CN100363151C - Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide - Google Patents
Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide Download PDFInfo
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- CN100363151C CN100363151C CNB2005100231492A CN200510023149A CN100363151C CN 100363151 C CN100363151 C CN 100363151C CN B2005100231492 A CNB2005100231492 A CN B2005100231492A CN 200510023149 A CN200510023149 A CN 200510023149A CN 100363151 C CN100363151 C CN 100363151C
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Abstract
本发明公开了一种带环形导轨的球面三自由度并联姿态控制机构，包括环形导轨分别通过三个结构完全相同的分支机构与动平台相连接，即每个分支机构是第一连杆的一端分别与动平台的一个角的球铰相连接、或与第一转动副相连接，第一连杆的另一端分别与第二转动副相连接，第二连杆的一端分别与第二转动副相连接，第二连杆的另一端分别与各自的滑块相连接，三个滑块均装在环形导轨上，三个滑块只能沿环形导轨移动，三个分支中的所有转动副的轴线相交于一点。本发明可以实现球面三维转动，具有易于控制、运动质量低、工作空间大、动态性能好、具有刚度高、结构简单等特点，特别是可实现绕Z轴360度的转动，可广泛用作各种姿态控制装置。
The invention discloses a spherical three-degree-of-freedom parallel attitude control mechanism with a circular guide rail, which comprises that the circular guide rail is respectively connected to the moving platform through three branches with identical structures, that is, each branch is one end of the first connecting rod They are respectively connected with a ball joint at one corner of the moving platform, or connected with the first rotating pair, the other end of the first connecting rod is respectively connected with the second rotating pair, and one end of the second connecting rod is respectively connected with the second rotating pair The other ends of the second connecting rod are respectively connected with the respective sliders, and the three sliders are installed on the circular guide rails, and the three sliders can only move along the circular guide rails, and all the rotating pairs in the three branches The axes intersect at a point. The invention can realize the three-dimensional rotation of the spherical surface, and has the characteristics of easy control, low motion quality, large working space, good dynamic performance, high rigidity, simple structure, etc., especially can realize 360-degree rotation around the Z axis, and can be widely used as various A posture control device.
Description
Technical field
The present invention relates to machinery manufacturing technology field, particularly a kind of spherical three-degree-of-freedom of band shape guide rail attitude coutrol mechanism in parallel.
Background technology
Parallel robot mechanism belongs to the space multiple degrees of freedom and encircles closed chain mechanism more, compares with serial mechanism, and parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.At present, parallel institution is widely used in the aspect such as virtual-shaft machine tool, fine motion operating desk, various motion simulator, sensor except that parallel robot.
Spherical three-degree-of-freedom parallel mechanism is a class very important in the lower-mobility parallel institution, can realize three rotational freedoms around mechanism's center of rotation.This mechanism can be used as joints such as the waist, shoulder, hip, wrist of robot, also can be used for satellite antenna and camera positioning device, has important use and is worth.Spherical three-degree-of-freedom parallel mechanism is representative with the 3-3R sphere parallel mechanism, and its architectural characteristic meets at a bit for the axis of all revolute pairs, and its moving platform can be realized freely rotating around this intersection point.Research to spherical three-degree-of-freedom parallel mechanism both at home and abroad acquires a great achievement, the video camera automatic positioning equipment that is called " dexterous eye " based on angle bench-type sphere parallel mechanism that the seminar that leads as Canadian professor Gosselin develops; Domestic professor Huang Tian of University Of Tianjin leader's the development 3-3R of seminar numerical control turntable etc.
Summary of the invention
The object of the present invention is to provide a kind of spherical three-degree-of-freedom attitude coutrol mechanism in parallel of band shape guide rail, have complete symmetrical structure and good kinematics performance, high rigidity and bigger working space; But the sphere Three dimensional rotation of implementation space particularly can realize the rotation around 360 degree of Z axle.
The technical solution adopted for the present invention to solve the technical problems is: comprise that ring-shaped guide rail is with moving platform and be connected moving platform and three identical in structure branches of ring-shaped guide rail.Described each branch is that an end of first connecting rod is connected with the ball pivot at an angle of moving platform above the ring-shaped guide rail respectively; Or described each branch is that an end of first connecting rod is connected with first revolute pair with an angle of moving platform above the ring-shaped guide rail respectively; The other end of the first connecting rod of each branch is connected with second revolute pair respectively, one end of the second connecting rod of each branch is connected with second revolute pair respectively, the other end of the second connecting rod of each branch is connected with separately slide block respectively, three slide blocks all are contained on the ring-shaped guide rail, three slide blocks can only move along ring-shaped guide rail, and the axes intersect of all revolute pairs in three branches is in a bit.
