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Three-freedom-degree generalized spherical face parallel connection mechanism

A degree of freedom, parallel technology, applied in the directions of manipulators, program-controlled manipulators, joints, etc., can solve the problems of difficult to improve the fitting accuracy of rehabilitation robots, eliminate human-computer interaction forces, etc., and achieve simple structure, low weight, and strong adaptability. Effect

Pending Publication Date: 2019-11-12
HEBEI UNIV OF TECH
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  • Application Information

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Problems solved by technology

However, in view of the complexity of human joint motion, it is difficult to improve the fitting accuracy of rehabilitation robots and eliminate human-computer interaction force by using existing mechanisms. The mechanism design of health robots has encountered a large bottleneck

Method used

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  • Three-freedom-degree generalized spherical face parallel connection mechanism

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Embodiment 1

[0021] The three-degree-of-freedom generalized spherical parallel mechanism of the present embodiment (see figure 1) consists of a static platform 4, a dynamic platform 5, two ABA branch chains (No. 1 branch chain 1 and No. 2 branch chain 2) and an ABAA type closed-loop branch chain (No. 3 branch chain 3); The spherical connecting rods of three revolving pairs, that is, the axis spaces of the three side end through holes meet at one point; the moving platform 5 is a spherical connecting rod with three revolving pairs, that is, the three side ends The axis spaces of the end through holes meet at one point. The first branch chain 1 is an ABA type branch chain, wherein, the No. The rod 13 is an A-type connecting rod; the No. 1 branch chain hole of the moving platform 5 and the upper end hole of the No. 1 branch chain No. 3 connecting rod 13 are connected and matched by the No. 1 branch chain and the No. 4 shaft 17 to form a rotating pair; Chain No. 3 connecting rod 13 lower end...

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Abstract

The invention discloses a three-freedom-degree generalized spherical face parallel connection mechanism. A movable platform, a fixed platform and branch chains are included. The parallel connection mechanism has two rotating sphere centers without coinciding with each other, and the sphere centers are a fixed sphere center and a movable sphere center correspondingly; it is considered as a whole that the movable platform does the spherical face movement with the freedom degree being 1 around the movable sphere center, and the movable sphere center does the spherical face movement with the freedom degree being 2 around the fixed sphere center; the branch chains of the three-freedom-degree generalized spherical face parallel connection mechanism are in two types, namely, a ABAA type branch chain used for controlling the movable platform to move around the movable sphere center and an ABA type branch chain used for controlling the movable sphere center to move around the fixed sphere center, two ABA type branch chains are arranged, and one ABAA type branch chain is arranged; all the branch chains are composed of A type connection rods and B type connection rods, each A type connectionrod is a spherical face connection rod, and the shaft axes of two end holes of the A type connection rods intersect on one point; and each B type connection rod is a double-sphere-center spherical face connection rod, all the B rod fixed sphere centers coincide with one another to form the fixed sphere center of the parallel connection mechanism, and all the B rod movable sphere centers coincide with one another to form the movable sphere center of the parallel connection mechanism. The mechanism is high in flexibility degree and movement precision.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a three-degree-of-freedom generalized spherical parallel mechanism, which can be applied to rehabilitation training of ankle joints. Background technique [0002] With the continuous development of the field of medical health and robotics, more and more health robots have entered people's field of vision. Health robots can not only help patients with joint injuries to perform rehabilitation exercises, but also can be used for sports training of athletes and joint correction of the elderly. Existing rehabilitation robots generally have the advantages of high rigidity, strong carrying capacity, and high flexibility. However, in view of the complexity of human joint motion, it is difficult to improve the fitting accuracy of rehabilitation robots and eliminate human-computer interaction force by using existing mechanisms. The mechanism design of health robots has encountered a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J17/00
CPCB25J9/0072B25J9/0006B25J17/00
Inventor 张建军刘承磊戚开诚牛建业郭士杰刘旭升刘秀莹曹益
Owner HEBEI UNIV OF TECH
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