CN105773579A - Multi-branch chain coupled spherical two-rotating parallel mechanism - Google Patents
Multi-branch chain coupled spherical two-rotating parallel mechanism Download PDFInfo
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- CN105773579A CN105773579A CN201610171944.4A CN201610171944A CN105773579A CN 105773579 A CN105773579 A CN 105773579A CN 201610171944 A CN201610171944 A CN 201610171944A CN 105773579 A CN105773579 A CN 105773579A
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- connecting rod
- revolute pair
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
Abstract
The invention relates to a multi-branch chain coupled spherical two-rotating parallel mechanism. The multi-branch coupled spherical two-rotating parallel mechanism mainly comprises a fixed platform, a moving platform and three movement branch chains which connect the moving platform and the fixed platform. Each movement branch chain is composed of a lower connecting rod, a middle connecting rod and an upper connecting rod, each lower connecting rod is connected to the fixed platform through a corresponding rotation pair or a corresponding spherical pair, each lower connecting rod and the corresponding middle connecting rod are connected with each other through a corresponding rotation pair, each middle connecting rod and the corresponding upper connecting rod are connected with each other through a corresponding rotation pair, and each upper connecting rod is connected to the moving platform through a corresponding rotation pair or a corresponding spherical pair; the three movement branch chains are connected to a central connecting rod one another through three coupling connecting rods, one end of each coupling connecting rod is fixedly connected to the middle connecting rod in the corresponding movement branch chain, and the other end of each coupling connecting rod is connected to the central connecting rod through a corresponding rotation pair. According to the multi-branch chain coupled spherical two-rotating parallel mechanism provided by the invention, the moving platform rotates spherically at two degrees of freedom relative to the fixed platform, and the multi-branch chain coupled spherical two-rotating parallel mechanism has the advantages of small size, great rigidity, high precision, large rotating work space and the like, and can be widely applied to the field of robots, particularly bionic robots and the like.
Description
Technical field
The present invention relates to a kind of parallel institution, particularly to a kind of sphere two one-rotation parallel mechanism.
Technical background
Parallel institution is compared traditional serial mechanism and is had the advantages such as higher without cumulative error, precision, compact conformation, rigidity high, bearing capacity is big, in addition the driving device of parallel institution is placed on fixed platform or close to the position of fixed platform, thus having good dynamic response, full symmetric parallel institution also has good isotropism.But it is less that the work space of parallel institution compares serial mechanism, seriously constraining the parallel institution application in fields such as industry and robots, therefore research has the parallel institution of big work space, has important theory significance and actual application value.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein one-movement-freedom-degree can pass through the way increase mobile working space of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size.External class parallel institution that big work space is rotated is studied relatively early, US Patent No. 4651589 proposes a kind of big work space 3-freedom parallel mechanism, and it is successfully applied to lock-on equipment, US Patent No. 4686866 discloses a kind of big work space two one-rotation parallel mechanism, and it is successfully applied in industrial spraying robot, US Patent No. 7478576B2 discloses a kind of three side chain big work space two one-rotation parallel mechanism, and it is applied in wrist joint of robot, achieve good effect.Domestic less to having big rotation work space parallel mechanism achievement in research, wherein big work space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements.But the above-mentioned parallel institution with big rotation work space broadly falls into aspheric surface parallel institution, the moving platform center of rotation of mechanism is not unique, making moving platform can produce the movement added in rotation process, this character seriously limits the application in robot particularly bio-robot field of this kind of mechanism.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, moving platform can be realized and do the rotation of sphere two-freedom around fixed platform, and to have volume little in this joint, rigidity is big, the advantages such as rotation work space is big, can be widely applied to the fields such as robot particularly bio-robot.
Technical scheme is specific as follows:
The invention mainly comprises fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it has six kinds of connected modes:
The first connected mode: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The second connected mode: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The third connected mode: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
4th kind of connected mode: three articles of movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
5th kind of connected mode: first, second movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；3rd movement branched chain is made up of lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
6th kind of connected mode: first, second movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；3rd movement branched chain is made up of lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
The present invention compared with prior art has the advantage that
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees, and center of rotation is unique；(2) moving platform relative fixed platform rotation work space is big, and rotational angle is up to ± 90 degree；(3) organization volume is little, and rigidity is big；(4) intercouple between three movement branched chain of mechanism, substantially increase the stress performance of mechanism.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 4 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 5 stereochemical structure simplified schematic diagram.
