CN103217986B - There is the pure two-degree-of-freedoparallel parallel rotating mechanism rolling character of sphere - Google Patents

Abstract

The invention discloses a two-degree-of-freedom parallel rotation mechanism with spherical pure rolling properties, including a fixed base, a motion platform and a kinematic branch chain; wherein, the kinematic branch chain includes two different types of kinematic branch chains; the numbers are different , Different types of motion branch chains, fixed bases and motion platforms can form twelve kinds of two-degree-of-freedom parallel rotation mechanisms with spherical pure rolling properties; each mechanism can realize a two-degree-of-freedom equal-diameter spherical surface of the motion platform around the fixed base Pure rolling rotation; the relative positions of the kinematic branch chains of each type of parallel mechanism can be arranged asymmetrically according to specific application requirements. The advantages of the present invention are: large mechanism rigidity, strong bearing capacity, and various types of structures, each structure can realize two-degree-of-freedom equal-diameter spherical pure rolling rotation, and the mechanism only includes a rotating pair, which is simple in structure and easy to manufacture, and accessories such as sensors Easy to install.

Description

Parallel Rotary Mechanism with Two Degrees of Freedom with Spherical Pure Rolling Property

technical field

The invention relates to a two-degree-of-freedom parallel rotation mechanism with the nature of spherical pure rolling, belonging to the fields of robots, precision instruments and equipment, and machinery manufacturing.

Background technique

Since its appearance, the parallel mechanism has been widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations due to its characteristics of high rigidity, high precision, strong bearing capacity, and small moment of inertia. Among the applications of parallel mechanisms, parallel mechanisms with few degrees of freedom are the most widely used, especially in the fields of robot joints, space pointing and docking devices, and load simulation equipment. Such as: Publication No. US4651589 discloses a patent based on a three-degree-of-freedom multi-hinge parallel mechanism, which is successfully used as a parallel radar tracker (Canterbury Satellite Tracker) with two rotational degrees of freedom; Publication No. US5893296 and Publication No. WO99/21070 A four-branched two-degree-of-freedom parallel rotating mechanism is disclosed, and has been successfully used as entertainment fountains and other devices; a three-branched two-degree-of-freedom parallel rotating mechanism disclosed in Publication No. US7478576 and Publication No. US7472622.

In a special type of application, such as space tracking and pointing devices, there are strong restrictions on the space occupied by the mechanism, which requires the mechanism to have both a large range of motion and a strong carrying capacity. Ordinary parallel rotation It is not easy for the organization to meet the design requirements. The parallel rotating mechanism with the nature of spherical pure rolling not only has the characteristics of high rigidity and strong bearing capacity of the conventional parallel mechanism, but also can realize a large range of motion, and has good application value in such occasions. At present, there are no relevant research results of such institutions in China; although good results have been achieved in the research and application process of such institutions abroad, there are few new configurations, which are not easy to popularize and apply; sports platforms in existing institutions Both the base and the base are flat, which is not conducive to the planning and design of the sports space.

Contents of the invention

In order to solve the above-mentioned problems, the present invention proposes a two-degree-of-freedom parallel rotation mechanism with the property of equal-diameter spherical pure rolling, which can realize the two-degree-of-freedom equi-diametric spherical pure rolling rotation of the motion platform around the fixed base. And there is space for installing accessories such as sensors and cables, so that the parallel rotating mechanism of the present invention has a large range of motion and takes up little space during application, and has good tolerance; at the same time, the parallel rotating mechanism of the present invention also has greater rigidity, relatively Strong carrying capacity, can be widely used in robot wrists, space pointing and alignment devices, medical surgery devices, entertainment facilities and other fields.

The two-degree-of-freedom parallel rotation mechanism of the pure rolling nature of the spherical surface includes a fixed base, a motion platform, and a motion branch chain;

The fixed base is an integral structure composed of at least three fixed shafts with one end intersecting at point N, the other end of each fixed shaft has a rotating pair connection shaft, and the angle between each fixed shaft and the vertical center line passing through point N is θ, 0<θ≤90°, so that each fixed axis is inclined upward.

The motion platform is an integral structure composed of at least three moving shafts with one end intersecting at point M, the other end of each moving shaft has a rotating joint connection end, and the angle between each moving shaft and the vertical center line passing through point N is θ , so that each moving shaft is inclined downward.

