技术领域Technical field
本发明涉及机械工程领域，具体涉及一种三自由度广义球面并联机构，能应用于踝关节的康复训练。The invention relates to the field of mechanical engineering, and in particular to a three-degree-of-freedom generalized spherical parallel mechanism, which can be applied to the rehabilitation training of ankle joints.
背景技术Background technique
随着医疗康健领域与机器人领域的不断发展，越来越多的康健机器人进入人们的视野。康健机器人不仅可以帮助关节损伤患者作康复运动，还可以用于运动员的运动训练和和老年人群的关节矫正。现有的康复机器人普遍具有刚度大、承载能力强、灵活度高的优点。然而，针对人体关节运动的复杂性，使用现有的机构已很难提高康复机器人的拟合精度、消除人机交互力，康健机器人的机构设计以遇到了较大的瓶颈。以踝关节康复机器人为例，其大部分构型以灵巧眼机构(三自由度球面并联机构)为基础，该机构具有一个动平台，一个静平台和三条支链，每一条直链均有两个球面连杆与三个转动副构成，且该机构的所有转动副回转中心轴会交与空间一点，将人体踝关节等效为标准球面副，而人体踝关节是人体最为复杂的关节之一，包含有胫骨、腓骨、距骨、舟骨与跟骨等，如果简单的将其简化为标准球面副，则会产生较大的人机交互力。为解决此类问题，提出一种可以充分拟合踝关节运动的新机构是十分有意义的。With the continuous development of the medical health field and the robotics field, more and more health robots have entered people's field of vision. Health robots can not only help patients with joint injuries perform rehabilitation exercises, but can also be used for sports training for athletes and joint correction for the elderly. Existing rehabilitation robots generally have the advantages of high stiffness, strong load-bearing capacity, and high flexibility. However, due to the complexity of human joint motion, it is difficult to improve the fitting accuracy of rehabilitation robots and eliminate human-computer interaction forces using existing mechanisms. The mechanism design of health robots has encountered a major bottleneck. Taking the ankle rehabilitation robot as an example, most of its configurations are based on the smart eye mechanism (three degrees of freedom spherical parallel mechanism). This mechanism has a moving platform, a static platform and three branch chains. Each straight chain has two It consists of a spherical connecting rod and three rotating pairs, and the central axis of rotation of all the rotating pairs of this mechanism intersects with a point in space. The human ankle joint is equivalent to a standard spherical pair, and the human ankle joint is one of the most complex joints in the human body. , including the tibia, fibula, talus, navicular and calcaneus, etc. If it is simply simplified to a standard spherical pair, a large human-computer interaction force will be generated. In order to solve such problems, it is very meaningful to propose a new mechanism that can fully fit the motion of the ankle joint.
发明内容Contents of the invention
针对现有技术的不足，本发明拟解决的技术问题是，提供一种三自由度广义球面并联机构，为新型踝关节康复型机器人设计提供基础理论依据。该机构具有足够的灵活度与运动精度，具有简单、灵巧、多变、适应性强等优点。In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a three-degree-of-freedom generalized spherical parallel mechanism to provide a basic theoretical basis for the design of a new ankle joint rehabilitation robot. The mechanism has sufficient flexibility and motion accuracy, and has the advantages of simplicity, dexterity, variability, and strong adaptability.
本发明解决所述技术问题的技术方案是，提供一种三自由度广义球面并联机构，包括：动平台、静平台和支链；其特征在于，The technical solution of the present invention to solve the technical problem is to provide a three-degree-of-freedom generalized spherical parallel mechanism, including: a moving platform, a static platform and a branch chain; it is characterized by:
该并联机构具有两个不重合的旋转球心，分别为定球心和动球心，且两个球心之间的距离为一可调节定值，整体视为动平台绕动球心做自由度为1的球面运动，动球心绕定球心做自由度为2的球面运动；三自由度广义球面并联机构支链具有两种类型，分别为：用于控制动平台绕动球心的运动的ABAA型支链和用于控制动球心绕定球心的运动的ABA型支链，ABA型支链有两条，ABAA型支链有一条；所有支链均由A型连杆和B型连杆组成，A型连杆为球面连杆，其两端孔的轴心线相交于一点，而B型连杆为广义球面连杆，视为双球心球面连杆，即B型连杆具有两个广义球心，分别为B杆定球心与B杆动球心，在此定义B型连杆的两个广义球心所连结成的线段为“双心线段”，“双心线段”的长度为“双心距”，同一并联机构中的所有B型连杆的“双心距”相等，且运动过程所有B型连杆的“双心线段”始终完全重合，即所有B杆定球心重合组成并联机构的定球心，且所有B杆动球心重合组成并联机构的动球心。The parallel mechanism has two non-overlapping rotating spherical centers, namely the fixed spherical center and the moving spherical center, and the distance between the two spherical centers is an adjustable fixed value. The whole is regarded as the moving platform performing a spherical motion with a degree of freedom of 1 around the moving spherical center, and the moving spherical center performing a spherical motion with a degree of freedom of 2 around the fixed spherical center. The three-degree-of-freedom generalized spherical parallel mechanism branch chains have two types, namely: ABAA type branch chains for controlling the motion of the moving platform around the moving spherical center and ABA type branch chains for controlling the motion of the moving spherical center around the fixed spherical center. There are two ABA type branch chains and one ABAA type branch chain. All branch chains are composed of type A connecting rods and type B connecting rods. The type A connecting rod is a spherical The axis lines of the holes at both ends of the connecting rod intersect at one point, and the B-type connecting rod is a generalized spherical connecting rod, which is regarded as a double-center spherical connecting rod, that is, the B-type connecting rod has two generalized spherical centers, namely the fixed spherical center of the B rod and the dynamic spherical center of the B rod. The line segment connected by the two generalized spherical centers of the B-type connecting rod is defined as a "double-center line segment", and the length of the "double-center line segment" is the "double-center distance". The "double-center distance" of all B-type connecting rods in the same parallel mechanism is equal, and the "double-center line segments" of all B-type connecting rods in the motion process are always completely overlapped, that is, the fixed spherical centers of all B rods overlap to form the fixed spherical center of the parallel mechanism, and the dynamic spherical centers of all B rods overlap to form the dynamic spherical center of the parallel mechanism.
