched chain is hinged with the fourth hinged support of the static platform to form a revolute pair;
the second hinged support of the movable platform is hinged with the upper end of the second branched chain fourth connecting rod to form a revolute pair C2, and the lower end of the second branched chain fourth connecting rod is hinged with the upper end of the second branched chain third connecting rod to form a revolute pair D2; the lower end of the third connecting rod of the second branched chain is hinged with the upper end of the second connecting rod of the second branched chain to form a revolute pair E2, the lower end of the second connecting rod of the second branched chain is hinged with the upper end of the first connecting rod of the second branched chain to form a revolute pair F2, and the lower end of the first connecting rod of the second branched chain is hinged with the second hinged support of the static platform to form a revolute pair G2;
the third hinged support of the movable platform is hinged with the upper end of the third branched chain fourth connecting rod through a revolute pair C3, and the lower end of the third branched chain fourth connecting rod is hinged with the upper end of the third branched chain third connecting rod through a revolute pair D3; the lower end of the third branched chain connecting rod III is hinged with the upper end of the third branched chain connecting rod II to form a revolute pair E3, the lower end of the third branched chain connecting rod II is hinged with the upper end of the third branched chain connecting rod I to form a revolute pair F3, and the lower end of the third branched chain connecting rod I is hinged with the third support of the static platform to form a revolute pair G3;
the axes of rotation of the revolute pairs C1, C2, C3, D1, D2, D3, E1 and E11 converge at a point which is the center of the moving sphere of the parallel mechanism and coincides with the point N; the rotation axes of the revolute pairs E2, E3, F1, F2, F3, G1, G2, G3, F11 and G11 are converged at a point which is the centering of the sphere of the parallel mechanism and is coincident with a point M, the point M is fixed in the motion process of the parallel mechanism, the point N rotates around the point M, and the distance between the point M and the point N is unchanged.
2. The parallel mechanism of claim 1, wherein the stationary platform and the movable platform are both a-type links; the first closed-loop branched chain, the second branched chain and the third branched chain are all formed by an A-type connecting rod and a B-type connecting rod; the first connecting rod, the third connecting rod, the fourth connecting rod, the sixth connecting rod and the seventh connecting rod of the closed-loop branched chain are all A-type connecting rods, and the second connecting rod and the fifth connecting rod are all B-type connecting rods; the first connecting rod of the second branched chain, the second connecting rod of the second branched chain and the fourth connecting rod of the second branched chain are all A-type connecting rods, and the third connecting rod of the second branched chain is a B-type connecting rod; the third branched chain first connecting rod, the third branched chain second connecting rod and the third branched chain fourth connecting rod are all A-type connecting rods, and the third branched chain third connecting rod is a B-type connecting rod; the A-shaped connecting rod is a spherical connecting rod, and the axes of the holes at the two ends are intersected at one point; the B-shaped connecting rod is a generalized spherical connecting rod, a B rod centering spherical center is arranged on the axis of a hole at one end, and a B rod moving spherical center is arranged on the axis of a hole at the other end; when the parallel mechanism moves, the B rod centering spherical centers of all the B type connecting rods completely coincide with the point M, and the B rod moving spherical centers of all the B type connecting rods completely coincide with the point N.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434839A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of four-degree-of-freedom broad sense sphere parallel mechanism containing sub- closed loop |
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
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2019
- 2019-09-16 CN CN201921527838.0U patent/CN210500262U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434839A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of four-degree-of-freedom broad sense sphere parallel mechanism containing sub- closed loop |
| CN110434839B (en) * | 2019-09-16 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom generalized spherical parallel mechanism with closed loop of introns |
| CN111700774A (en) * | 2020-07-21 | 2020-09-25 | 河北工业大学 | Motion decoupling ankle joint fitting mechanism |
| CN111700774B (en) * | 2020-07-21 | 2024-03-29 | 河北工业大学 | Ankle joint fitting mechanism with motion decoupling function |
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