Unlock instant, AI-driven research and patent intelligence for your innovation.

Four-DOF parallel mechanism

A degree of freedom, parallel technology, applied in the field of motion actuators and FOUR mechanisms, can solve problems such as complex structures, and achieve the effects of no branch chain interference, easy control, and high acceleration.

Inactive Publication Date: 2010-02-03
BEIJING UNIV OF TECH
View PDF5 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing four-degree-of-freedom parallel mechanisms have relatively complex structures, and generally can only obtain large accelerations in one direction

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Four-DOF parallel mechanism
  • Four-DOF parallel mechanism
  • Four-DOF parallel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0021] combine figure 1 , figure 2 , Figure 4~7 Illustrate present embodiment, present embodiment comprises static platform J, dynamic platform D and four branch chains to form. The structure of the first branch is as Figure 5 shown, including connecting rod L 11 and the first parallelogram spherical joint structure 2, connecting rod L 11 One end of which is connected to the static platform J by the sixth rotating pair 1 whose axis is along the x direction, the other end is fixed to the second parallelogram spherical joint structure 2, and the other end of the second parallelogram spherical joint structure 2 is fixed to the moving platform d. The third branch has the same structure as the first branch. The structure of the second branch is as Figure 4 The shown includes the first moving slider 3 moving in the horizontal direction, the connecting rod L 21 , connecting rod L 22 and connecting rod L 23 . The moving slider 3 in the horizontal direction on the static...

Embodiment 2

[0024] The structure of this embodiment is exactly the same as that of Embodiment 1, and the only difference is that the structure of the fourth branch chain in this embodiment is exactly the same as that of the first branch chain and the third branch chain, that is, with a rotating amplitude and A connecting rod replaces the moving width (the second moving slide block 10) in embodiment one, as image 3 As shown, connecting rod L 42 One end of y is connected to the static platform J through the rotation width along the y direction, the other end is fixed to the parallelogram spherical joint structure, and the other end of the parallelogram spherical joint structure is fixed to the connecting rod L 41 , connecting rod L 41 The other end of is connected with the moving platform D through the fifth rotating pair whose axis is along the x direction.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a FOUR mechanism, which can realize three-dimensional movement in space and one rotation. The mechanism consists of a static platform, a moving platform and four branched chains. The first branched chain and third branched chain in the four branched chains have same structure, and are connected with the moving platform through a rotating pair, a connecting rod and a parallelogram ball joint structure. The second branched chain consists of a horizontal moving pair, a connecting rod, three rotating pairs along Y-direction axis line and one rotating pair along X-directionaxis line. The fourth branched chain consists of a vertical moving pair, the parallelogram ball joint structure and the rotating pair along X-direction axis line. The mechanism has the advantages ofsimple structure, easy assembly, no branched chain interference, large operating work space, easy obtain of the inverse solution of the position of the mechanism, and easy control. Moreover, the mechanism can substantially reach higher acceleration in the direction of movement. Therefore, the FOUR mechanism can act as a movement implementing mechanism for industrial robots or parallel machine tools.

Description

technical field [0001] The invention relates to a FOUR mechanism (four-degree-of-freedom parallel mechanism), which can realize three-dimensional movement and one rotation in space, and can be used as a motion actuator of an industrial robot or a parallel machine tool. It belongs to the technical field of robot technology and numerical control processing equipment. Background technique [0002] In recent years, parallel mechanisms with few degrees of freedom have been widely concerned and applied in industrial production. Among them, the most successful Delta robot has been favored by the market for its simple structure and fast three-dimensional movement. But in actual production, the three-degree-of-freedom mechanism often cannot meet the production requirements, so the four-degree-of-freedom parallel mechanism is gradually developed. The typical one is the H4 mechanism proposed at the IEEE / ASME International Conference in 1999, but due to the singularity problem, it has...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 李剑锋方斌卿建喜段文军
Owner BEIJING UNIV OF TECH