上述的三自由度广义球面并联机构的应用，该并联机构应用于踝关节康复机器人中，在基于上述并联机构的踝关节康复机器人构件尺寸设计中，根据患者距骨的参数，确定患者胫骨与距骨之间的平均相对转动球心、和距骨与跟骨之间的平均相对转动球心，并计算两转动球心之间的距离参数，根据此距离参数确定并联机构的“双心距”，实现在运动拟合过程中并联机构动平台与静平台之间的相对运动与人体踝关节运动充分拟合，即并联机构动球心始终与距骨与跟骨的平均相对转动球心重合，并联机构定球心始终与胫骨与距骨的平均相对转动球心重合。相对于传统三自由度并联机构(灵巧眼机构)，广义并联机构对踝关节运动的拟合更为精确、合理，拟合效果有显著的提高。The application of the above-mentioned three-degree-of-freedom generalized spherical parallel mechanism is used in an ankle rehabilitation robot. In the component size design of the ankle joint rehabilitation robot based on the above-mentioned parallel mechanism, the relationship between the patient's tibia and talus is determined according to the parameters of the patient's talus. The average relative rotation spherical center between the talus and the calcaneus, and the distance parameter between the two rotating spherical centers is calculated. Based on this distance parameter, the "double center distance" of the parallel mechanism is determined to achieve During the motion fitting process, the relative motion between the dynamic platform and the static platform of the parallel mechanism is fully fitted to the motion of the human ankle joint, that is, the moving spherical center of the parallel mechanism always coincides with the average relative rotation spherical center of the talus and calcaneus, and the parallel mechanism is fixed. The center always coincides with the spherical center of the average relative rotation of the tibia and talus. Compared with the traditional three-degree-of-freedom parallel mechanism (dexterous eye mechanism), the generalized parallel mechanism is more accurate and reasonable in fitting ankle joint motion, and the fitting effect is significantly improved.
与现有技术相比，本发明有益效果在于：Compared with the prior art, the beneficial effects of the present invention are:
本发明首次提出广义球面并联机构构型，给出了广义并联球面机构的支链类型，给出了B连杆的构造方法，以及支链与动、静平台的连接方式，机构具有两个转动球心，一个为定球心，一个为动球心，动球心相对于定球心做两自由度转动，动平台绕动球心作一自由度转动。该机构既具有并联机构承载能力强，运动灵巧性高等特点，又可以拟合部分串联机构的运动。This invention proposes the configuration of a generalized spherical parallel mechanism for the first time, provides the branch chain type of the generalized parallel spherical mechanism, provides the construction method of the B connecting rod, and the connection method of the branch chain to the dynamic and static platforms. The mechanism has two rotating One of the sphere centers is the fixed sphere center, and the other is the moving sphere center. The moving sphere center rotates with two degrees of freedom relative to the fixed sphere center, and the moving platform rotates with one degree of freedom around the moving sphere center. This mechanism not only has the characteristics of strong load-bearing capacity and high movement dexterity of the parallel mechanism, but also can fit the motion of some series mechanisms.
本发明三自由度广义球面并联机构能运用于人体踝关节康健机器人设计之中，不仅更加符合人体踝关节的运动规律，灵巧性高，拟合更加精确、合理，而且制造成本较低，结构简单，控制方便。相对于传统三自由度并联机构，该发明机构大幅度削弱了了拟合过程中由于人体踝关节距骨存在产生的人机交互力，从机构构型上解决了传统三自由度并联机构拟合踝关节运动交互性能差的问题，适应性更强，结构简单，成本低廉。The three-degree-of-freedom generalized spherical parallel mechanism of the present invention can be used in the design of human ankle joint health robots. It is not only more in line with the movement rules of the human ankle joint, has high dexterity, more accurate and reasonable fitting, but also has lower manufacturing cost and simple structure. , easy to control. Compared with the traditional three-degree-of-freedom parallel mechanism, the invented mechanism greatly weakens the human-computer interaction force caused by the presence of the talus of the human ankle joint during the fitting process, and solves the problem of the traditional three-degree-of-freedom parallel mechanism in fitting the ankle in terms of mechanism configuration. It solves the problem of poor joint motion interaction performance, has stronger adaptability, simple structure and low cost.