The fixed shaft in the fixed base is connected to the moving shaft in the motion platform through at least three motion branch chains; the motion branch chains include an upper link, a middle link and a lower link; one end of the upper link and the lower link There are connecting holes for the rotating pair running through the front and rear sides, and a connecting shaft for the rotating pair on the outside of the other end; both ends of the middle connecting rod are bent to the front or rear side, and both ends are opened with connecting holes for the rotating pair passing through the front and rear sides The above-mentioned upper connecting rod and the lower connecting rod are all located on the front side or the rear side of the middle connecting rod; wherein, the connecting hole of one end of the upper connecting rod is connected with the connecting end of the rotating pair of the moving shaft on the motion base to form a rotating pair; The rotating pair connecting shaft at the other end of the connecting rod is connected with the rotating pair connecting hole at one end of the middle connecting rod to form a rotating pair; the rotating pair connecting hole at one end of the lower connecting rod is connected with the rotating pair connecting end of the fixed shaft on the fixed base to form a rotating pair ; The other end of the lower connecting rod is connected to the rotating pair connection shaft at the other end of the middle connecting rod to form a rotating pair.

The above structure satisfies the following three points:

1. The rotation axis of the rotation pair between the upper link and the motion platform is coplanar with the rotation axis of the rotation pair between the upper link and the middle link and intersects at point B;

2. The rotation axis of the rotation pair between the lower link and the fixed base is coplanar with the rotation axis of the rotation pair between the lower link and the middle link and intersects at point C;

3. The rotational axis of the rotary joint between the upper link and the middle link is coplanar with the rotational axis of the rotary joint between the lower link and the middle link and intersects at point A.

At the same time, the motion branch chain also needs to satisfy that the triangle ABC formed by the three points A, B and C is an isosceles triangle whose distance between A and B is equal to the distance between A and C; and after the motion branch chain is connected with the fixed base and the motion platform : Point B coincides with point M, and point C coincides with point N.

Thus, by rotating the upper link, two kinematic branch configurations are produced, specifically:

Configuration A sports branch chain: the upper link and the lower link are located on the left or right side of the middle link;

Configuration B motion branch chain: the lower link and the lower link are respectively located on the left and right sides of the middle link.

The advantages of the present invention are:

(1) The two-degree-of-freedom parallel mechanism of the present invention can be provided with a plurality of motion branch chains between the motion platform and the fixed base, so that the mechanism has greater rigidity and stronger bearing capacity;

(2) The two-degree-of-freedom parallel mechanism of the present invention can realize the pure rolling rotation of the two-degree-of-freedom spherical surface of the motion platform around the fixed base;

(3) The two-degree-of-freedom parallel mechanism of the present invention can form a virtual space above the fixed base, which can be used to accommodate accessories such as sensors;

(4) The two-degree-of-freedom parallel mechanism of the present invention only contains rotating pairs, and has a simple structure and is easy to manufacture;

(5) The two-degree-of-freedom parallel mechanism of the present invention can realize various combinations, and an appropriate mechanism can be selected for application according to actual needs.

Description of drawings

Fig. 1 is a schematic view of the fixed base structure in the parallel mechanism of the present invention;

Fig. 2 is a schematic structural diagram of the motion platform in the parallel mechanism of the present invention;

Fig. 3 is the structural representation of configuration A kinematic branch chain in the parallel mechanism of the present invention;

Fig. 4 is the structural representation of configuration B kinematic branch chain in the parallel mechanism of the present invention;

Fig. 5 is the structural representation of embodiment 1 of the present invention;

Figure 6 is a schematic structural view of Embodiment 2 of the present invention;

Figure 7 is a schematic structural view of Embodiment 3 of the present invention;

Figure 8 is a schematic structural view of Embodiment 4 of the present invention;

Fig. 9 is a schematic structural view of Embodiment 5 of the present invention;

Figure 10 is a schematic structural view of Embodiment 6 of the present invention;

Figure 11 is a schematic structural view of Embodiment 7 of the present invention;

Figure 12 is a schematic structural view of Embodiment 8 of the present invention;

Figure 13 is a schematic structural view of Embodiment 9 of the present invention;

Figure 14 is a schematic structural view of Embodiment 10 of the present invention;

Figure 15 is a schematic structural view of Embodiment 11 of the present invention;

Fig. 16 is a schematic structural diagram of Embodiment 12 of the present invention.

In the picture:

1-fixed base 2-moving platform 3-moving branch chain 101-fixed shaft

201-moving shaft 301-lower connecting rod 302-middle connecting rod 303-upper connecting rod

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The present invention has a two-degree-of-freedom parallel rotation mechanism with spherical pure rolling properties, including a fixed base 1, a moving platform 2 and a moving branch chain 3;

The fixed base 1 is an integral structure composed of at least three fixed shafts 101 whose one ends intersect at point N. As shown in FIG. The angle between the vertical centerlines of point N is θ, and 0<θ≤90°, so that each fixed axis 101 is arranged upwardly. The bottom of the fixed base 1 at point N is designed as a positioning surface, which can be used for positioning with the external fixed surface, or fixing external devices (sensors and other accessories).

