技术领域technical field
本发明涉及两转动并联机构，主要涉及新型双环形导轨两转动并联机构。The invention relates to a two-rotation parallel mechanism, and mainly relates toa novel double-ring guide rail two-rotation parallel mechanism.
背景技术Background technique
两转动并联机构在工业领域具有广泛的应用前景，可用于星间链路卫星的定位追踪装置，机器人肩/腕关节，微创手术机器手等。上述应用领域均要求转动并联机构具有转动角度大，运动灵活，易于装配等优点，除此之外，为了更好的支撑卫星，机器人手臂，手术器械等实现定位追踪，姿态调整等操作，两转动并联机构必须具有一定的刚度性能。The two-rotation parallel mechanism has broad application prospects in the industrial field, and can be used for positioning and tracking devices for inter-satellite link satellites, robotic shoulder/wrist joints, minimally invasive surgical robotic hands, etc. The above application fields require that the rotating parallel mechanism has the advantages of large rotation angle, flexible movement, and easy assembly. In addition, in order to better support satellites, robot arms, surgical instruments, etc. to achieve positioning tracking, attitude adjustment and other operations, two rotations The parallel mechanism must have a certain stiffness performance.
目前，已提出的并联机构主要存在以下不足：1)已提出的两转动并联机构结构复杂，杆件间易发生干涉，无法实现大角度转动，如专利CN 102079090 A和CN 102294693 A中所述机构由多条支链组成，结构复杂，且支链组成包含复杂铰链，限制了机构的转动能力和运动灵活性；2)已有机构无法提供足够的刚度以完成所需操作，如专利CN 102126212 A和CN103624559 A所描述的机构结构特征可等同为一类平面机构，其无法为机构法线方向提供足够的支撑刚度，故其无法支撑卫星，机器人手臂等完成所需追踪定位操作。At present, the proposed parallel mechanism mainly has the following deficiencies: 1) The proposed two-rotation parallel mechanism has a complicated structure, and interference between the rods is easy to occur, and it cannot realize large-angle rotation, such as the mechanisms described in patents CN 102079090 A and CN 102294693 A Composed of multiple branch chains, the structure is complex, and the branch chain composition contains complex hinges, which limits the rotation capability and movement flexibility of the mechanism; 2) the existing mechanism cannot provide sufficient rigidity to complete the required operations, such as patent CN 102126212 A The mechanism structural feature described in CN103624559 A can be equated to a class of planar mechanism, which cannot provide sufficient support stiffness for the normal direction of the mechanism, so it cannot support satellites, robot arms, etc. to complete the required tracking and positioning operations.
综上所述，现有的两转动并联机构均存在不足，无法满足上述应用领域的要求。To sum up, the existing two-rotation parallel mechanisms all have deficiencies and cannot meet the requirements of the above-mentioned application fields.
发明内容Contents of the invention
本发明的目的在于克服已有技术的不足，提供一种转动角度大，刚度性能优越、可以支撑卫星，机器人手臂等完成追踪定位等操作的新型双环形导轨两转动并联机构。The object of the present invention is to overcome the deficiencies of the prior art, and provide anovel double-ring guide rail two-rotation parallel mechanism with large rotation angle and superior rigidity performance, which can support satellites, robot arms, etc. to complete operations such as tracking and positioning.