本发明与现有座椅式外骨骼和弹簧助力支撑外骨骼相比，本发明具有更强的适应性，各关节自由度更符合人体实际，可支持人体下肢在任意复杂姿势下的稳定支撑。与现有驱动式外骨骼相比，本发明具有低成本、低重量、低能耗、益操作等优势，其方便携带的特点，可支持其在户外等其他复杂工况下工作。Compared with existing seat-type exoskeletons and spring-assisted support exoskeletons, the present invention has stronger adaptability, the degrees of freedom of each joint are more in line with the reality of the human body, and can support stable support of the human lower limbs in any complex posture. Compared with the existing driven exoskeleton, the present invention has the advantages of low cost, low weight, low energy consumption, and easy operation. Its easy portability can support its work in other complex working conditions such as outdoors.
本发明使用方便、操作简单、运动灵活，负重能力强，安全可靠、适应各类人群。The invention is easy to use, simple to operate, flexible in movement, strong in load-bearing capacity, safe and reliable, and adaptable to all types of people.
附图说明Description of drawings
图1为本发明一种实施例的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
图中，1、一号支链；11、一号支链一号连杆；12、一号支链二号连杆；13、一号支链三号连杆；14、一号支链一号轴；15、一号支链二号轴；16、一号支链三号轴；17、一号支链四号轴；2、二号支链；21、二号支链一号连杆；22、二号支链二号连杆；23、二号支链三号连杆；24、二号支链一号轴；25、二号支链二号轴；26、二号支链三号轴；27、二号支链四号轴；3、三号支链；31、三号支链一号连杆；32、三号支链二号连杆；33、三号支链三号连杆；34、三号支链四号连杆；35、三号支链一号轴；36、三号支链二号轴；37、三号支链三号轴；38、三号支链四号轴；39、三号支链五号轴；4、静平台；5、动平台；In the figure, 1. Branch No. 1; 11. Branch No. 1 and connecting rod No. 1; 12. Branch No. 1 and connecting rod No. 2; 13. Branch No. 1 and connecting rod No. 3; 14. Branch No. No. 1 shaft; 15. No. 1 branch chain No. 2 shaft; 16. No. 1 branch chain No. 3 shaft; 17. No. 1 branch chain No. 4 shaft; 2. No. 2 branch chain; 21. No. 2 branch chain No. 1 connecting rod ; 22. No. 2 branch chain No. 2 connecting rod; 23. No. 2 branch chain No. 3 connecting rod; 24. No. 2 branch chain No. 1 shaft; 25. No. 2 branch chain No. 2 shaft; 26. No. 2 branch chain No. 3 Shaft No. 2; 27, branch chain No. 2 and shaft No. 4; 3, branch chain No. 3; 31, branch chain No. 3, connecting rod No. 1; 32, branch chain No. 3, connecting rod No. 2; 33, branch chain No. 3, branch No. 3 Connecting rod; 34, No. 3 branch chain, No. 4 connecting rod; 35, No. 3 branch chain, No. 1 shaft; 36, No. 3 branch chain, No. 2 shaft; 37, No. 3 branch chain, No. 3 shaft; 38, No. 3 branch chain No. 4 axis; 39. No. 3 branch chain and No. 5 axis; 4. Static platform; 5. Moving platform;
具体实施方式Detailed ways
下面给出本发明的具体实施例。具体实施例仅用于进一步详细说明本发明，不限制本申请的保护范围。Specific embodiments of the present invention are given below. Specific examples are only used to further describe the present invention and do not limit the scope of protection of the present application.