Fig. 7 is the embodiment of the present invention 6 stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (3,3 ', 3 ＂). lower link, (4,4 ', 4 ＂). middle connecting rod, (5,5 ', 5 ＂). upper connecting rod, (6,6 ', 6 ＂). coupled links, 7. center rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and Sij represents a spherical pair, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by revolute pair R11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by revolute pair R15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by revolute pair R21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by revolute pair R25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by revolute pair R31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by revolute pair R35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 2
It is the 2nd embodiment disclosed by the invention as shown in Figure 3, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by revolute pair R11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by spherical pair S15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by revolute pair R21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by spherical pair S25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by revolute pair R31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by spherical pair S35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 3
It is the 3rd embodiment disclosed by the invention as shown in Figure 4, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by spherical pair S11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by revolute pair R15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by spherical pair S21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by revolute pair R25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by spherical pair S31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by revolute pair R35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34, the revolute pair R35 axes intersect of turning is in a bit, and this point is the center of rotation of mechanism.
Embodiment 4
It is the 4th embodiment disclosed by the invention as shown in Figure 5, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.Article three, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by spherical pair S11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by spherical pair S15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by spherical pair S21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by spherical pair S25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by spherical pair S31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by spherical pair S35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 5
It is the 5th embodiment disclosed by the invention as shown in Figure 6, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.First, second movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by revolute pair R11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by spherical pair S15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by revolute pair R21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by spherical pair S25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by spherical pair S31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by revolute pair R35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Embodiment 6
It is the 6th embodiment disclosed by the invention as shown in Figure 7, a kind of highly branched chain coupling sphere two one-rotation parallel mechanism, mainly include fixed platform 1, moving platform 2, connect three movement branched chain dynamic, fixed platform.First, second movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link 3, middle connecting rod 4 and upper connecting rod 5, it is connected by revolute pair R11 between lower link 3 with fixed platform 1, lower link 3 is connected by revolute pair R12 with middle connecting rod 4, middle connecting rod 4 is connected by revolute pair R13 with upper connecting rod 5, is connected by revolute pair R15 between upper connecting rod 5 and moving platform 2；Second movement branched chain is made up of lower link 3 ＇, middle connecting rod 4 ＇ and upper connecting rod 5 ＇, it is connected by revolute pair R21 between lower link 3 ＇ and fixed platform 1, lower link 3 ＇ is connected by revolute pair R22 with middle connecting rod 4 ＇, middle connecting rod 4 ＇ is connected by revolute pair R23 with upper connecting rod 5 ＇, is connected by revolute pair R25 between upper connecting rod 5 ＇ and moving platform 2；3rd movement branched chain is made up of lower link 3 ＂, middle connecting rod 4 ＂ and upper connecting rod 5 ＂, it is connected by spherical pair S31 between lower link 3 ＂ and fixed platform 1, lower link 3 ＂ is connected by revolute pair R32 with middle connecting rod 4 ＂, middle connecting rod 4 ＂ is connected by revolute pair R33 with upper connecting rod 5 ＂, is connected by spherical pair S35 between upper connecting rod 5 ＂ and moving platform 2.
Article three, being connected with each other by three coupled links and a center rod between movement branched chain, first coupled links 6 one end is fixing with the middle connecting rod 4 in the first movement branched chain to be connected, and coupled links 6 other end is connected by revolute pair R14 with center rod 7；Second coupled links 6 ＇ one end is fixing with middle connecting rod 4 ＇ in the second movement branched chain to be connected, and the coupled links 6 ＇ other end is connected by revolute pair R24 with center rod 7；3rd coupled links 6 ＂ one end is fixing with middle connecting rod 4 ＂ in the 3rd movement branched chain to be connected, and the coupled links 6 ＂ other end is connected by revolute pair R34 with center rod 7；Described revolute pair R14, revolute pair R24, revolute pair R34 axis overlap.
Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34 axes intersect are in a bit, and this point is the center of rotation of mechanism.
Claims (6)
1. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
2. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
3. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
4. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
5. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: first, second movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；3rd movement branched chain is made up of lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
6. highly branched chain coupling sphere two one-rotation parallel mechanism, it has fixed platform, moving platform, connect three movement branched chain dynamic, fixed platform, it is characterized in that: first, second movement branched chain structure is identical, article two, movement branched chain forms by lower link, middle connecting rod and upper connecting rod, lower link one end is connected by revolute pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by revolute pair with moving platform；3rd movement branched chain is made up of lower link, middle connecting rod and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by revolute pair with middle connecting rod one end, the middle connecting rod other end is connected by revolute pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；
Article three, it is connected with each other by three coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, coupled links one end is connected with the middle connecting rod in movement branched chain, the coupled links other end is connected by revolute pair with center rod, article three, coupled links is connected the dead in line of three revolute pairs formed with center rod, in mechanism, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of mechanism.
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