本发明的一种新型双环形导轨两转动并联机构，它包括静平台和动平台，在所述的静平台和动平台之间连接有从动支链、第一主动支链以及第二主动支链，所述动平台包括主动环 形导轨，在所述的主动环形导轨的内壁周向上固定有从动环形导轨，所述从动环形导轨的上、下面的对称中心平面与所述主动环形导轨的上、下面的对称中心平面彼此重合，且从动环形导轨中心点和所述主动环形导轨中心点重合形成动平台中心点，所述从动环形导轨中心轴线和主动环形导轨中心轴线相互重合；Anovel dual-circular guide rail two-rotation parallel mechanism of the present invention includes a static platform and a dynamic platform, and a driven branch chain, a first driving branch chain and a second driving branch are connected between the static platform and the moving platform. chain, the moving platform includes an active circular guide rail, a driven circular guide rail is fixed on the inner wall of the active circular guide rail, and the upper and lower symmetrical center planes of the driven circular guide rail and The upper and lower symmetrical center planes coincide with each other, and the center point of the driven annular guide rail coincides with the center point of the active annular guide rail to form the center point of the moving platform, and the central axis of the driven annular guide rail coincides with the central axis of the active annular guide rail;
所述从动支链包括从动杆，在所述的从动杆顶部固定有从动虎克铰链，所述从动虎克铰链包括近架轴和远架轴，所述静平台通过从动杆与从动虎克铰链近架轴连接，所述远架轴两端各自与一个从动滑块连接，所述从动滑块与从动环形导轨滑动连接，所述从动虎克铰链中心点与动平台中心点重合；The driven branch chain includes a driven rod, and a driven Hooke hinge is fixed on the top of the driven rod, and the driven Hooke hinge includes a near frame shaft and a far frame shaft. The rod is connected to the near frame shaft of the driven Hooke hinge. The point coincides with the center point of the moving platform;
所述第一主动支链和第二主动支链均包括固定在静平台上的静平台转动副，下连杆一端通过静平台转动副与静平台转动连接并且另一端通过中间转动副与上连杆一端转动连接，所述上连杆另一端通过虎克铰链与一个主动滑块连接，第一主动支链中的主动滑块与主动环形导轨滑动连接，第二主动支链中的主动滑块与主动环形导轨固定连接；其中第一主动支链中的静平台转动副轴线、中间转动副轴线和虎克铰链远架轴线彼此平行，第二主动支链中的静平台转动副轴线、中间转动副轴线和虎克铰链远架轴线彼此平行，第一、二主动支链的虎克铰链近架轴线均通过动平台中心点。Both the first active branch chain and the second active branch chain include a static platform rotary pair fixed on the static platform, one end of the lower link is connected to the static platform through the static platform rotary pair and the other end is connected to the upper link through the middle rotary pair. One end of the rod is rotationally connected, and the other end of the upper link is connected to an active slider through a Hooke hinge, the active slider in the first active branch chain is slidingly connected to the active ring guide rail, and the active slider in the second active branch chain It is fixedly connected with the active circular guide rail; the axis of rotation of the static platform in the first active branch chain, the axis of the middle rotation axis and the axis of the far frame of the Hooke hinge are parallel to each other, the axis of rotation of the static platform in the second active branch chain, the axis of the middle rotation The auxiliary axis and the axis of the far frame of the Hooke hinge are parallel to each other, and the axes of the near frame of the Hooke hinge of the first and second active branch chains both pass through the center point of the moving platform.
本发明的优点：Advantages of the present invention:
本发明的一种新型双环形导轨两转动并联机构，各支链内部转动中心点彼此重合，从动支链限制主动支链移动能力，机构从动支链连接静平台与动平台，可以为机构提供优越的铅垂方向的刚度性能，由于引入环形导轨，机构更易于实现两自由度大角度转动，可应用于卫星追踪定位，机器人肩/腕关节姿态调整等场合。In thenovel dual-ring guide rail two-rotation parallel mechanism of the present invention, the internal rotation center points of each branch chain coincide with each other, the driven branch chain restricts the movement ability of the active branch chain, and the driven branch chain of the mechanism connects the static platform and the dynamic platform, which can be a mechanism It provides superior stiffness performance in the vertical direction. Due to the introduction of circular guide rails, the mechanism is easier to achieve two-degree-of-freedom large-angle rotation, which can be applied to satellite tracking and positioning, robot shoulder/wrist joint attitude adjustment and other occasions.