本发明三自由度广义球面并联机构，包括：动平台、静平台和支链；三自由度广义球面并联机构具有两个不重合的旋转球心，分别为定球心和动球心，且两个球心之间的距离为一可调节定值，整体视为动平台绕动球心做自由度为1的球面运动，动球心绕定球心做自由度为2的球面运动，故三自由度广义球面并联机构具有3个自由度，可充分适应、匹配踝关节自由度；三自由度广义球面并联机构支链具有两种类型，分别为：ABAA型支链和ABA型支链，其中两条ABA型支链主要控制动球心绕定球心的运动，一条ABAA型支链主要控制动平台绕动球心的运动；三自由度广义球面并联机构所有支链均由A型连杆，和B型连杆组成，A型连杆为球面连杆，其两端孔的轴心线相交于一点，而B型连杆为广义球面连杆，B型连杆在广义并联机构中可视其为双球心球面连杆，即B型连杆具有两个广义球心，分别为B杆定球心与B杆动球心，B型连杆的两端孔的轴心线在空间内不一定相交，在此定义B型连杆的两个广义球心所连结成的线段为“双心线段”，“双心线段”的长度为“双心距”，并联机构要求同一并联机构中的所有B型连杆的“双心距”必须相等，且运动过程所有B型连杆的“双心线段”始终完全重合，即所有B杆定球心重合组成并联机构的定球心，且所有B杆动球心重合组成并联机构的动球心。The three-degree-of-freedom generalized spherical parallel mechanism of the present invention includes: a moving platform, a static platform and a branch chain; the three-degree-of-freedom generalized spherical parallel mechanism has two non-overlapping rotating spherical centers, namely a fixed spherical center and a moving spherical center. The distance between the centers of the two spheres is an adjustable fixed value. The overall view is that the movable platform performs a spherical motion with a degree of freedom around the center of the sphere and the center of the moving sphere performs a spherical motion with a degree of freedom of 2 around the center of the fixed sphere. Therefore, the three The generalized spherical parallel mechanism with three degrees of freedom has three degrees of freedom, which can fully adapt to and match the ankle joint's degree of freedom. The branch chains of the three-degree-of-freedom generalized spherical parallel mechanism have two types, namely: ABAA type branch chain and ABA type branch chain, where Two ABA-type branch chains mainly control the movement of the moving sphere center around the fixed sphere center, and one ABAA-type branch chain mainly controls the movement of the moving platform around the fixed sphere center. All branches of the three-degree-of-freedom generalized spherical parallel mechanism are composed of A-type connecting rods. , and the B-type connecting rod. The A-type connecting rod is a spherical connecting rod, and the axis lines of the holes at both ends intersect at one point. The B-type connecting rod is a generalized spherical connecting rod. The B-type connecting rod can be used in a generalized parallel mechanism. It is regarded as a double-spherical spherical connecting rod, that is, the B-type connecting rod has two generalized spherical centers, which are the fixed spherical center of the B rod and the moving spherical center of the B rod. The axis lines of the two end holes of the B-type connecting rod are in space. do not necessarily intersect. Here, the line segment connected by the two generalized spherical centers of the B-type connecting rod is defined as a "double-center line segment", and the length of the "double-center line segment" is the "double-center distance". The parallel mechanism requires the same parallel mechanism. The "double center distances" of all B-type connecting rods must be equal, and the "double center line segments" of all B-type connecting rods always completely coincide during the movement, that is, the fixed spherical centers of all B rods coincide to form the fixed spherical center of the parallel mechanism. And the moving ball centers of all B rods coincide with each other to form the moving ball center of the parallel mechanism.
在基于上述的并联机构的踝关节康复机器人构件尺寸设计中，根据患者距骨的参数，可确定患者胫骨与距骨之间的平均相对转动球心，和距骨与跟骨之间的平均相对转动球心，并可计算两球心之间的距离参数，根据此参数可确定广义并联机构的“双心距”，实现在运动拟合过程中机构动平台与静平台之间的相对运动与人体踝关节运动充分拟合，即机构动球心始终与距骨与跟骨的平均相对转动球心重合，机构定球心始终与胫骨与距骨的平均相对转动球心重合。In the component size design of the ankle rehabilitation robot based on the above-mentioned parallel mechanism, according to the parameters of the patient's talus, the average relative rotation center of the patient's tibia and talus, and the average relative rotation center of the talus and calcaneus can be determined, and the distance parameter between the two centers can be calculated. According to this parameter, the "double center distance" of the generalized parallel mechanism can be determined to achieve full fitting of the relative motion between the dynamic platform and the static platform of the mechanism with the human ankle joint motion during the motion fitting process, that is, the dynamic center of the mechanism always coincides with the average relative rotation center of the talus and calcaneus, and the fixed center of the mechanism always coincides with the average relative rotation center of the tibia and talus.
人体踝关节运动更为合理的等效模型为：胫骨下表面与距骨上表面之间配合连接视为球面副，距骨下表面与跟骨上表面之间配合连接视为球面副，两个球面副球心之间的距离为一常数，该常数由使用者距骨相关尺寸参数决定。在该等效模型的基础上，为更好地拟合人体踝关节运动，提出了三自由度广义球面并联机构构型，可有效的解决传统球面连杆机构难以解决的踝关节康复机器人的人机交互性差的问题，为新型踝关节康复机器人设计方案提供重要的理论依据。A more reasonable equivalent model for the human ankle joint movement is: the matching connection between the lower surface of the tibia and the upper surface of the talus is regarded as a spherical pair, and the matching connection between the lower surface of the talus and the upper surface of the calcaneus is regarded as a spherical pair. The distance between the centers of the two spherical pairs is a constant, which is determined by the user's talus-related size parameters. Based on this equivalent model, in order to better fit the human ankle joint movement, a three-degree-of-freedom generalized spherical parallel mechanism configuration is proposed, which can effectively solve the problem of poor human-machine interaction of ankle joint rehabilitation robots that is difficult to solve with traditional spherical linkage mechanisms, and provide an important theoretical basis for the design of new ankle joint rehabilitation robots.