The motion platform 2 is an integral structure composed of at least three moving shafts 201 whose one ends intersect at point M. As shown in FIG. The angle between the vertical centerlines of the points is also θ, so that each moving axis 201 is inclined downward. The top of the above-mentioned motion platform 2 is located at point M and is designed as an installation surface for installing external equipment (sensors and other accessories).

The fixed shaft 101 in the fixed base 1 is connected to the moving shaft 201 in the moving platform 2 through at least three moving branch chains 3, that is, at least three moving shafts 201 in the fixed base 1 are connected to each other through three moving branch chains 3 respectively. Three fixed shafts 101 are connected. As shown in Figure 3, the motion branch chain 3 includes an upper link 303, a middle link 302 and a lower link 301; both the upper link 303 and the lower link 301 are bent inward to form an L-shaped link structure, One end is provided with a rotating pair connecting hole that runs through the front and rear sides, and the other end has a rotating pair connecting shaft on the outside; both ends of the middle connecting rod 302 are bent forward or rear to form a trapezoidal connecting rod structure; the two ends of the middle connecting rod 302 Both have rotating pair connecting holes running through the front and rear sides. Above-mentioned upper connecting rod 303 and lower connecting rod 301 are all positioned at the front side or rear side of middle connecting rod 302; wherein, one end of upper connecting rod 303 is connected with the rotating pair connection end of moving shaft 201 on the moving base to form Revolving pair; the connecting shaft of the rotating pair at the other end of the upper connecting rod 303 is connected with the connecting hole of the rotating pair at one end of the middle connecting rod 302 to form a rotating pair; The secondary connecting ends are connected to form a rotating pair; the connecting shaft of the rotating pair at the other end of the lower link 301 is connected with the rotating pair connecting hole at the other end of the middle connecting rod 302 to form a rotating pair; the bending direction of the middle connecting rod 302 is towards the connected The overall outer side of the two-degree-of-freedom parallel rotation mechanism.

Therefore, the following three points can be satisfied through the above structure:

1. The rotation axis of the rotation pair between the upper link 303 and the motion platform 2 is coplanar with the rotation axis of the rotation pair between the upper link 303 and the middle link 302 and intersects at point B;

2. The rotation axis of the rotation pair between the lower link 301 and the fixed base 1 is coplanar with the rotation axis of the rotation pair between the lower link 301 and the middle link 302 and intersects at point C;

3. The rotational axis of the rotary joint between the upper link 303 and the middle link 302 is coplanar with the rotational axis of the rotary joint between the lower link 301 and the middle link 302 and intersects at point A.

At the same time, the motion branch chain 3 also needs to satisfy that the triangle ABC formed by the three points A, B and C is an isosceles triangle whose distance between A and B is equal to the distance between A and C; and after the motion branch chain 3 is connected, point B and point M Coincident, point C coincides with point N.

Constrained by the above conditions, by rotating the upper link 303, two configurations of the kinematic branch chain 3 will be produced, specifically:

Configuration A motion branch chain 3: the upper link 303 and the lower link 301 are located on the left or right side of the middle link 302, as shown in FIG. 3 ;

Configuration B Motion Branch 3: The lower link 303 and the lower link 301 are respectively located on the left and right sides of the middle link 302 , as shown in FIG. 4 .

In practical application, the structure of the sensor installed between the fixed base 1 and the moving platform 2 will be different, mainly including flat and long column: the flat sensor does not need a large rotation range, but requires a larger Cavity; the long cylindrical sensor needs a larger rotation range, but the required cavity is not large; therefore, there are two situations between the positioning surface of the fixed base 1 and the mounting surface of the moving platform 2, and for these two If the above-mentioned kinematic branch chain 3 configuration A and configuration B are used respectively, the two-degree-of-freedom parallel rotation can be realized on the basis of stably positioning the sensor, specifically:

Situation 1: For the positioning suitable for flat sensors, the positioning surface of the fixed base 1 is opposite to or set in phase with the installation surface of the motion platform 2. At this time, the configuration A motion branch chain 3 is used to fix the gap between the base 1 and the motion platform 2. Connection;

Situation 2: For the positioning of the long columnar sensor, the positioning surface of the fixed base 1 is opposite to the installation surface of the moving platform 2. At this time, the configuration B motion branch chain 3 is used to connect the fixed base 1 and the moving platform 2 ;

The two-degree-of-freedom parallel rotation mechanism with spherical pure rolling properties of the present invention enables the moving platform 2 to perform two-degree-of-freedom equal-diameter spherical pure rolling around the fixed base 1, and a certain distance between the fixed base 1 and the moving platform 2 can be formed. space to install accessories such as sensors.