附图说明Description of drawings
图1是本发明的一种新型双环形导轨两转动并联机构的结构示意图；Fig. 1 is the structuralrepresentation of a kind ofnovel double annular guide rail two rotation parallel mechanisms of the present invention;
图2是图1所示的机构中的动平台的结构示意图；Fig. 2 is the structuralrepresentation of the moving platform in the mechanism shown inFig. 1 ;
图3是图1所示的机构中的从动支链的结构示意图；Fig. 3 is a schematic structuralview of the driven branch chain in the mechanism shown inFig. 1 ;
图4是图1所示的机构中的第一主动支链的结构示意图；Fig. 4 is a structuralschematic diagram of the first active branch chain in the mechanism shown inFig. 1 ;
图5是图1所示的机构中的第二主动支链的结构示意图；Fig. 5 is a schematic structuralview of a second active branch chain in the mechanism shown inFig. 1 ;
附图标记：静平台1 第一主动支链2 第二主动支链3 从动支链4 从动虎克铰链5 从动滑块6 动平台7 从动环形导轨7-1 主动环形导轨7-2 第一静平台转动副8 第一下连杆9 第一中间转动副10 第一上连杆11 第一虎克铰链12主动滑块13 第二静平台转动副14 第二下连杆15 第二中间转动副16 第二上连杆17 第二虎克铰链18 从动杆19 动平台中心点P 动平台中心轴线a 第一静平台转动副轴线b 第一中间转动副轴线c 第一虎克铰链远架轴线d 第一虎克铰链近架轴线e 第二静平台转动副轴线f 第二中间转动副轴线g 第二虎克铰链远架轴线h 第二虎克铰链近架轴线i 主动环形导轨等效转动副aaReference signs: static platform 1 first driving branch chain 2 second driving branch chain 3 driven branch chain 4 driven Hooke hinge 5 driven slider 6 driven platform 7 driven ring guide rail 7-1 active ring guide rail 7- 2 The first static platform rotating pair 8 The first lower connecting rod 9 The first intermediate rotating pair 10 The first upper connecting rod 11 The first Hooke hinge 12 The active slider 13 The second static platform rotating pair 14 The second lower connecting rod 15 The second Second intermediate revolving pair 16 Second upper link 17 Second Hooke hinge 18 Follower rod 19 Center point of moving platform P Center axis of moving platform a First stationary platform revolving pair axis b First intermediate revolving pair axis c First Hooke Hinge far frame axis d first Hooke hinge near frame axis e second static platform rotation axis f second middle rotation axis g second Hooke hinge far frame axis h second Hooke hinge near frame axis i active ring guide Equivalent rotating pair aa
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明作详细描述。The present invention will be described in detail below in conjunction withthe accompanying drawings and specific embodiments.
如附图所示本发明的一种新型双环形导轨两转动并联机构，它包括静平台1和动平台7，在所述的静平台1和动平台7之间连接有从动支链4、第一主动支链2以及第二主动支链3，所述动平台包括主动环形导轨7-2，在所述的主动环形导轨的内壁周向上固定有从动环形导轨7-1，所述从动环形导轨的上、下面的对称中心平面与所述主动环形导轨的上、下面的对称中心平面彼此重合，且从动环形导轨中心点和所述主动环形导轨中心点重合形成动平台中心点，所述从动环形导轨中心轴线和主动环形导轨中心轴线相互重合；Asshown in the accompanying drawings, anovel double ring guide rail two-rotation parallel mechanism of the present invention includes a static platform 1 and a moving platform 7, and a driven branch chain 4, is connected between the static platform 1 and the moving platform 7. The first active branch chain 2 and the second active branch chain 3, the moving platform includes an active annular guide rail 7-2, and a driven annular guide rail 7-1 is fixed on the inner wall circumference of the active annular guide rail. The upper and lower symmetrical center planes of the moving annular guide rail coincide with the upper and lower symmetrical central planes of the active annular guide rail, and the center point of the driven annular guide rail coincides with the active annular guide rail center point to form a moving platform center point, The central axis of the driven circular guide rail coincides with the central axis of the active circular guide rail;
所述从动支链包括从动杆19，在所述的从动杆顶部固定有从动虎克铰链5，所述从动虎克铰链包括近架轴和远架轴，所述静平台通过从动杆与从动虎克铰链近架轴连接，所述远架轴两端各自与一个从动滑块连接，所述从动滑块与从动环形导轨7-1滑动连接，所述从动虎克铰链中心点与动平台中心点重合；Described driven branch chain comprises driven lever 19, is fixed with driven Hooke hinge 5 at the top of described driven lever, and described driven Hooke hinge comprises near frame shaft and far frame shaft, and described static platform passes through The driven lever is connected to the near frame shaft of the driven Hooker hinge, and the two ends of the far frame shaft are respectively connected to a driven slider, and the driven slider is slidably connected to the driven ring guide rail 7-1, and the slave The center point of the moving Hook hinge coincides with the center point of the moving platform;