当该机构应用于踝关节康复机器人设计时，其不仅要充分满足人体踝关节运动的自由度与运动空间，还要充分拟合踝关节距骨与跟骨之间的瞬时运动，即同时拟合胫骨与距骨、距骨与跟骨之间的运动，充分消除传统球面机构难以消除的由踝关节距骨引起的人机交互力。When this mechanism is used in the design of ankle joint rehabilitation robots, it must not only fully satisfy the degree of freedom and movement space of the human ankle joint, but also fully fit the instantaneous motion between the talus and calcaneus of the ankle joint, that is, it must simultaneously fit the tibia. The movement between the talus and the talus and the calcaneus fully eliminates the human-computer interaction force caused by the talus of the ankle joint that is difficult to eliminate with traditional spherical mechanisms.
本发明的三自由度广义球面并联机构构型不仅可以用在踝关节中，也可用于精密手术、精密维修等领域。本申请中两个球心(定球心和动球心)之间的距离为可调节定值，是指在机构构型设计过程中可以任意选择该距离尺寸，不受其他构件尺寸限制，但是，一旦尺寸确定制造完全后不可更改。构型中给出的A型连杆尺寸并不全部相同，B型连杆尺寸也不一定全部相同，但是所有B型连杆的“双心距”必须相等。The three-degree-of-freedom generalized spherical parallel mechanism configuration of the present invention can not only be used in ankle joints, but can also be used in precision surgery, precision maintenance and other fields. In this application, the distance between the two sphere centers (the fixed sphere center and the moving sphere center) is an adjustable fixed value, which means that the distance size can be selected arbitrarily during the mechanism configuration design process and is not restricted by the size of other components. However, , once the size is determined and manufactured, it cannot be changed. The sizes of Type A connecting rods given in the configuration are not all the same, and the sizes of Type B connecting rods are not necessarily the same, but the "double center distance" of all Type B connecting rods must be equal.
实施例1Example 1
本实施例三自由度广义球面并联机构(参见图1)由静平台4、动平台5、两条ABA型支链(一号支链1与二号支链2)和一条ABAA型闭环支链(三号支链3)构成；静平台4为具有三个转动副的球面连杆，即所具有的三个侧端通孔的轴心线空间汇交于一点；动平台5为具有三个转动副的球面连杆，即所具有的三个侧端通孔的轴心线空间汇交于一点。一号支链1为ABA型支链，其中，一号支链一号连杆11为A型连杆，一号支链二号连杆12为B型连杆，一号支链三号连杆13为A型连杆；动平台5的一号支链孔与一号支链三号连杆13的上端孔之间通过一号支链四号轴17连接配合形成转动副；一号支链三号连杆13下端孔与一号支链二号连杆12的上端孔通过一号支链三号轴16连接配合形成转动副；一号支链二号连杆12的下端孔与一号支链一号连杆11的上端孔通过一号支链二号轴15连接配合形成转动副；一号支链一号连杆11的下端孔与静平台4的一号支链孔通过一号支链一号轴14连接配合形成转动副；In this embodiment, the three-degree-of-freedom generalized spherical parallel mechanism (see Figure 1) consists of a static platform 4, a moving platform 5, two ABA-type branch chains (No. 1 branch chain 1 and No. 2 branch chain 2) and an ABAA-type closed-loop branch chain. (No. 3 branch chain 3); the static platform 4 is a spherical connecting rod with three rotating pairs, that is, the axis lines of the three side end through holes meet at one point; the moving platform 5 is a spherical connecting rod with three side end through holes. The spherical connecting rod of the rotating pair, that is, the axial center lines of the three side end through holes of the rotating pair converge at one point. The No. 1 branch chain 1 is an ABA type branch chain. Among them, the No. 1 branch chain No. 1 connecting rod 11 is an A-type connecting rod, the No. 1 branch chain No. 2 connecting rod 12 is a B-type connecting rod, and the No. 1 branch chain No. 3 connecting rod Rod 13 is an A-type connecting rod; the No. 1 branch chain hole of the moving platform 5 and the upper end hole of the No. 1 branch chain No. 3 connecting rod 13 are connected and matched through the No. 1 branch chain No. 4 shaft 17 to form a rotating pair; The lower end hole of the No. 3 connecting rod 13 of the chain and the upper end hole of the No. 2 connecting rod 12 of the No. 1 branch chain are connected and matched through the No. 3 shaft 16 of the No. 1 branch chain to form a rotating pair; the lower end hole of the No. 2 connecting rod 12 of the No. 1 branch chain is connected with the No. The upper end hole of the No. 1 connecting rod 11 of the No. 1 branch chain is connected and matched with the No. 2 shaft 15 of the No. 1 branch chain to form a rotating pair; the lower end hole of the No. 1 connecting rod 11 of the No. 1 branch chain and the No. 1 branch chain hole of the static platform 4 pass through a The first axis 14 of the branch chain is connected and matched to form a rotating pair;
