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Space three-translational parallel connection mechanism with far-rack single-lever

A three-translation, single-rod technology, applied in the field of robotics, can solve the problems of difficulty in control accuracy, difficult to guarantee the posture of the end effector of the mechanism, etc., and achieve the effect of simplifying the active branch, easily identifying the source of geometric error, and increasing the driven branch.

Inactive Publication Date: 2010-01-20
青岛北洋天青数联智能有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The posture of the end effector of this type of mechanism is not easy to guarantee, and it is very difficult to improve the control accuracy

Method used

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  • Space three-translational parallel connection mechanism with far-rack single-lever
  • Space three-translational parallel connection mechanism with far-rack single-lever
  • Space three-translational parallel connection mechanism with far-rack single-lever

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with accompanying drawing:

[0027] Such as Picture 1-1 , diagram 2-1 , Figure 3-1 As shown, a space three-translational parallel mechanism with a single rod on a far frame consists of a fixed frame 1, a moving platform 8, three active branch chains with the same structure and connections between the fixed frame 1 and the moving platform 8. The fixed frame 1 and a driven branch chain of the moving platform 8 are formed, and the driven branch chain between the fixed frame and the moving platform can limit three rotational degrees of freedom of the moving platform 8 .

[0028] See Figure 4 , the three active branch chains are respectively composed of the driving device 2, the near frame bar 3 and the far frame bar 4; the connection mode between one of the three active branch chains and the fixed frame 1 and the moving platform 8 is as follows: Figure 4 As shown, the drive device 2 is fixedly conn...

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Abstract

The invention discloses a space three-parallel-movement parallel mechanism with a far-erecting single rod. The two ends of the far erecting single rod are hinged with a near-erecting rod and a moving platform; a driven branch chain for restricting three rotary degrees of freedom of the moving platform is connected between a fixed frame and a movable platform. The driven branch chain comprises a moving rod group which is combined with the fixed frame to form a vertical moving pair, and a length equality rod group, of which the two ends are respectively hinged with the moving rod group and the moving platform. The length equality rod group comprises one center rod and at least three length equality side rods all around. The two ends of the center rod are respectively connected with the end of the moving rod group and the moving platform using hook joints, and the two ends of the length equality side rod are respectively connected with the end of the moving rod group and the moving platform using ball joints. The mechanism simplifies the driving branch chain, adds the driven branch chain, and restricts the three rotary degrees of freedom, so that the moving platform only has three-parallel-movement degrees of freedom relative to the fixed frame.

Description

technical field [0001] The invention relates to a robot, in particular to a space three-translation parallel mechanism with a remote frame single rod. Background technique [0002] U.S. Patent No. 4,976,572 (or WO7703527, EP0250470, CH672079, EP0250470, JP63501760T) discloses a spatially symmetrical three-translation parallel mechanism, which includes three active branch chains, and each branch chain includes two parts, a near frame bar and a far frame bar. There are two types of remote frame rods of this type of mechanism, one is a single rod form, and the two ends of the rod are respectively connected with the near frame rod and the moving platform through a Hooke hinge; the other is a parallelogram formed by two rods, each The two ends of the rod are respectively connected with the near frame rod and the moving platform through ball joints, wherein one end of the near frame rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the oth...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
Inventor 黄田赵学满梅江平刘海涛张利敏
Owner 青岛北洋天青数联智能有限公司
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