Example:

The kinematic branch chain 3 between the fixed base 1 and the motion platform 2 in each parallel rotation mechanism of each of the following embodiments is the same, and is both the configuration A kinematic branch chain 3 or the configuration B kinematic branch chain 3; thus this The invention has the following 12 typical structures, and the 12 structures are explained respectively:

Example 1:

As shown in Figure 5, the two-degree-of-freedom parallel rotation mechanism includes a fixed base 1, a moving platform 2, and a configuration A kinematic branch chain 3; both the fixed base 1 and the moving platform 2 have three symmetrically distributed rotating pair connection axes; The positioning surface in the fixed base 1 is opposite to the installation surface in the motion platform 2; the rotation pair connection hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotation pair connection shaft on the motion platform 2 to form a rotation Vice; the rotary pair connecting hole of the lower link 301 is connected with the rotary pair connecting shaft on the fixed base 1 to form a rotary pair.

Example 2:

As shown in Figure 6, it includes a fixed base 1, a moving platform 2 and three configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain three symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface and the installation surface in the motion platform 2 are arranged oppositely; the rotating pair connecting hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 3:

As shown in Figure 7, it includes a fixed base 1, a moving platform 2, and three configuration B kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain three symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface is set in the same direction as the installation surface in the motion platform 2; the rotating pair connecting hole of the upper link 303 in each configuration B motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 4:

As shown in Figure 8, it includes a fixed base 1, a moving platform 2, and four configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain four symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface and the installation surface in the motion platform 2 are arranged oppositely; the rotating pair connecting hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 5:

As shown in Figure 9, it includes a fixed base 1, a moving platform 2 and four configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain four symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface and the installation surface in the motion platform 2 are arranged oppositely; the rotating pair connecting hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Embodiment 6:

As shown in Figure 10, it includes a fixed base 1, a moving platform 2 and a configuration B kinematic branch chain 3; both the fixed base 1 and the moving platform 2 contain four symmetrically distributed rotating pair connection ends; the fixed base 1 The positioning surface is set in the same direction as the installation surface in the motion platform 2; the rotating pair connecting hole of the upper link 303 in each configuration B motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Embodiment 7:

As shown in Figure 11, it includes a fixed base 1, a moving platform 2 and six configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain six symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface and the installation surface in the motion platform 2 are arranged oppositely; the rotating pair connecting hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Embodiment 8:

As shown in Figure 12, it includes a fixed base 1, a moving platform 2, and six configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain six symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface and the installation surface in the motion platform 2 are arranged oppositely; the rotating pair connecting hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Embodiment 9:

As shown in Figure 13, it includes a fixed base 1, a moving platform 2, and six configuration B kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain six symmetrically distributed rotating pair connection ends; the fixed base 1 The middle positioning surface is set in the same direction as the installation surface in the motion platform 2; the rotating pair connecting hole of the upper link 303 in each configuration B motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 10:

As shown in Figure 14, it includes a fixed base 1, a moving platform 2, and three configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain three asymmetrically distributed rotating pair connection ends; the fixed base The positioning surface in 1 is set opposite to the installation surface in motion platform 2; the rotating pair connection hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the connecting rod 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 11:

As shown in Figure 15, it includes a fixed base 1, a moving platform 2, and three configuration A kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain three asymmetrically distributed rotating pair connection ends; the fixed base The positioning surface in 1 is opposite to the installation surface in motion platform 2; the rotating pair connection hole of the upper link 303 in each configuration A motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the lower link 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

Example 12:

As shown in Figure 16, it includes a fixed base 1, a moving platform 2 and three configuration B kinematic branch chains 3; both the fixed base 1 and the moving platform 2 contain three asymmetrically distributed rotating pair connection ends; the fixed base The positioning surface in 1 is set in the same direction as the installation surface in the motion platform 2; the rotating pair connection hole of the upper link 303 in each configuration B motion branch chain 3 is connected with the rotating pair connecting shaft on the moving platform 2 to form a rotating pair; The rotating pair connecting hole of the lower link 301 is connected with the rotating pair connecting shaft on the fixed base 1 to form a rotating pair.

When the included angle θ of the fixed axis 101 in the above-mentioned fixed base 11 and the included angle θ of the moving axis 201 in the moving platform 2 are both equal to 90 degrees, the structure of embodiment 1 is equivalent to that of embodiment 2, and the structure of embodiment 4 is equivalent to embodiment 5. , Embodiment 7 is identical in structure to Embodiment 8, and Embodiment 10 is identical in structure to Embodiment 11.