二号支链2为ABA型支链，其中，二号支链一号连杆21为A型连杆；二号支链二号连杆22为B型连杆；二号支链三号连杆23为A型连杆；动平台5的二号支链孔与二号支链三号连杆23的上端孔通过二号支链四号轴27连接配合形成转动副；二号支链三号连杆23的下端孔与二号支链二号连杆22的上端孔通过二号支链三号轴26连接配合形成转动副；二号支链二号连杆22的下端孔与二号支链一号连杆21的上端孔通过二号支链二号轴25连接配合形成转动副；二号支链一号连杆21的下端孔与静平台4的二号支链孔通过二号支链一号轴24连接配合形成转动副；The No. 2 branch chain 2 is an ABA type branch chain, in which the No. 1 connecting rod 21 of the No. 2 branch chain is an A-type connecting rod; the No. 2 branch chain No. 2 connecting rod 22 is a B-type connecting rod; the No. 2 branch chain No. 3 connecting rod The rod 23 is an A-type connecting rod; the No. 2 branch chain hole of the moving platform 5 and the upper end hole of the No. 2 branch chain No. 3 connecting rod 23 are connected and matched through the No. 2 branch chain No. 4 shaft 27 to form a rotating pair; the No. 2 branch chain No. 3 The lower end hole of the No. 2 connecting rod 23 and the upper end hole of the No. 2 branch chain No. 2 connecting rod 22 are connected and matched through the No. 2 branch chain No. 3 shaft 26 to form a rotating pair; the lower end hole of the No. 2 branch chain No. 2 connecting rod 22 is connected with the No. The upper end hole of the No. 1 connecting rod 21 of the branch chain is connected and matched with the No. 2 shaft 25 of the No. 2 branch chain to form a rotating pair; the lower end hole of the No. 1 connecting rod 21 of the No. 2 branch chain and the No. 2 branch chain hole of the static platform 4 pass through the No. 2 branch chain. The branch chain No. 1 shaft 24 is connected and matched to form a rotating pair;
三号支链3为ABAA型支链，其中，三号支链一号连杆31为A型连杆；三号支链二号连杆32为A型连杆；三号支链三号连杆33为B型连杆；三号支链四号连杆34为A型连杆；动平台5的三号支链孔与三号支链四号连杆34的上端孔通过三号支链五号轴39连接配合形成转动副；三号支链四号连杆34的下端孔与三号支链三号连杆33的上端孔通过三号支链四号轴38连接配合形成转动副；三号支链三号连杆33的下端孔与三号支链二号连杆32的上端孔通过三号支链三号轴37连接配合形成转动副；三号支链二号连杆32的下端孔与三号支链一号连杆31的上端孔通过三号支链二号轴36连接配合形成转动副；三号支链一号连杆31的下端孔与静平台4的三号支链孔通过三号支链一号轴35连接配合形成转动副；The third branch chain 3 is an ABAA type branch chain, wherein the first connecting rod 31 of the third branch chain is an A type connecting rod; the second connecting rod 32 of the third branch chain is an A type connecting rod; the third connecting rod 33 of the third branch chain is a B type connecting rod; the fourth connecting rod 34 of the third branch chain is an A type connecting rod; the third branch chain hole of the moving platform 5 and the upper end hole of the fourth connecting rod 34 of the third branch chain are connected and matched through the fifth shaft 39 of the third branch chain to form a rotating pair; the lower end hole of the fourth connecting rod 34 of the third branch chain and the upper end hole of the third connecting rod 33 of the third branch chain are connected through the fifth shaft 39 of the third branch chain The fourth chain shaft 38 is connected to form a revolving pair; the lower end hole of the third branch chain No. 3 connecting rod 33 and the upper end hole of the third branch chain No. 2 connecting rod 32 are connected to form a revolving pair through the third branch chain No. 3 shaft 37; the lower end hole of the third branch chain No. 2 connecting rod 32 and the upper end hole of the third branch chain No. 1 connecting rod 31 are connected to form a revolving pair through the third branch chain No. 2 shaft 36; the lower end hole of the third branch chain No. 1 connecting rod 31 and the third branch chain hole of the static platform 4 are connected to form a revolving pair through the third branch chain No. 1 shaft 35;
一号支链一号轴14、一号支链二号轴15、二号支链一号轴24、二号支链二号轴25、三号支链一号轴35、三号支链二号轴36、三号支链三号轴37的轴心线空间汇交于一点，此点即为三自由度广义球面并联机构的定球心；一号支链三号轴16、一号支链四号轴17、二号支链三号轴26、二号支链四号轴27、三号支链四号轴38、三号支链五号轴39的轴线空间汇交于一点，此点即为三自由度广义球面并联机构的动球心。No. 1 branch chain No. 1 axis 14, No. 1 branch chain No. 2 axis 15, No. 2 branch chain No. 1 axis 24, No. 2 branch chain No. 2 axis 25, No. 3 branch chain No. 1 axis 35, No. 3 branch chain 2 The axis lines of axis No. 36 and No. 3 branch chain No. 3 axis 37 converge at one point. This point is the spherical center of the generalized spherical parallel mechanism with three degrees of freedom. No. 1 branch chain No. 3 axis 16 and No. 1 branch The axial spaces of chain No. 4 axis 17, No. 2 branch chain No. 3 axis 26, No. 2 branch chain No. 4 axis 27, No. 3 branch chain No. 4 axis 38, and No. 3 branch chain No. 5 axis 39 meet at one point. The point is the center of the moving sphere of the generalized spherical parallel mechanism with three degrees of freedom.