所述第一主动支链和第二主动均包括固定在静平台上的静平台转动副，下连杆一端通过静平台转动副与静平台转动连接并且另一端通过中间转动副与上连杆一端转动连接，所述上 连杆另一端通过虎克铰链与一个主动滑块连接，第一主动支链中的主动滑块与主动环形导轨滑动连接，第二主动支链中的主动滑块与主动环形导轨固定连接；其中第一主动支链中的静平台转动副轴线、中间转动副轴线和虎克铰链远架轴线彼此平行，第二主动支链中的静平台转动副轴线、中间转动副轴线和虎克铰链远架轴线彼此平行，第一、二主动支链的虎克铰链近架轴线均通过动平台中心点。Both the first active branch chain and the second active include a static platform rotating pair fixed on the static platform, one end of the lower link is connected to the static platform through the static platform rotating pair and the other end is connected to the upper connecting rod through the middle rotating pair Rotation connection, the other end of the upper link is connected to an active slider through a Hooke hinge, the active slider in the first active branch chain is slidingly connected to the active ring guide rail, the active slider in the second active branch chain is connected to the active The circular guide rail is fixedly connected; wherein the axis of rotation of the static platform, the axis of the intermediate rotation of the first active branch chain, and the axis of the far frame of the Hooke hinge are parallel to each other, and the axis of rotation of the static platform and the axis of the intermediate rotation of the second active branch chain The axes of the far frame and the Hooke hinge are parallel to each other, and the axes of the near frame of the Hooke hinge of the first and second active branch chains both pass through the center point of the moving platform.
下面再结合每一幅图对本发明加以详细说明。The present invention will be described in detail below in conjunction with eachfigure .
如图1所示，本发明的一种新型双环形导轨两转动并联机构由静平台1、动平台7和连接动、静平台的第一主动支链2、第二主动支链3及从动支链4构成。As shown in Fig. 1 , a kind ofnovel double circular guide rail two-rotation parallel mechanism of the present invention is composed of a static platform 1, a moving platform 7 and a first active branch chain 2 connecting the dynamic and static platforms, a second active branch chain 3 and a driven 4 branched chains.
如图1和图2所示，所述动平台7由从动环形导轨7-1和主动环形导轨7-2固结组成。所述从动环形导轨7-1与从动滑块6滑动连接，所述主动环形导轨7-2与第一主动支链的主动滑块13滑动连接，从而从动滑块6和主动滑块13可沿环形轨道实现圆周连续移动。所述从动环形导轨7-1上下面的对称中心平面与所述主动环形导轨7-2上下面的对称中心平面彼此重合，且所述从动环形导轨7-1中心点和所述主动环形导轨7-2中心点重合，即为动平台中心点P；所述从动环形导轨中心轴线和所述主动环形导轨中心轴线相互重合，即为动平台中心轴线，以轴线a表示。As shown in Figures 1 and2 , the moving platform 7 is composed of a driven circular guide rail 7-1 and a driving circular guide rail 7-2. The driven annular guide rail 7-1 is slidably connected with the driven slider 6, and the active annular guide rail 7-2 is slidably connected with the active slider 13 of the first active branch chain, so that the driven slider 6 and the active slider 13 can realize the continuous movement of the circle along the circular track. The center plane of symmetry above and below the driven ring guide rail 7-1 coincides with the center plane of symmetry above and below the drive ring guide rail 7-2, and the center point of the drive ring guide rail 7-1 is aligned with the center point of the drive ring guide rail 7-2. The coincidence of the center points of the guide rails 7-2 is the center point P of the moving platform; the coincidence of the central axis of the driven circular guide rail and the central axis of the active circular guide rail is the central axis of the moving platform, represented by axis a.
如图1和图3所示，所述从动支链4由从动杆19，从动虎克铰链5和从动滑块6组成。所述从动虎克铰链5包括近架轴和远架轴，所述静平台1通过从动杆19与所述从动虎克铰链5的近架轴连接，所述远架轴与所述从动滑块6连接，所述从动滑块6与所述动平台7从动环形导轨滑动连接。所述从动虎克铰链中心点与动平台中心点P重合。As shown in FIGS. 1 and3 , the driven branch chain 4 is composed of a driven rod 19 , a driven Hookee hinge 5 and a driven slider 6 . The driven Hooke hinge 5 includes a near frame shaft and a far frame shaft, and the static platform 1 is connected with the near frame shaft of the driven Hooke hinge 5 by a driven rod 19, and the far frame shaft is connected with the The driven slider 6 is connected, and the driven slider 6 is slidably connected with the driven circular guide rail of the movable platform 7 . The center point of the driven Hooke hinge coincides with the center point P of the moving platform.
