Three-translation and one-rotation parallel mechanism

A three-translation and parallel technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to realize rotational motion, and achieve the effect of light moving parts, high acceleration, and large working space
CN100393484CInactive Publication Date: 2008-06-11BEIJING UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
BEIJING UNIV OF TECH
Publication Date
2008-06-11
Estimated Expiration
Not applicable ยท inactive patent

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Abstract

The three-translation and one-rotation parallel mechanism consists of one static platform, one movable platform and four moving branch chains. The first and the third branch chains have their swinging control arms connected separately through one rotation pair II or IV to the static platform and the parallelogram hinge, which is connected via the rotation pair VII to the movable platform. The second and the fourth branch chains have their swinging control arms connected separately to the rotation pair II or IV. The rotation axis of the rotation pair I connecting the four branch chains and the static platform is in the XOY plane. Between the rotation pair II and IV and the movable platform, there are one increased connecting rod and one rotation pair IX, and the connecting rod is connected to the rotation pair VII and the movable platform via the rotation pair IX. The axis of the rotation pair IX is perpendicular to that of the rotation pair VII, and coaxial or heteroaxial arrangement may be adopted.
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Description

technical field

[0001] The invention relates to a new three-translation, one-rotation four-degree-of-freedom parallel mechanism, which can be used as a motion actuator for industrial robots and parallel machine tools. It belongs to the technical field of robot technology and numerical control processing equipment. Background technique

[0002] The Delta parallel robot was first proposed and patented by Clavel of the Swiss Institute of Technology in Lausanne (EPFL). see figure 1 , the structure of this mechanism is to be made of static platform 1, dynamic platform 12 and three motion branch chains connecting static platform 1, dynamic platform 12. The rotation axes of the three branch chains connected to the static platform are symmetrically arranged on the plane of the static platform, and the structures of the three moving branch chains are identical. Each branch chain is made up of swivel pair 2, swivel pair 4, swivel pair 7, swing control arm 3, parallelogram four-bar ...

Claims

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