39results about How to "Good kinematic performance" patented technology

The invention discloses a hip joint boosting device based on parallel mechanisms. The boosting device comprises a waist support assembly, two constraint assemblies and two execution assemblies; each execution assembly comprises a leg clamping sub assembly, a sensor sub assembly, a fixing plate and two driving branch chain sub assemblies, the driving branch chain sub assemblies are connected with the waist support assembly and the corresponding fixing plates and are UPS branch chains which are symmetrically distributed relative to the front and back of the leg of a person, and each sensor sub assembly is connected with the corresponding leg clamping sub assembly and the corresponding constraint assembly. According to the hip joint boosting device based on the parallel mechanisms, by means of the design of the constraint assemblies and the execution assemblies, three-degree-of-freedom rotation of the device can be achieved, it is guaranteed that the rotation center of the device is overlapped with that of hip joints of different patients, and injuries caused by human-machine interference force is effectively avoided; meanwhile, the structure is simple, and use is convenient.

The invention provides an ankle joint rehabilitation mechanism with driving branch chains arranged obliquely and relates to the field of rehabilitation medicine instruments. The ankle joint rehabilitation mechanism comprises a base, a movable platform, the driving branch chains and a restraining branch chain. The restraining branch chain comprises a lower rotating connecting rod, a first symmetric connecting rod, a second symmetric connecting rod and an upper arc connecting rod, wherein the lower rotating connecting rod is connected with a central shaft of the base through a bearing. The movable platform comprises a foot baffle, an upper platform body, a lower platform body and a connecting piece located between the two platform bodies, wherein the position, relative to the upper platform body, of the feet can be adjusted through the foot baffle and the connecting piece. The driving branch chains comprise the first driving branch chain, the second driving branch chain and the third driving branch chain, and the three driving branch chains are UPS branch chains arranged obliquely with the same oblique angle. By means of the structure, the movable platform can rotate in three mutually orthogonal directions, and meanwhile it can be ensured that the rotating center of the movable platform coincides with the rotating center of the ankles. The ankle joint rehabilitation mechanism is simple, stable in driving and low in cost; in addition, the driving branch chains are arranged obliquely to avoid the singular configuration of the mechanism, and good kinematic performance is achieved.

A three-degree-of-freedom mobile decoupling parallel robot mechanism is mainly composed of a fixed platform, a movable platform and three branches for connecting the two platforms. One end of a connecting rod of the first branch is connected with the fixed platform through a rotating pair, the other end of the connecting rod is connected with the other connecting rod through the rotating pair, the other end of the other connecting rod is connected with one end of a third connecting rod through a movable pair, and the other end of the third connecting rod is connected with the movable platform through the movable pair; one end of a connecting rod of the second branch is connected with the movable platform through the rotating pair, the other end of the connecting rod is connected with the other connecting rod through the rotating pair, and the other end of the other connecting rod is connected with the fixed platform through a cylinder pair; one connecting rod of the third branch is connected with the fixed platform through the movable pair, the other end of the connecting rod is connected with the other connecting rod through the movable pair, and the other end of the other connecting rod is connected with the movable platform through the movable pair. The three-degree-of-freedom mobile decoupling parallel robot mechanism has the advantages of being large in working space, simple in manufacturing and mounting, completely decoupled in moving, easy to control and the like.

The invention discloses a parallel wrist joint rehabilitation training device based on self-adaptation and relates to the field of rehabilitation medical instruments. The parallel wrist joint rehabilitation training device adopts a parallel structure and has two rotation freedom degrees after a user wears the device. The parallel wrist joint rehabilitation training device comprises a hand support rack, a top support, a lateral support, a first branch chain, a second branch chain, a forearm support rack and a forearm support. The parallel wrist joint rehabilitation training device has the advantages that the device has six freedom degrees, two generalized rotation freedom degrees of the wrist joint limit the four freedom degrees of the device when the user wears the device, the device only has the two generalized rotation freedom degrees of the wrist joint after the user wears the whole device, the rotation center of the whole device constantly coincides with the rotation center of the wrist joint of a human body after the user wears the device, the man-machine compatibility problem is solved, and good comfortableness is achieved; unnecessary interference during training can be avoided, the requirements of wrist joint rehabilitation exercises can be satisfied completely, and the device is simple and compact in structure, convenient to use, stable to drive and low in manufacturing cost.