如图1和图4所示，所述第一主动支链2由第一静平台转动副8，第一下连杆9，第一中间转动副10，第一上连杆11，第一虎克铰链12和主动滑块13组成。所述静平台1通过所述第一静平台转动副8与所述第一下连杆9一端连接，所述第一下连杆9另一端通过所述第一中间转动副10与所述第一上连杆11一端连接，所述第一上连杆11另一端通过所述第一虎克铰链12与所述主动滑块13连接，所述主动滑块13与动平台7主动环形导轨滑动连接。所述 第一静平台转动副轴线b、所述第一中间转动副轴线c和所述第一虎克铰链远架轴线d彼此平行，所述第一虎克铰链近架轴线e通过动平台中心点P。As shownin Figure 1 andFigure 4 , the first active branch chain 2 is composed of the first static platform rotating pair 8, the first lower connecting rod 9, the first intermediate rotating pair 10, the first upper connecting rod 11, the first tiger Gram hinge 12 and active slider 13 are formed. The static platform 1 is connected to one end of the first lower connecting rod 9 through the first static platform rotating pair 8, and the other end of the first lower connecting rod 9 is connected to the first lower connecting rod 9 through the first intermediate rotating pair 10. One end of an upper connecting rod 11 is connected, and the other end of the first upper connecting rod 11 is connected with the active slider 13 through the first Hooke hinge 12, and the active slider 13 slides with the active circular guide rail of the moving platform 7 connect. The axis b of the first static platform rotation pair, the axis c of the first intermediate rotation pair, and the axis d of the first Hookee hinge far frame are parallel to each other, and the axis e of the first Hookee hinge near frame passes through the center of the moving platform Point P.
如图1和图5所示，所述第二主动支链3包括第二静平台转动副14，第二下连杆15，第二中间转动副16，第二上连杆17和第二虎克铰链18以及一个主动滑块。所述静平台1通过所述第二静平台转动副14与所述第二下连杆15一端连接，所述第二下连杆15另一端通过所述第二中间转动副16与所述第二上连杆17一端连接，所述第二上连杆17另一端通过所述第二虎克铰链18与一个主动滑块连接，所述的主动滑块与动平台7固定连接。所述第二静平台转动副轴线f、所述第二中间转动副轴线g和所述第二虎克铰链远架轴线h彼此平行，所述第二虎克铰链近架轴线i通过动平台中心点P。As shownin Figures 1 and5 , the second active branch chain 3 includes a second static platform rotating pair 14, a second lower connecting rod 15, a second intermediate rotating pair 16, a second upper connecting rod 17 and a second tiger Gram hinge 18 and an active slider. The static platform 1 is connected to one end of the second lower connecting rod 15 through the second static platform rotating pair 14, and the other end of the second lower connecting rod 15 is connected to the second lower connecting rod 15 through the second intermediate rotating pair 16. One end of the two upper connecting rods 17 is connected, and the other end of the second upper connecting rod 17 is connected with an active slider through the second Hookee hinge 18, and the active slider is fixedly connected with the moving platform 7. The axis of rotation of the second stationary platform f, the axis of the second intermediate axis of rotation g, and the axis h of the second Hookee hinge far frame are parallel to each other, and the axis i of the second Hookee hinge near frame passes through the center of the moving platform Point P.