三自由度广义球面并联机构的工作原理如下：The working principle of the three-degree-of-freedom generalized spherical parallel mechanism is as follows:
一号支链一号连杆11、二号支链一号连杆21、三号支链一号连杆31作为三自由度广义球面并联机构的三个原动件，其相对于静平台4的三个旋转角度即为该机构的输入量，即该机构的动平台具有三个空间自由度(动球心绕定心的二自由度球面运动，动平台绕动球心的一自由度球面运动)；一号支链一号连杆11与二号支链一号连杆21分别带动一号支链二号连杆12和二号支链二号连杆22，由于静平台4、一号支链一号连杆11、二号支链一号连杆21均为A型球面连杆，故限制B型连杆一号支链二号连杆12与二号支链二号连杆22的“B杆定球心”重合于一点；由于广义球面并联连杆机构的所有B型连杆的“双心距”相等，且动平台5、二号支链三号连杆23与三号支链三号连杆33均为A型球面连杆，故限制了B型连杆一号支链二号连杆12和二号支链二号连杆22的“B杆动球心”重合于一点，此时一号支链二号连杆12和二号支链二号连杆22之间的运动即为绕重合后的“双心线段”的相对转动；此时静平台4、一号支链一号连杆11、一号支链二号连杆12、二号支链二号连杆22与二号支链一号连杆21之间组成了球面五杆机构，球面五杆机构自由度为2，即一号支链一号连杆11与二号支链一号连杆21的输入角度决定了三自由度广义球面并联机构的“动球心”空间位置，同时说明该动球心具有2个自由度；三号支链一号连杆31、三号支链二号连杆32均为A型球面连杆，故其限制了B型连杆三号支链三号连杆33的“B杆定球心”均与一号支链二号连杆12和二号支链二号连杆22的“B杆定球心”重合；三号支链四号连杆34、一号支链三号连杆13、二号支链三号连杆23与动平台5均为A型球面连杆，其限制了B型连杆三号支链三号连杆33的“B杆动球心”均与一号支链二号连杆12和二号支链二号连杆22的“B杆动球心”重合；故三号支链三号连杆33的空间运动为绕“双心线段”的转动；若原动件一号支链一号连杆11与二号支链一号连杆21的输入给定，则广义球面并联机构的“双心线段”空间位姿固定；此时静平台4、三号支链一号连杆31、三号支链二号连杆32、三号支链三号连杆33组成球面四杆机构，四杆机构具有1个自由度，即三号支链一号连杆31通过三号支链二号连杆32带动三号支链三号连杆33绕重合的“双心线段”转动；三号支链三号连杆33通过三号支链四号连杆34在A型连杆一号支链三号连杆13与二号支链三号连杆23的限制下，带动动平台5绕“动球心”做球面运动。The No. 1 branch chain No. 1 connecting rod 11, the No. 2 branch chain No. 1 connecting rod 21, and the No. 3 branch chain No. 1 connecting rod 31 are the three original moving parts of the generalized spherical parallel mechanism with three degrees of freedom. The three rotation angles are the input quantities of the mechanism, that is, the moving platform of the mechanism has three degrees of freedom in space (two degrees of freedom spherical motion of the moving ball center around the center, one degree of freedom spherical motion of the moving platform around the center of the ball) ); The No. 1 branch chain No. 1 connecting rod 11 and the No. 2 branch chain No. 1 connecting rod 21 respectively drive the No. 1 branch chain No. 2 connecting rod 12 and the No. 2 branch chain No. 2 connecting rod 22. Due to the static platform 4, No. 1 The No.1 branch chain connecting rod 11 and the No.2 branch chain No.1 connecting rod 21 are both A-type spherical connecting rods. Therefore, the B-type connecting rods No.1 branch chain No.2 connecting rod 12 and No.2 branch chain No.2 connecting rod 22 are restricted. The "B-rod fixed spherical center" coincides with one point; since the "double center distance" of all B-type links of the generalized spherical parallel link mechanism is equal, and the moving platform 5, No. 2 branch chain No. 3 connecting rod 23 and No. 3 The No. 3 branch chain connecting rod 33 is an A-type spherical connecting rod, so the "B rod moving spherical center" of the B-type connecting rod No. 1 branch chain No. 2 connecting rod 12 and the No. 2 branch chain No. 2 connecting rod 22 is restricted to overlap. At one point, the motion between the No. 2 connecting rod 12 of the No. 1 branch chain and the No. 2 connecting rod 22 of the No. 2 branch chain is the relative rotation around the coincident "double center line segment"; at this time, the static platform 4, a A spherical five-bar mechanism is formed between the No.1 branch chain No.1 connecting rod 11, No.1 branch chain No.2 connecting rod 12, No.2 branch chain No.2 connecting rod 22 and No.2 branch chain No.1 connecting rod 21. The degree of freedom of the mechanism is 2, that is, the input angle of the No. 1 connecting rod 11 of the No. 1 branch chain and the No. 1 connecting rod 21 of the No. 2 branch determines the spatial position of the "moving sphere center" of the three-degree-of-freedom generalized spherical parallel mechanism. It also explains that the The moving spherical center has 2 degrees of freedom; the No. 3 branch chain No. 1 connecting rod 31 and the No. 3 branch chain No. 2 connecting rod 32 are both A-type spherical connecting rods, so they limit the B-type connecting rod No. 3 branch chain No. 3 The "B rod fixed ball center" of connecting rod 33 both coincides with the "B rod fixed ball center" of No. 1 branch chain No. 2 connecting rod 12 and No. 2 branch chain No. 2 connecting rod 22; No. 3 branch chain No. 4 connecting rod 34. The No. 1 branch chain No. 3 connecting