The invention discloses a two-degree-of-freedom rotation parallel mechanism, a humanoid ankle joint, a robot and a framework of the robot. The two-degree-of-freedom rotation parallel mechanism comprises a fixed platform, a movable platform, a passive constraint branch chain containing a passive hooke joint and two same RCU motion branch chains composed of a first rotation pair, a cylindrical pair and a hooke joint, the R pair of the two branch chains is active input, the two branch chains meet the constraint condition that rotation axes coincide in the space structure, and thanks to the structure, the two branch chains can be driven to rotate in the same direction. According to the parallel mechanism, large-range posture adjustment of the tail end can be achieved through small axial displacement of a cylindrical pair, power transmission is achieved through four-rod mechanism cascading, and the humanoid ankle joint which is novel in structure and compact in structure can be further comprehensively obtained. The parallel mechanism provided by the invention has two rotational degrees of freedom, can realize pitching and pitching actions around a fixed rotation center, and can be used for scenes such as robots and posture adjustment platforms.

    本发明公开了一种两自由度转动并联机构、仿人踝关节、机器人及其骨架。该两自由度转动并联机构包括定平台、动平台、一条含有被动虎克铰的被动约束支链和两条相同的由第一转动副、圆柱副和虎克铰组成的RCU运动支链,两条支链的R副为主动输入,二者在空间结构上满足转动轴线重合的约束条件,得益于该结构,所提并联机构能够以较小的圆柱副轴向位移实现末端大范围姿态调整,采用四杆机构级联实现动力传递,能够进一步综合得到本发明涉及的一种构型新颖、结构紧凑的仿人踝关节。本发明提供的并联机构具有两个转动自由度,能够实现绕固定转动中心实现纵摇和俯仰动作,可用于机器人、姿态调整平台等场景。


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    Titel :

    Two-degree-of-freedom rotation parallel mechanism, humanoid ankle joint, robot and skeleton thereof


    Weitere Titelangaben:

    两自由度转动并联机构、仿人踝关节、机器人及其骨架


    Beteiligte:
    FANG ZAOJUN (Autor:in) / JIANG DEXIN (Autor:in) / ZHANG QIPING (Autor:in) / WANG WEIJUN (Autor:in) / CHEN JUNJUN (Autor:in) / ZHANG CHI (Autor:in) / YANG GUILIN (Autor:in)

    Erscheinungsdatum :

    02.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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