以所述第一静平台转动副8和第二静平台转动副14为输入驱动，本发明的一种新型双环形导轨两转动并联机构可实现空间两自由度转动。如图1-图3所示，所述从动环形导轨7-1及从动滑块6结构上可等同于转动副，该等效转动副通过动平台中心点P、方向为动平台中心轴线a，结合从动虎克铰链5，所述从动支链4具有空间三自由度转动能力，即可绕动平台中心轴线a和从动虎克铰链5的两条转动轴线实现三自由度转动。由于从动虎克铰链5的中心点为P，故从动支链4的三自由度转动中心为动平台中心点P。Driven by the first static platform revolving pair 8 and the second static platform revolving pair 14 as input, anovel double-circular guide rail two-rotation parallel mechanism of the present invention can realize two-degree-of-freedom rotation in space.As shown inFigures 1-3 , the driven annular guide rail 7-1 and the driven slider 6 can be structurally equivalent to a rotary pair, the equivalent rotary pair passes through the center point P of the moving platform, and the direction is the central axis of the moving platform a, combined with the driven Hooke hinge 5, the driven branch chain 4 has the ability to rotate in three degrees of freedom in space, that is, it can realize three degrees of freedom rotation around the central axis a of the platform and the two rotation axes of the driven Hooke hinge 5 . Since the center point of the driven Hooke hinge 5 is P, the three-degree-of-freedom rotation center of the driven branch chain 4 is the center point P of the moving platform.
如图1和图4所示，所述主动环形导轨及主动滑块13结构上可等同于转动副，该等效转动副轴线aa通过动平台中心点P、方向为动平台中心轴线a，结合所述第一静平台转动副8、所述第一中间转动副10和所述第一虎克铰链12，所述第一主动支链2具有空间三自由度转动和两自由度移动能力，所述第一静平台转动副轴线b、所述第一中间转动副轴线c和所述第一虎克铰链远架轴线d彼此平行，所述等效转动副轴线aa与所述第一虎克铰链近架轴线e交于动平台中心点P，故所述第一主动支链2的三条转动轴线分别与第一静平台转动副轴线b、等效转动副轴线aa和第一虎克铰链近架轴线e平行。综上所述，第一主动支链2的三自由度转动中心为动平台中心点P，其两自由度移动轴线为空间内任意两条垂直于第一静平台转动副轴线b的互不平行的直线。As shown in Figures 1 and4 , the active annular guide rail and the active slider 13 can be structurally equivalent to the rotating pair, the equivalent rotating pair axis aa passes through the center point P of the moving platform, and the direction is the center axis a of the moving platform, combined with The first static platform revolving pair 8, the first intermediate revolving pair 10 and the first Hookee hinge 12, the first active branch chain 2 has three degrees of freedom rotation and two degrees of freedom movement, so The first static platform rotation axis b, the first intermediate rotation axis c, and the first Hookee hinge remote frame axis d are parallel to each other, and the equivalent rotation axis aa is parallel to the first Hookee hinge The near-frame axis e intersects with the center point P of the moving platform, so the three rotation axes of the first active branch chain 2 are respectively connected to the first static platform rotation axis b, the equivalent rotation axis aa, and the first Hooke hinge near frame The axis e is parallel. To sum up, the three-degree-of-freedom rotation center of the first active branch chain 2 is the center point P of the moving platform, and its two-degree-of-freedom moving axis is any two non-parallel axes perpendicular to the axis b of the rotating pair of the first static platform in space. straight line.
如图1和图5所示，所述第二静平台转动副14、所述第二中间转动副16和所述第二虎克铰链18作用下，所述第二主动支链3具有空间两自由度转动能力和两自由度移动能力。由于所述第二静平台转动副轴线f、所述第二中间转动副轴线g和所述第二虎克铰链远架轴线h彼此平行，所述第二虎克铰链近架轴线i通过动平台中心点P，故第二主动支链3的两转动中心为动平台中心点P，其两自由度转动轴线分别与第二虎克铰链远架轴线h及第二虎克铰链近架轴线i平行，其两自由度移动轴线为空间内任意两条垂直于所述第二静平台转动副轴线f的互不平行的直线。As shownin Figure 1 andFigure 5 , under the action of the second static platform rotating pair 14, the second intermediate rotating pair 16 and the second Hooke hinge 18, the second active branch chain 3 has a space of two Degree of freedom rotation ability and two degree of freedom movement ability. Since the axis f of the second static platform revolving pair, the axis g of the second intermediate revolving pair and the axis h of the second Hookee hinge far frame are parallel to each other, the axis i of the second Hookee hinge near frame passes through the moving platform The center point P, so the two rotation centers of the second active branch chain 3 are the center point P of the moving platform, and the rotation axes of the two degrees of freedom are respectively parallel to the second Hookee hinge far frame axis h and the second Hooke hinge near frame axis i , the two-degree-of-freedom movement axis is any two non-parallel straight lines in space that are perpendicular to the rotational axis f of the second static platform.
