CN102506274A - Novel spherical positioning mechanism - Google Patents

Abstract

The invention relates to a three-freedom serial spherical mechanism capable of realizing rapid positioning on a spherical surface. The mechanism consists of a rotating pair A, a rotating pair C and a moving pair B, wherein the axes of the two rotating pairs are intersected at one point (sphere center) and the moving pair slides on an arc orbit which takes the sphere center as a circle center. When the mechanism is used, the rapid positioning of an end effector P can be realized by driving the rotating pairs or the moving pair according to the position of a positioning point. Moreover, the mechanism has the characteristic of large operating space.

Description

Translated fromChinese

一种新型球面定位机构A New Spherical Positioning Mechanism

技术领域technical field

本发明涉及一种能方便实现球面定位操作的三自由度新型球面串联机构。The invention relates to a novel three-degree-of-freedom spherical surface series mechanism capable of conveniently realizing spherical surface positioning operations.

背景技术Background technique

球面机构是一种介于平面机构和空间机构之间的特殊机构，球面机构中所有的运动副都在一个固定的球面上运动。球面机构具有结构紧凑的特点且制造方便、经济。球面机构已在许多领域得到广泛的应用,如眼科手术机器人、关节康复机器人、太阳跟踪装置等。串联球面机构具有结构简单、控制方便、工作空间大等优点。球面三自由度串联机构已在机器人手腕中得到应用。The spherical mechanism is a special mechanism between the planar mechanism and the space mechanism. All the kinematic pairs in the spherical mechanism move on a fixed spherical surface. The spherical mechanism has the characteristics of compact structure and is convenient and economical to manufacture. Spherical mechanisms have been widely used in many fields, such as eye surgery robots, joint rehabilitation robots, sun tracking devices and so on. The series spherical mechanism has the advantages of simple structure, convenient control and large working space. The spherical three-degree-of-freedom series mechanism has been applied in the robot wrist.

发明内容Contents of the invention

本发明在三转动副球面串联机构的基础上，提出了一种包含两转动副和一移动副的新型的三自由度球面串联机构。本发明提供一种实现在球面上进行快速、准确定位的方法。该机构可广泛应用于工程、医疗等领域。The invention proposes a novel three-degree-of-freedom spherical surface series mechanism including two rotating pairs and a moving pair on the basis of the spherical surface series mechanism with three rotating pairs. The invention provides a method for realizing fast and accurate positioning on a spherical surface. The mechanism can be widely used in engineering, medical and other fields.

本发明解决其技术问题所采用的技术方案是：利用两个转动副和一个移动副构成串联球面机构，两转动副的轴线汇交于球心，移动副沿一半径为球的半径的圆弧滑动。当转动副转动或移动副移动时机构末端便可在在球面上运动，从而达到在球面上进行快速、准确定位的目的。The technical scheme adopted by the present invention to solve the technical problem is: utilize two rotating pairs and a moving pair to form a series spherical mechanism, the axes of the two rotating pairs meet at the center of the sphere, and the moving pair follows a circular arc whose radius is the radius of the ball slide. When the rotating pair rotates or the moving pair moves, the end of the mechanism can move on the spherical surface, so as to achieve the purpose of fast and accurate positioning on the spherical surface.

本发明的有益效果是，可以根据定位要求分别驱动转动副或移动副实现在球面上的快速定位操作，机构的操作空间大，便于实现在球面上大范围的快速定位。The beneficial effect of the present invention is that the revolving pair or the moving pair can be respectively driven according to the positioning requirements to realize rapid positioning operation on the spherical surface, and the operating space of the mechanism is large, which facilitates rapid positioning on a large range on the spherical surface.

附图说明Description of drawings

下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.

图1是本发明的机构原理示意图。Fig. 1 is a schematic diagram of the mechanism principle of the present invention.

图2是机构的三维模型结构简图。Figure 2 is a schematic diagram of the three-dimensional model structure of the mechanism.

具体实施方式Detailed ways

在图1中，球面机构包含转动副A、C和移动副B，两转动副轴线交于一点（球心），移动副B则在以球心为圆心的圆弧轨道上滑动。机构的末端执行器位于P点。当转动A或C或驱动移动副B时，位于P点的机构末端执行器便可迅速地在球面上移动，从而实现在球面上的快速定位操作。In Figure 1, the spherical mechanism includes rotating pairs A, C and moving pair B. The axes of the two rotating pairs intersect at one point (the center of the sphere), and the moving pair B slides on an arc track centered on the center of the sphere. The end effector of the mechanism is located at point P. When turning A or C or driving the moving pair B, the end effector of the mechanism at point P can move rapidly on the spherical surface, thereby realizing the rapid positioning operation on the spherical surface.

Claims (1)

1. novel Three Degree Of Freedom series connection sphere positioning means, it is characterized in that: mechanism is made up of two revolute pairs and a sliding pair, and two revolute pair axis meet at a bit (centre of sphere), and sliding pair then slides on the arc orbit that with the centre of sphere is the center of circle.

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