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Non-singular completely isotropic space mobile parallel mechanism

A completely isotropic, space-moving technology, applied in the field of three-degree-of-freedom robots and space-moving measuring machines, can solve problems such as singular configurations and strong kinematic coupling, and achieve large working space, broad application prospects, and low cost Effect

Inactive Publication Date: 2007-10-24
XIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to provide a non-singularity completely isotropic space-moving parallel mechanism, which solves the problems of strong kinematic coupling and singular configuration existing in existing mechanisms, making trajectory planning and control very simple

Method used

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  • Non-singular completely isotropic space mobile parallel mechanism
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  • Non-singular completely isotropic space mobile parallel mechanism

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Experimental program
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Effect test

Embodiment 1

[0018] The singularity-free and completely isotropic space mobile parallel mechanism of the present invention, as shown in Fig. 1, includes a moving platform 2, a fixed platform 1 as a frame, and the same three branches connecting the fixed platform 1 and the moving platform 2. Each branch includes a first cylinder pair 3 connected to the fixed platform 1, the first cylinder pair 3 is connected with a rotating pair 4 parallel to its axis, and the rotating pair 4 is also connected with a second cylinder pair 5 perpendicular to its axis. , The other end of the second cylinder pair 5 is connected to the moving platform 2. The axes of the same three first cylinder pairs 3 on the three branch roads perpendicularly intersect the fixed platform 1. The moving platform 2 is an equilateral triangle, and the three branches The axes of the connected second cylinder pairs 5 are perpendicular to each other and converge at one point. The three branches all use the first cylinder pair 3 as the ac...

Embodiment 2

[0020] As shown in Figure 2, the second cylindrical pair 5 in each branch is replaced by a plane parallelogram mechanism 6 composed of four second rotating pairs 7, that is, each branch has one first cylindrical pair 3 and one rotating pair. The auxiliary 4 is composed of a plane parallelogram mechanism 6, and the axis of the rotating pair 4 is parallel to the axis of the second rotating pair 7 constituting the plane parallelogram mechanism 6.

[0021] When the present invention is used in a coordinate measuring machine, a measuring head D is installed on the moving platform 2, as shown in Fig. 3. When the dimension parameters of each member of the mechanism are determined, the linear input of the three active first cylinder pairs 3 on the fixed platform 1 is controlled Movement, the spatial coordinate position of the measuring head D on the moving platform can be determined, which is the actuator of the virtual axis coordinate measuring machine, and the movement of the measuring ...

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Abstract

The irregularity complete isotropic displacement parallel structure is made of three branches formed by positioning platform, dynamic platform and coupling two platforms with each made of a first round post, a rotary sub parallel to the first round post axis, and the second round post subs in series vertical to the rotary sub axis, with the second round post sub being able to be substituted by horizontal parallelogram formed by four axes, three branches regarding the round post sub as the main drive sub, with three round post free displacement as the main drive input. It is 3X3 matrix with constant value being 1. The space between the input and the output velocity of the mechanism forms into a one-to-one linear mapping system with simple track planning and control.

Description

Technical field [0001] The invention belongs to the fields of three-degree-of-freedom robots and space movement measuring machines, and specifically relates to a fully isotropic space movement parallel mechanism, which can be applied to the actuators of parallel robots, virtual axis parallel machine tools, coordinate measuring machines, motion simulators, etc. . 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 large rigidity, strong load-bearing capacity, high precision, and low self-weight load ratio. Compared with the 6-DOF parallel mechanism, the low-degree-of-freedom parallel mechanism has the characteristics of simple structure, low cost, and relatively simple kinematics solution. Therefore, the low-degree-of-freedom parallel mechanism has broad application prospects in industries such as industrial robots, virtual a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/08
Inventor 刘宏昭张彦斌张明洪吴子英穆安乐王建平
Owner XIAN UNIV OF TECH
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