The invention discloses a single-ring mechanism with three one-dimensional rotational degrees of freedom, including a rack, which is fixed with rotating pair R11 and rotating pair R21; rotating pair R11 is connected with rotating pair R12; rotating pair R12 is connected with moving pair P13 through the first connecting rod; moving pair P13 is connected with rotating pair R14 through the second connecting rod; rotating pair R14 is connected with moving pair P24 through the third connecting rod; and moving pair P24 is connected with moving pair through the first connecting rod. The fourth connecting rod is connected with the rotating pair R23, and the rotating pair R22 is connected with the rotating pair R23. The rotating pair R22 is connected with the rotating pair R21 through the fifth connecting rod. The invention has three single-ring mechanisms with one-dimensional rotational degrees of freedom, and three one-dimensional rotational degrees of freedom. Under a specific one-dimensional rotational motion mode, only one drive is needed, and the control of the mechanism is easy to implement, and the energy consumption is reduced. The mechanism of the invention has certain application prospects in the fields of motion simulation, parallel machine tool and so on.
【技术实现步骤摘要】
具有三种一维转动自由度的单环机构
本专利技术属于机器人
,涉及一种具有三种一维转动自由度的单环机构。
技术介绍
许多单环机构都具有运动分岔的特性,现有的具有三种移动运动模式的并联机构,能实现在初始位形下,三个方向(x,y,z)上的三维移动,当动平台沿某个方向进行微小位移后,机构的自由度变为一,只能实现这个方向的一维移动。目前,与上述机构的特性类似,具有三种一维转动自由度的机构并不多见。
技术实现思路
本专利技术的目的是提供一种具有三种一维转动自由度的单环机构,具有三种一维转动自由度。本专利技术所采用的技术方案是,具有三种一维转动自由度的单环机构,包括机架,机架上固接有转动副R11和转动副R21;转动副R11上连接有转动副R12,转动副R12通过第一连杆连接有移动副P13,移动副P13通过第二连杆连接有转动副R14,转动副R14通过第三连杆连接有移动副P24,移动副P24通过第四连杆连接有转动副R23,转动副R23上连接有转动副R22,转动副R22通过第五连杆与转动副R21连接。本专利技术的特点还在于:机架为呈L形的连杆。转动副R11和转动副R12相互垂直,且转动副R11和转动副R12形成万向铰。移动副P13与转动副R12相互垂直,转动副R14的轴线垂直于转动副R11和转动副R12。转动副R11的轴线与转动副R23的轴线共线,转动副R12的轴线与转动副R22的轴线平行,转动副R14的轴线与转动副R21的轴线共线。转动副R23与转动副R22相互垂直,且转动副R23与转动副R22形成万向铰。与转动副R12的轴线和转动副R22的轴线均相切的圆和移动副P13轴线与 ...
【技术保护点】
1.具有三种一维转动自由度的单环机构,其特征在于,包括机架(1),所述机架(1)上固接有转动副R11(2)和转动副R21(14);所述转动副R11(2)上连接有转动副R12(3),所述转动副R11(2)和转动副R12(3)相互垂直,且所述转动副R11(2)和转动副R12(3)形成万向铰;转动副R12(3)通过第一连杆(4)连接有移动副P13(5),所述移动副P13(5)通过第二连杆(6)连接有转动副R14(7),所述转动副R14(7)通过第三连杆(8)连接有移动副P24(9),所述移动副P24(9)通过第四连杆(10)连接有转动副R23(11),所述转动副R23(11)上连接有转动副R22(12),所述转动副R23(11)与转动副R22(12)相互垂直,且所述转动副R23(11)与转动副R22(12)形成万向铰,所述转动副R22(12)通过第五连杆(13)与转动副R21(14)连接。
【技术特征摘要】
1.具有三种一维转动自由度的单环机构,其特征在于,包括机架(1),所述机架(1)上固接有转动副R11(2)和转动副R21(14);所述转动副R11(2)上连接有转动副R12(3),所述转动副R11(2)和转动副R12(3)相互垂直,且所述转动副R11(2)和转动副R12(3)形成万向铰;转动副R12(3)通过第一连杆(4)连接有移动副P13(5),所述移动副P13(5)通过第二连杆(6)连接有转动副R14(7),所述转动副R14(7)通过第三连杆(8)连接有移动副P24(9),所述移动副P24(9)通过第四连杆(10)连接有转动副R23(11),所述转动副R23(11)上连接有转动副R22(12),所述转动副R23(11)与转动副R22(12)相互垂直,且所述转动副R23(11)与转动副R22(12)形成万向铰,所述转动副R22(12)通过第五连杆(13)与转动副R21(14)连接。2.根据权利要求1所述的具有三种一维转动自由度的单...
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