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Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism

A technology with a degree of freedom and no coupling, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex structures, and achieve broad application prospects and high practical value

Inactive Publication Date: 2009-08-26
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Such as Patent No. 200410064955.X (name of invention: two-moving-one-rotating parallel mechanism for virtual-axis CNC machine tools and robots, application date: October 14, 2004, publication date: March 2, 2005, publication number: CN1156805A ), although the mechanism has partial decoupling, its structure is still relatively complex

Method used

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  • Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism

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Embodiment 1

[0021] A non-coupling two-movement-rotation three-degree-of-freedom space parallel mechanism is composed of a static platform 1, a dynamic platform 2, and three branches respectively connected between the static platform 1 and the dynamic platform 2. Its specific structure is as follows figure 1 Shown: the first branch is from the static platform 1 to the moving platform 2 by the first moving pair P 1 and one with the first mobile vice P 1 Vertical second cylindrical pair C 2 It is formed in series, and the two kinematic pairs are connected by the third member 3; the second branch is from the static platform 1 to the moving platform 2 by the third cylindrical pair C 3 and with the third cylindrical pair C 3 Axis-parallel fourth rotating pair R 4 and the fifth rotating pair R 5 sequence in series, the third cylindrical pair C 3 with the fourth rotating pair R 4 between, the fourth revolving pair R 4 with the fifth rotating pair R 5 They are respectively connected by the...

Embodiment 2

[0024] An uncoupled two-movement-rotation three-degree-of-freedom space parallel mechanism consists of a static platform 1, a moving platform 2 and three branches. The specific structure is as follows: figure 2 As shown, among them, the first branch is from the static platform 1 to the moving platform 2 by the first moving pair P 1 and one with the first mobile vice P 1 Vertical second cylindrical pair C 2 It is formed in series, and the two moving pairs are connected by a component 3; the second branch is from the static platform 1 to the moving platform 2 by the third moving pair P 3 And the axis and the third moving pair P 3 Parallel fourth rotating pair R 4 , the fifth revolving pair R 5 and the sixth rotating pair R 6 sequence in series, the third mobile pair P 3 with the fourth rotating pair R 4 between, the fourth revolving pair R 4 with the fifth rotating pair R 5 between, the fifth revolving pair R 5 with the sixth rotating pair R 6 They are respectively c...

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Abstract

A non-coupling two-movement-rotation three-degree-of-freedom space parallel mechanism is composed of a dynamic and a static platform and three branches connecting the two platforms. From the static platform to the dynamic platform, the first branch is a moving pair and the A vertical cylindrical pair is connected in series; the second branch is composed of a cylindrical pair and two rotating pairs parallel to the cylindrical secondary axis; the third branch is composed of a cylindrical pair and two rotating pairs parallel to the cylindrical secondary axis. Two revolving pairs and a revolving pair perpendicular to the axes of the first two revolving pairs are connected in series; the three branches are respectively located on the static platform, and the axes of the moving pairs on the static platform are perpendicular to each other, so that the three branches are arranged orthogonally in space; The auxiliary axis of the cylinder on the moving platform in one branch coincides with the axis of the rotating pair on the moving platform in the second branch, and is parallel to the axis of the rotating pair on the moving platform in the third branch; The linear input of the active pair on the platform, the movable platform can realize two-dimensional movement and one-dimensional rotation output.

Description

technical field [0001] The invention relates to an end effector of a robot, a machine tool, etc., in particular to a non-coupling two-movement-rotation three-degree-of-freedom space parallel mechanism that can be used for a parallel robot and a virtual-axis numerical control machine tool. Background technique [0002] The parallel mechanism generally consists of a moving platform, a fixed platform and 2-6 branches. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, strong bearing capacity, high precision, and small self-weight-to-load ratio. Compared with the parallel mechanism with 6 degrees of freedom, the parallel mechanism with few degrees of freedom has the characteristics of simple structure, low cost, and relatively simple kinematics solution. Therefore, the parallel mechanism with few degrees of freedom has broad application prospects in industries such as industrial robots, virtual axis CNC parallel machine tools, coordi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/08
Inventor 张彦斌吴鑫徐红玉何晓玲
Owner HENAN UNIV OF SCI & TECH
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