rod 13, the No. 2 branch chain No. 3 connecting rod 23 and the moving platform 5 are all A-type spherical connecting rods, which limits the B-type connecting rod No. 3 branch chain No. 3 connecting rod 33 The "moving ball center of rod B" both coincides with the "moving ball center of rod B" of the connecting rod 12 of the No. 1 branch chain and the connecting rod 22 of the No. 2 branch chain; therefore, the space of the connecting rod 33 of the No. 3 branch chain The motion is rotation around the "double-center line segment"; if the inputs of the No. 1 branch chain No. 1 link 11 of the prime mover and the No. 2 branch chain No. 1 link 21 are given, then the "double center line segment" space of the generalized spherical parallel mechanism The posture is fixed; at this time, the static platform 4, the No. 3 branch chain No. 1 link 31, the No. 3 branch chain No. 2 link 32, the No. 3 branch chain No. 3 link 33 form a spherical four-bar mechanism, and the four-bar mechanism has 1 There are two degrees of freedom, that is, the No. 1 connecting rod 31 of the No. 3 branch chain drives the No. 3 connecting rod 33 of the No. 3 branch chain to rotate around the overlapping "double center line segment" through the No. 3 branch chain No. 2 connecting rod 32; No. 3 branch chain No. 3 The connecting rod 33 passes through the No. 3 branch chain and the No. 4 connecting rod 34 and is restricted by the A-type connecting rod No. 1 branch chain No. 3 connecting rod 13 and No. 2 branch chain No. 3 connecting rod 23 to drive the moving platform 5 around the "moving ball center". "Make spherical movements.
综上，原动件一号支链一号连杆11与二号支链一号连杆21的转角输入控制“动球心”绕“定球心”的球面运动其具有两个自由度，当该机构用于人体踝关节康复机器人设计中时，其主要拟合使用者踝关节胫骨与距骨之间的相对运动；三号支链一号连杆31的转角输入控制动平台5绕“动球心”的球面运动，具有1个自由度，其主要拟合使用者踝关节距骨与跟骨之间的相对运动；该机构整体具有3个自由度，故广义球面并联机构相对于球面并联机构，可以更为精确的拟合踝关节运动，大幅度减小由于机构构型引起的人机交互力。To sum up, the rotation angle input of the No.1 branch chain No.1 connecting rod 11 of the original moving part and the No.1 branch chain No.1 connecting rod 21 controls the spherical motion of the "moving ball center" around the "fixed ball center", which has two degrees of freedom. When this mechanism is used in the design of a human ankle joint rehabilitation robot, it mainly fits the relative motion between the tibia and talus of the user's ankle joint; the angle input of the No. 3 branch chain No. 1 link 31 controls the braking platform 5 to move around the " The spherical motion of the "center of the ball" has 1 degree of freedom, which mainly fits the relative motion between the talus and calcaneus of the user's ankle joint; the mechanism as a whole has 3 degrees of freedom, so the generalized spherical parallel mechanism is different from the spherical parallel mechanism. , can fit the ankle joint motion more accurately and greatly reduce the human-computer interaction force caused by the mechanism configuration.
本实施例中动平台与连杆配合的孔的位置，可以视为斜向开孔，其三个孔的轴线空间交于一点，如图1所示。静平台同理。机构连杆上开孔位置与所有构件尺寸均为了满足所有转动副轴心线的汇交关系。In this embodiment, the position of the hole where the moving platform and the connecting rod cooperate can be regarded as an oblique opening, and the axes of the three holes intersect at one point, as shown in Figure 1. The same goes for static platforms. The position of the opening on the connecting rod of the mechanism and the dimensions of all components are to meet the intersection relationship of the center lines of all rotating secondary axes.
本发明未述及之处适用于现有技术。Any matters not described in the present invention are applicable to the prior art.
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| CN201910868664.2ACN110434840B (en) | 2019-09-16 | 2019-09-16 | Three-degree-of-freedom generalized spherical parallel mechanism |
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| CN201910868664.2ACN110434840B (en) | 2019-09-16 | 2019-09-16 | Three-degree-of-freedom generalized spherical parallel mechanism |
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| CN201910868664.2AActiveCN110434840B (en) | 2019-09-16 | 2019-09-16 | Three-degree-of-freedom generalized spherical parallel mechanism |
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