Series-parallel combined mechanism for guiding object to rotate around virtual center

Abstract

A series-parallel combined mechanism for guiding an object to rotate around a virtual center comprises a parallel mechanism part and a serial mechanism part. The parallel mechanism part comprises a fixed platform, a moving platform and three branched chains for connecting the two platforms. The middle connecting branched chain is a telescopic rod member driven by a servo motor, the connecting branched chains on two sides are same in structure, and the servo motor is connected to the moving platform through driving a crank and a connecting rod. The serial mechanism part comprises a moving platform, a yaw motor, a scimitar member, a rotary motor and a tail rod. The yaw motor is fixedly mounted on the moving platform. The scimitar member is fixed on an output shaft of the yaw motor. The rotary motor is fixedly mounted at the other end of the scimitar member. The tail rod is fixedly connected with a shaft of the rotary motor. Five driving motors are controlled to move concertedly, so that an object centroid (or other points serving as a virtual rotary center) is fixed constantly (the linear displacement of the point is needed to be zero constantly only), the position of the object centroid is maintained while three space attitude angles of the object can be imparted with needed movements.

Description

technical field [0001] The invention relates to a hybrid mechanism for guiding objects to rotate around a virtual center, mainly a mechanism capable of guiding objects to realize three-dimensional rotation around a virtual center. Background technique [0002] With the increasing maturity of institutional applications, the requirements for institutional flexibility are getting higher and higher. Due to the limitations of the rigidity, carrying capacity of the series mechanism itself and the working space of the parallel mechanism itself, the pure series or parallel mechanism cannot meet the application requirements of high flexibility and the ability to guide objects to rotate around the virtual center. Contents of the invention [0003] The object of the present invention is to provide a hybrid mechanism that guides objects to rotate around the virtual center. The mechanism realizes the three-dimensional rotation of the object around the virtual center under the guidance ...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a hybrid mechanism that guides objects to rotate around the virtual center. The mechanism realizes the three-dimensional rotation of the object around the virtual center under the guidance of the mechanism, so as to solve the complex problem of the mechanism guiding the object under limited conditions. Movement, to ensure that the object can have a large enough range of motion, and keep the center of mass of the object under the guidance of the mechanism to maintain the same characteristics, thereby achieving the requirements of simplified structure and optimized performance; the invention has a large working space and rigidity Higher, simple in structure, low in cost, and easy to implement, it overcomes the shortcomings of simply using series or parallel mechanisms

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