The invention discloses a flexible leg structure with a plane five-rod mechanism. The flexible leg structure is characterized by comprising a pitching drive joint, a foot tip and a connecting rod mechanism. The pitching drive joint comprises a variable stiffness driving flexible joint, a drive motor, two harmonic reducers, a supporting frame, a synchronous pulley and a synchronous belt. The foot tip comprises a three-dimensional mechanical sensor, a three-dimensional mechanical sensor support and a foot arch. The bottom of the three-dimensional mechanical sensor is connected with the three-dimensional mechanical sensor support. The bottom of the three-dimensional mechanical sensor support is connected with the foot arch. The connecting rod mechanism comprises ten hinge points (A), (B), (C), (D), (E), (F), (G), (H), (R) and (I). Connecting rods are hinged to a conventional four-rod mechanism, a four-rod mechanism with a spring rod and a plane pentagon five-rod mechanism through the ten hinge points. The hinge points (A), (R) and (I) are used for fixing the connecting rod mechanism to the pitching drive joint.

The invention relates to a parallel orientating system with two free degree, high acceleration, high precision and macro/micro dual driven. The mutually perpendicular X-shaft liner driven apparatus 2 and Y-shaft liner driven apparatus are fixed on the base 1; the X-shaft liner driven apparatus 2 is fastened with X-shaft moving platform assembly 8; the Y-shaft liner driven apparatus 3 is fastened with Y-shaft moving platform assembly 9; the X-shaft parallel linkage 12 is hinged between X-shaft moving platform assembly 8 and X-shaft end platform 10; the Y-shaft parallel linkage 13 is hinged between Y-shaft moving platform assembly 9 and Y-shaft end platform 11; the X-shaft end platform 10 and the Y-shaft end platform 11 are fastened with the end output platform 15.

The invention discloses a four-freedom-degree cylindrical coordinate parallel robot. A reference plane is defined by a stand column, and two X-axis drive devices and two Z-axis drive devices are symmetric about the reference plane. A tail end support is hinged to each X-axis driving arm, and a parallelogram mechanism is formed by the stand column, each X-axis driving arm, the corresponding tail end support and a reinforcement rod. One ends of four sub branch chains are connected with a moving platform, and the other ends of the four sub branch chains are connected with the two tail end supports and two Z-axis driving arms. The four sub branch chains are single rods, and the two ends of each sub branch chain are connected through a hooke joint. Or the four sub branch chains are parallelogram composite chains. Each composite chain comprises two shaft rods and two chain rods, one of the two shaft rods in each composite chain is arranged on the moving platform, and the other of the two shaft rods in each composite chain is arranged on the corresponding tail end support or Z-axis driving arm. The four-freedom-degree cylindrical coordinate parallel robot is compact in structure, flexiblein motion and excellent in kinematics performance.

The invention discloses a two-degree-of-freedom decoupling parallel mechanism with mixed movement. The two-degree-of-freedom decoupling parallel mechanism mainly comprises a movable platform, a fixed platform and two branches, wherein the branches connect the platforms in such a manner that one end of a first branch is connected with the fixed platform through a movable pair; the movable pair is connected with a rotating pair through a connecting rod; the rotating pair is connected with another rotating pair through a connecting rod; the rotating pair is connected with the movable platform; one end of a second branch is connected with the fixed platform through the movable pair, and the other end of the second branch is connected with the movable platform through the rotating pair; the movable pair is connected with the rotating pair through a connecting rod; and the other end of the branch is connected with the movable platform through the rotating pair. The two-degree-of-freedom decoupling parallel mechanism has the advantages of large working space, simple structure, low cost, easiness in controlling, and the like.

The invention relates to a large-stroke high-rigidity series-parallel hybrid machine tool with the reconfigurable characteristic. The large-stroke high-rigidity series-parallel hybrid machine tool comprises a fixed working table, an X-direction movement unit, a Y-direction movement unit, a lifting adjusting device, three driving branches with same structures, a movable platform and a main shaft head. A special clamp is installed on the fixed working table, and the X-direction movement unit and the Y-direction movement unit are each composed of a rack and a servo driving unit. The lifting adjusting device comprises three passive branches with the same structures and a middle active branch, the structure dip angle of a parallel structure can be adjusted, and the parallel structure has the reconfigurable characteristic. The three driving branches with the same structures are connected with the lifting adjusting device and the movable platform, and one-dimensional movement and two-dimensional movement can be achieved through the space closed loop parallel mechanism. The large-stroke high-rigidity series-parallel hybrid machine tool has the beneficial effects of good structural symmetry, high rigidity, large working space, high posture capacity, good in dynamic performance and the like; meanwhile, the beneficial effects of a series machine tool and a parallel machine tool are achieved at the same time; and the large-stroke high-rigidity series-parallel hybrid machine tool can be used for five-axis machining of large heterogeneous part complex surfaces.