Claims (6)

1. there is the pure two-degree-of-freedoparallel parallel rotating mechanism rolling character of sphere, it is characterized in that: comprise fixed pedestal, motion platform and movement branched chain;

Described fixed pedestal is the integrative-structure that at least three one end intersect at the dead axle formation of N point, the other end of each dead axle has revolute pair coupling shaft, and the vertical centerlines of each dead axle and excessively N point is θ, 0 < θ≤90 °, make each dead axle be inclined upwardly setting thus;

Described motion platform is the integrative-structure that at least three one end intersect at the moving axis formation of M point, and the other end of each moving axis has revolute pair link, and the vertical centerlines of each moving axis and excessively N point is θ, makes the downward-sloping setting of each moving axis thus;

Three moving axis are had at least to be connected with three dead axles respectively by three movement branched chain in fixed pedestal; Described movement branched chain comprises connecting rod, middle connecting rod and lower link; Upper connecting rod and lower link one end have the revolute pair connecting hole running through both sides, front and back, have revolute pair coupling shaft outside the other end; Middle connecting rod two ends are all to front side or rear side bending, and two ends all have the revolute pair connecting hole running through both sides, front and back; Above-mentioned upper connecting rod and lower link are all arranged in front side or the rear side of connecting rod; Wherein, upper connecting rod one end revolute pair connecting hole is connected with the revolute pair link of moving axis on moving base, forms revolute pair; Upper connecting rod other end revolute pair coupling shaft is connected with the revolute pair connecting hole of middle connecting rod one end, forms revolute pair; Lower link one end revolute pair connecting hole is connected with the revolute pair link of dead axle on fixed pedestal, forms revolute pair; Lower link other end revolute pair coupling shaft is connected with the revolute pair connecting hole of the middle connecting rod other end, forms revolute pair; The overbending direction of middle connecting rod is outside the two-degree-of-freedoparallel parallel rotating mechanism entirety after connection; Said structure meets following 3 points:

1) the revolute pair pivot center, between upper connecting rod and motion platform, and revolute pair pivot center between upper connecting rod and middle connecting rod is coplanar and intersect at a B;

2) the revolute pair pivot center, between lower link and fixed pedestal, and revolute pair pivot center between lower link and middle connecting rod is coplanar and intersect at a C;

3) the revolute pair pivot center, between upper connecting rod and middle connecting rod, and revolute pair pivot center between lower link and middle connecting rod is coplanar and intersect at an A;

Movement branched chain also needs the triangle ABC meeting A, B and C 3 formation to be the isosceles triangle that A, B spacing is equal with A, C spacing simultaneously; And some B overlaps with some M after movement branched chain is connected with fixed pedestal, motion platform, some C overlaps with some N;

Two kinds of movement branched chain configurations can be produced by rotating upper connecting rod thus, being specially:

Configuration A movement branched chain: upper connecting rod and lower link are arranged on the left of connecting rod or right side;

Configuration B movement branched chain: upper connecting rod and lower link lay respectively at the middle connecting rod left and right sides.

2. there is the sphere pure two-degree-of-freedoparallel parallel rotating mechanism rolling character as claimed in claim 1, it is characterized in that: described upper connecting rod and lower link all bend inwards, form L-type bar linkage structure.

3. there is the sphere pure two-degree-of-freedoparallel parallel rotating mechanism rolling character as claimed in claim 1, it is characterized in that: be positioned at N point place bottom described fixed pedestal and be designed to locating surface; Motion platform top is positioned at M point place and is designed to installed surface.

4. there is the sphere pure two-degree-of-freedoparallel parallel rotating mechanism rolling character as claimed in claim 1, it is characterized in that: the movement branched chain between described fixed pedestal and motion platform is identical, be all configuration A movement branched chain or configuration B movement branched chain.

5. there is the sphere pure two-degree-of-freedoparallel parallel rotating mechanism rolling character as claimed in claim 1 or 2, it is characterized in that: the locating surface of described fixed pedestal or homophase relative with the installed surface of motion platform is arranged, now adopt configuration A movement branched chain to be fixed connection between pedestal and motion platform.

6. there is the sphere pure two-degree-of-freedoparallel parallel rotating mechanism rolling character as claimed in claim 1 or 2, it is characterized in that: the locating surface of described fixed pedestal and the installed surface of motion platform are oppositely arranged, now employing configuration B movement branched chain is fixed the connection between pedestal and motion platform.