Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism

A technology of rotating mechanism and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor dynamic performance, poor accuracy and stability, unstable assembly stress, etc., to achieve compact structure, large working space, and rigidity. big effect

Inactive Publication Date: 2013-12-11
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the disclosed mechanisms are parallel mechanisms with redundant constraints. The branch chains of the mechanism have unstable assembly stresses that vary with the attitude of the platform. During high-speed motion, the dynamic performance is not good, and the accuracy and stability are poor.

Method used

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  • Two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism

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Embodiment Construction

[0026] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0027] In all examples, the R i Indicates a revolving pair, P i Indicates a mobile pair, U i Represents a universal joint pair with two intersecting axes of rotation, C i represents a cylindrical pair, Pa i Represents a parallel four-bar pair composed of four revolving pairs, S i Represents a spherical pair, i is a natural number.

[0028] The two-degree-of-freedom equal-diameter spherical surface pure rolling parallel rotation mechanism provided by the present invention, such as figure 1 As shown, it includes a motion platform 1, a fixed base 2, a first motion branch chain 3, a second motion branch chain 4, and a third motion branch chain 5; the motion platform 1 and the fixed base 2 respectively communicate with the first motion The two ends of the branch chain 3 , the second movement branch chain 4 and the third movement branch chain 5 are co...

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Abstract

The invention discloses a two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism and relates to the technical field of robots, precise instruments, equipment and machinery manufacturing. The mechanism is mainly formed by a motion platform, a fixed base and motion branch chains and can implement an effect that the motion platform takes the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotation around the fixed base. More than three motion branch chains are connected between the motion platform and the fixed base by motion pairs; each motion branch chain comprises more than two connecting rods; and each motion branch chain is of a symmetrical structure and comprises two or a plurality of motion pairs to form more than four degrees of freedom. The rotating mechanism provided by the invention has the advantages that the motion platform has a large working space; the structure is compact; stiffness is high; the mechanism does not include redundant constraining, mutual internal stress does not exist among the motion branch chains and accuracy stability is high; and the two-degree-of-freedom equal-diameter sphere pure-rolling parallel rotating mechanism has the simple structure and is convenient to install. The advantages enable the rotating mechanism to have wide application in the field of a high-performance pointing device.

Description

technical field [0001] The invention relates to the technical field of robots, precision instruments and equipment, and machinery manufacturing, and in particular to a two-degree-of-freedom equal-diameter spherical pure-rolling parallel rotation mechanism. Background technique [0002] The two-degree-of-freedom rotating mechanism has been widely used in machinery manufacturing, automobile manufacturing, aerospace manufacturing, robotics and other fields, including machine tool spindles, automobile couplings, aviation pointing platforms and other fields. With the development of technology, the load at the end of the mechanism is getting larger and larger, and the traditional two-degree-of-freedom rotating mechanism is difficult to meet the design requirements; and the two-degree-of-freedom parallel rotating mechanism has the characteristics of high rigidity, high precision, strong bearing capacity, and small motion inertia. , has attracted more and more attention and has been...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 吴钪于靖军宗光华
Owner BEIHANG UNIV
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