由于所述第一主动支链2的三转动中心、所述第二主动支链3的两转动中心和所述从动支链4的三转动中心均为动平台中心点P，故所述动平台7可实现中心点为P的空间两自由度转动，其两转动中心为动平台中心点P，两自由度转动轴线分别与第二虎克铰链远架轴线h及第二虎克铰链近架轴线i平行。同时，在所述第一主动支链2、所述第二主动支链3和所述从动支链4共同作用下，所述第一主动支链2和所述第二主动支链3的两自由度移动能力被从动支链4限制，故所述动平台7仅能够实现绕动平台中心点P，转动轴线分别与第二虎克铰链远架轴线h及第二虎克铰链近架轴线i平行的两自由度转动。(有关转动中心点与移动平面的定义可详见文献“Hervé JM.The Lie group of rigid body displacements,a fundamental tool for mechanism design.Mech Mach Theory1999；34:719-730.”(Hervé JM.刚体位移李子群,机械设计基础工具.机械原理1999；34:719-730.”)Since the three rotation centers of the first driving branch chain 2, the two rotation centers of the second driving branch chain 3 and the three rotation centers of the driven branch chain 4 are the center point P of the moving platform, the moving platform The platform 7 can realize two-degree-of-freedom rotation in a space whose center point is P. The two rotation centers are the center point P of the moving platform. The axis i is parallel. At the same time, under the joint action of the first active branch chain 2, the second active branch chain 3 and the driven branch chain 4, the first active branch chain 2 and the second active branch chain 3 The two-degree-of-freedom movement ability is limited by the driven branch chain 4, so the moving platform 7 can only realize orbiting the center point P of the platform, and the rotation axis is respectively connected to the axis h of the far frame of the second Hooke hinge and the near frame of the second Hooke hinge. Rotation with two degrees of freedom parallel to the axis i. (The definition of the center point of rotation and the moving plane can be found in the literature "Hervé JM. The Lie group of rigid body displacements, a fundamental tool for mechanism design. Mech Mach Theory1999; 34:719-730." (Hervé JM. Rigid body displacement Li Ziqun, Basic tools for mechanical design. Mechanics 1999; 34:719-730.")
本专利设计的一种新型双环形导轨两转动并联机构的动平台由主动环形导轨和从动环形导轨构成。环形导轨具有整周回转能力，可消除机构杆件间干涉等因素的影响，使得机构具有大范围转动能力。本发明的一种新型双环形导轨两转动并联机构具有中间从动支链，该支链加强了机构的支撑刚度，可满足卫星追踪定位，机器人手臂姿态调整等对于机构刚度的需求。The moving platform of anovel double-ring guide rail two-rotation parallel mechanism designed by this patent is composed of an active ring guide rail and a driven ring guide rail. The circular guide rail has the ability to rotate in a full circle, which can eliminate the influence of factors such as interference between the rods of the mechanism, so that the mechanism can rotate in a wide range. Anovel dual-circular guide rail two-rotation parallel mechanism of the present invention has an intermediate driven branch chain, which strengthens the support rigidity of the mechanism, and can meet the requirements for mechanism rigidity such as satellite tracking and positioning, robot arm posture adjustment, etc.
以上对本发明的描述仅仅是示意性的，而不是限制性的，所以，本发明的实施方式并不局限于上述的具体实施方式。如果本领域的普通技术人员受其启示，在不脱离本发明宗旨和 权利要求所保护范围的情况下，做出其他变化或变型，均属于本发明的保护范围。The above description of the present invention is only illustrative rather than restrictive, so the embodiments of the present invention are not limited to the above-mentioned specific embodiments. If a person of ordinary skill in the art is inspired by it, without departing from the gist of the present invention and the protection scope of the claims, other changes or modifications are made, all of which belong to the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201410577214.5ACN104476540B (en) | 2014-10-24 | 2014-10-24 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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| CN201410577214.5ACN104476540B (en) | 2014-10-24 | 2014-10-24 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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| CN201410577214.5AActiveCN104476540B (en) | 2014-10-24 | 2014-10-24 | A kind of novel bicyclic shape guide rail two one-rotation parallel mechanism |
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