The invention discloses a two-wheeled hub motor driven pure electric vehicle controller. A signal collecting module of the pure electric vehicle controller is used for collecting an electronic shiftersignal, a hub motor differential torque control switch signal, an accelerator pedal status signal, a brake pedal status signal and a brake pedal opening signal; a CAN communication module is used forsending wheel speed signals of all wheels, a steering wheel angle signal, a vehicle speed signal, a power battery SOC value, a ABS trigger signal and a battery management system working state signalto an MCU; a kinematics parameter module is used for sending a yaw angle velocity signal and a three-axis vehicle acceleration signal required by the differential torque control to the MCU; and identification of driving intention of a driver, controlling of differential torque yawing moment, controlling of driving and skid resistance and controlling of braking energy recovery are conducted by theMCU. According to the two-wheeled hub motor driven pure electric vehicle controller, the control conditions of a hub motor can be met, and the differential torque control advantages are reflected.

The invention relates to a belt-driven variable-drive kinematic chain and parallel robot with the same. The kinematic chain comprises a supporting module, a driving module, a drive switching device, two-stage rods and a belt transmission system. The driving module comprises a servo motor, a center shaft and a motor cover, the drive switching device comprises an electromagnetic clutch and an electromagnetic brake, the two-stage rods are sequentially connected outwards from a driving end through a rotating pair, and the belt transmission system is connected with the driving module and a two-stage rod rotating joint. By switching of electrification states of the electromagnetic clutch or the electromagnetic brake, acting positions of a driving torque and a reaction torque are changed, configuration modes of driving and driven rods and the joint are changed, and three driving modes can be realized by a single kinematic chain. By introduction of the belt transmission system and the drive switching device to a traditional kinematic chain, mechanism mass distribution is slightly changed; by the kinematic chain, variable-drive parallel robots in various configurations can be formed, and mechanism performances are improved through drive variation under the condition that mechanism configuration and size are unchanged.

The present invention provides a cam curve design method based on the k-order harmonic function, and belongs to the technical field of cam design, in order to solve the problem that the mechanism is fluctuate and cannot be applicable to the high speed occasion due to that some characteristic parameter curves among the existing harmonic cam curves are close to infinity at the end point. The methodcomprises: obtaining key point data determined by the cam for realizing the function; making the key point data to be dimensionless to obtain the dimensionless time T and the dimensionless displacement S; writing a cam curve fitting program to obtain a first cam curve expression based on the k-order harmonic function, and adding the first cam curve expression to a local control point; and after the solution, transforming the first cam curve expression to obtain a second cam curve expression, combining the first two expressions to obtain a final cam curve expression, determining the order of k,adding the final cam curve expression to the local control point, and obtaining an optimized cam curve. The method provided by the present invention is used in the design of cam curves.

The invention discloses a three-degree-of-freedom parallel mechanism without accompanying movement. The three-degree-of-freedom parallel mechanism without accompanying movement comprises a static platform and a movable platform, wherein the static platform is fixedly arranged on an external device, and the movable platform is connected with the static platform through a flexible driving chain. Theflexible driving chain comprises two arranged symmetrically three-joint movable assemblies, a four-joint movable assembly and a plurality of rotary driving assemblies, wherein the upper ends of the three joint movable assemblies are rotationally connected with the static platform, and the lower ends of the three joint movable assemblies are movably connected with the movable platform; and the upper end of the four-joint movable assembly is rotationally connected with the static platform, and the lower end of the four-joint movable assembly is movably connected with the movable platform; and the three-joint movable assemblies and the four-joint movable assembly are located on the same straight line with the movable connection of the movable platform. According to the three-degree-of-freedom parallel mechanism without accompanying movement, the movable platform has two rotational degrees of freedom and one translational degree of freedom in space, accompanying movement does not exist, good kinematic performance is achieved, motion decoupling of all degrees of freedom is achieved, and the design of a controller is convenient to achieve.

The invention discloses a direct speed transition fairing method based on trigonometric function acceleration and deceleration control. The method comprises the following steps that a processing code point position coordinate is read, an original processing path is set to be composed of micro line segments connected by continuous point positions, and the length of the micro line segments and an included angle between the adjacent micro line segments are calculated according to point position coordinates; the machining process of each micro line segment is divided into a plurality of segments according to an acceleration function, transition stages of corners of two adjacent micro line segments are located in a deceleration stage of the previous micro line segment and an acceleration stage of the next micro line segment, sin(2x) is adopted as a basis function of jerk to establish an acceleration and deceleration model, and the maximum acceleration and acceleration and deceleration parameters are set; and according to the maximum allowable machining error, the overlapping mixing transition time and the transition starting time of the micro-line segment corner are solved, motion synthesis is carried out, and therefore the machining path after fairing optimization is obtained. The method is advantaged in that one-step transition can be achieved, smooth transition of three-axis motion inflection points can be achieved under the condition that high motion continuity is guaranteed, and high-order continuity of motion in the machining process is guaranteed.