The useful effect that the present invention has is: moving platform of the present invention can be realized the sphere Three dimensional rotation, have the control of being easy to, moving-mass is low, working space is big, dynamic property is good, have the rigidity height, characteristics such as simple in structure, particularly can realize to be widely used as various attitude-control devices around the rotation of Z axle 360 degree.
Description of drawings
Fig. 1 is the spherical three-degree-of-freedom of first a kind of band shape guide rail attitude coutrol mechanism schematic diagram in parallel;
Fig. 2 is the spherical three-degree-of-freedom of second a kind of band shape guide rail attitude coutrol mechanism schematic diagram in parallel.
Among the figure: 1, ring-shaped guide rail, 2, slide block, 3, connecting rod, 4, revolute pair, 5, connecting rod, 6, ball pivot, 7, moving platform, 8, revolute pair.
The specific embodiment
Fig. 1 is first embodiment of the present invention, promptly the ring-shaped guide rail 1 of this mechanism is respectively by three identical in structure branches, be connected with the moving platform 7 above the ring-shaped guide rail 1, said each branch is that an end of first connecting rod 5 is connected with the ball pivot 6 at an angle of moving platform 7 respectively, the other end of the first connecting rod 5 of each branch is connected with second revolute pair 4 respectively, one end of the second connecting rod 3 of each branch is connected with second revolute pair 4 respectively, the other end of the second connecting rod 3 of each branch is connected with separately slide block 2 respectively, three slide blocks 2 all are contained on the ring-shaped guide rail 1, three slide blocks 2 can only move along ring-shaped guide rail 1, and the axis of all three revolute pairs meets at a bit in three branches.
Fig. 2 is second embodiment of the present invention, promptly the ring-shaped guide rail 1 of this mechanism is respectively by three identical in structure branches, be connected with the moving platform 7 above the ring-shaped guide rail 1, said each branch is that an end of first connecting rod 5 is connected with first revolute pair 8 at an angle of moving platform 7 respectively, the other end of the first connecting rod 5 of each branch is connected with second revolute pair 4 respectively, one end of the second connecting rod 3 of each branch is connected with second revolute pair 4 respectively, the other end of the second connecting rod 3 of each branch is connected with separately slide block 2 respectively, three slide blocks 2 all are contained on the ring-shaped guide rail 1, three slide blocks 2 can only move along ring-shaped guide rail 1, and the axis of all six revolute pairs in three branches meets at a bit.
More than independent driver all is housed on each slide block 2.
Spherical three-degree-of-freedom involved in the present invention attitude coutrol mechanism in parallel has complete symmetrical structure and good kinematics performance, high rigidity and bigger working space; But the sphere Three dimensional rotation of implementation space particularly can realize the rotation around 360 degree of Z axle.
Claims (1)
1. the spherical three-degree-of-freedom of band shape guide rail attitude coutrol mechanism in parallel, comprise that ring-shaped guide rail (1) with moving platform (7) and be connected moving platform (7) and three identical in structure branches of ring-shaped guide rail (1), is characterized in that: described each branch is that an end of first connecting rod (5) is connected with the ball pivot (6) at an angle of moving platform (7) above the ring-shaped guide rail (1) respectively; Or described each branch is that an end of first connecting rod (5) is connected with first revolute pair (8) with a angle of moving platform (7) above the ring-shaped guide rail (1) respectively; The other end of the first connecting rod of each branch (5) is connected with second revolute pair (4) respectively, one end of the second connecting rod of each branch (3) is connected with second revolute pair (4) respectively, the other end of the second connecting rod of each branch (3) is connected with separately slide block (2) respectively, three slide blocks (2) all are contained on the ring-shaped guide rail (1), three slide blocks (2) can only move along ring-shaped guide rail (1), and the axes intersect of all revolute pairs in three branches is in a bit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100231492A CN100363151C (en) | 2005-01-04 | 2005-01-04 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100231492A CN100363151C (en) | 2005-01-04 | 2005-01-04 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
Publications (2)
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| CN1631612A CN1631612A (en) | 2005-06-29 |
| CN100363151C true CN100363151C (en) | 2008-01-23 |
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| CNB2005100231492A Expired - Fee Related CN100363151C (en) | 2005-01-04 | 2005-01-04 | Spherical three-degree-of-freedom parallel attitude control mechanism with ring guide |
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| CN113771099B (en) * | 2021-09-23 | 2022-12-09 | 中国科学院上海微系统与信息技术研究所 | A parallel three-degree-of-freedom bionic eye device |
| CN114603538B (en) * | 2022-05-16 | 2022-08-02 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical 3R rotation parallel mechanism |
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| CN1631612A (en) | 2005-06-29 |
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