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Two freedom space parallel mechanism

A technology with a degree of freedom and space, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low flexibility, poor practicability, and large size, and achieve wide application prospects, high load capacity, and simple reverse solution. Effect

Inactive Publication Date: 2009-10-28
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The six-degree-of-freedom parallel robot mechanism is the most ideal mechanism, but this type of mechanism has disadvantages such as small working space, low flexibility, unclosed kinematics positive solution, and difficulty in dimensional synthesis, as well as high manufacturing costs.
However, there are few parallel mechanisms that realize directional motion in two-dimensional space, such as a two-degree-of-freedom rotating parallel robot mechanism in Patent No. 200310115537.4, but its volume is large and its practicability is poor, and it is difficult to adapt to small multi-degree-of-freedom joints. Arm or leg design

Method used

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Examples

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Embodiment 1

[0032] Combine figure 1 , This embodiment includes fixed platform 1, Hooke hinge 2, movable platform 3, sliding rods 4 and 5, movable pairs 6 and 9, connecting rods 8 and 11, as well as spherical pairs 6, 10, 12, 13, and vertical rods 14. And 15, there are two moving pairs 6 and 9 on the moving platform 3, which are connected to the fixed platform 1 through three branches; two of the three branches have the same structure, and one branch of the two same structural branches includes one The sliding rod 4 and a connecting rod 8, the sliding rod 4 and the moving platform 3 are connected by a moving pair 6, one end of the connecting rod 8 and the sliding rod 4 are connected by a spherical pair 7, and the other end of the connecting rod 8 is connected with the fixed platform 1 by a spherical pair 13 connection; the other branch of the two same structural branches includes a sliding rod 5 and a connecting rod 11. The sliding rod 5 and the moving platform 3 are connected by a moving pai...

Embodiment 2

[0035] Combine figure 2 In this embodiment, the spherical pairs 12 and 13 connected between the connecting rods 8 and 11 and the fixed platform 1 in the embodiment 1 are replaced with Hooke hinges 17 and 16, and the other structures are the same as the embodiment 1.

Embodiment 3

[0037] Combine image 3 In this embodiment, the spherical pairs 7 and 10 connected between the connecting rods 8 and 11 and the sliding rods 4 and 5 in the first embodiment are replaced with Hooke hinges 18 and 19, and the other structures are the same as those in the first embodiment.

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Abstract

The invention provides a two-dimensional orientation space parallel mechanism. It includes a fixed platform, a moving platform and a branch connecting the fixed platform and the moving platform. There are three branches connecting the fixed platform and the moving platform; two kinematic pairs are arranged on the moving platform, and the two branches have the same structure. Both include a sliding rod and a connecting rod. The sliding rod is connected with the moving platform through a kinematic pair, one end of the connecting rod is connected with one end of the sliding rod through a kinematic pair, and the other end of the connecting rod is connected with the fixed platform through a kinematic pair; One vertical rod, one end of one vertical rod is fixedly connected with the fixed platform and perpendicular to the fixed platform, one end of the other vertical rod is fixedly connected with the moving platform and perpendicular to the moving platform, and the two vertical rods are connected by a Hooke hinge . The invention has the characteristics of small volume, high rigidity, high precision, clear movement mode and the like.

Description

(1) Technical field [0001] The invention belongs to the field of robots and machinery manufacturing, and specifically relates to a two-degree-of-freedom spatial parallel mechanism. (2) Background technology [0002] In recent years, spatial parallel robots have attracted widespread interest from scholars at home and abroad. Compared with series robots, parallel robots have the characteristics of greater rigidity, high load-to-weight ratio, and no accumulation of position errors. They are used in multi-degree-of-freedom robot design and high-precision numerical control. It is widely used under processing and high bearing strength conditions. The earliest space six-degree-of-freedom parallel robot is based on the 6-SPS mechanism proposed by Stewart in 1965. In order to enrich and develop the structural form of parallel robots, scholars in many research institutions have begun useful work. The six-degree-of-freedom parallel robot mechanism is the most ideal mechanism, but this type ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 王立权俞志伟孟庆鑫何锋焦钰
Owner HARBIN ENG UNIV
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