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Double-ring tribranched chain contraction and enlargement type parallel structure

A zoom-type, three-branched technology, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools, can solve the problems of insufficient high rigidity, small position and attitude work space, etc., so as to save the reducer, good motion accuracy, The effect of reducing size requirements

Inactive Publication Date: 2008-03-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the disadvantages of small working space for position and attitude and still not high enough stiffness limit the application of the main hand in some fields

Method used

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  • Double-ring tribranched chain contraction and enlargement type parallel structure

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Embodiment Construction

[0015] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0016] Combined with Fig. 3, the composition of the parallel main hand includes the lower platform 8, the upper platform 3 and three branch chains connected between the upper and lower platforms. The center of the three branch chains is symmetrically distributed. The rod is composed of a pantograph mechanism 5 connected by a rotating pair, the lower swing rod is connected to the lower platform through a rotating pair, the pantograph mechanism is connected to the upper platform through a ball hinge 4, and two drive motors 6 are installed at both ends of the horizontal rod at the bottom of the pantograph mechanism. A handle 1 is arranged in the middle of the upper platform, and a force sensor 2 is installed at the joint between the handle and the upper platform. Referring to FIG. 2 , the composition of the ball pair includes: a ball 9 , a ball 10 , a collar 11 and a...

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Abstract

A telescopic parallel mechanism with dual rings, three branches and 6 freedoms is composed of upper and lower platforms, three branches of 9 rods between upper and lower platform, two hexagonal dual-ring mechanism, and two drive motors. Its advantages are compact structure, high rigidity, and high dynamic response.

Description

(1) Technical field [0001] The invention relates to a parallel mechanism. (2) Background technology [0002] The general-purpose force-sensing main hands that have been successfully applied are mostly 3-branched parallel structures. Compared with special-purpose main hands and non-3-branched parallel main hands, they have the advantages of wide application fields and high rigidity. However, the shortcomings of small working space for position and attitude and still not high enough stiffness limit the application of the main hand in some fields. (3) Contents of the invention [0003] The object of the present invention is to provide a novel double-ring three-branch scaling parallel mechanism with large working space, high rigidity, high flexibility and high responsiveness. [0004] The purpose of the present invention is achieved in that it comprises a lower platform, an upper platform and three branch chains connected between the upper and lower platforms, each branch cha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 孔民秀孙立宁杜志江张勇
Owner HARBIN INST OF TECH
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