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

Inactive Publication Date: 2008-06-11
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the moving platform of the Delta robot can only realize translational movement in three coordinate directions, and cannot realize rotational movement

Method used

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  • Three-translation and one-rotation parallel mechanism
  • Three-translation and one-rotation parallel mechanism
  • Three-translation and one-rotation parallel mechanism

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Experimental program
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Effect test

Embodiment 1

[0025] Figure 4 It is the first embodiment of the present invention. It can be seen from the figure that the four kinematic branch chains and the first rotating pair (2) connected to the static platform (1) are symmetrically arranged on the square static platform (1), wherein the structures of the first and third kinematic branch chains, See how Figure 6 shown. It can be seen from the figure that in the structure of the first branch chain, one end of the swing control arm (3) is connected with the static platform (1) through the first rotating pair (2), and the other end of the swing control arm (3) is connected through the second The swivel pair (4) is connected with the parallelogram hinge (6), and the first swivel pair (2) and the second swivel pair (4) are arranged parallel to each other. The third rotating pair (7) connects the parallelogram hinge (6) and the moving platform (12), and its axis is parallel to the first rotating pair (2). The structure of the third br...

Embodiment approach 2

[0033] Introduce another embodiment of the present invention below, please refer to Figure 8 Shown is another embodiment of the present invention. In this scheme, the components and connection sequence of each branch chain remain unchanged. The difference is that the rotation axes of the two rotating pairs (9) in the second and fourth motion branch chains are not coaxially arranged on the moving platform, but they are all kept parallel to the axis of the first rotating pair (2) of the first branch chain . The advantages and disadvantages of the coaxial and non-coaxial arrangement schemes in terms of mechanism performance are: the coaxial arrangement scheme has a symmetrical structure, the force on the moving platform is average, the movement precision of the mechanism is high, and the error is small; however, due to the second, The end link bar (8) in the four motion branch chains keeps translation all the time, and the second and fourth branch chains do not affect the rota...

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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.

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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Application Information

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IPC IPC(8): B25J9/08
Inventor 刘冰李剑锋
Owner BEIJING UNIV OF TECH
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