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Plane parallel mechanism with constrained branched chain and its extended mechanical hand

A manipulator and plane technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems of difficult running speed and acceleration, limited carrying capacity, low precision, etc., and achieve the effect of easy high-speed movement, simple structure, and improved work efficiency

Inactive Publication Date: 2010-09-29
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the manipulator structure mostly adopts a series structure, which has limited carrying capacity, and it is difficult to increase the running speed and acceleration, and has the disadvantages of low precision.

Method used

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  • Plane parallel mechanism with constrained branched chain and its extended mechanical hand
  • Plane parallel mechanism with constrained branched chain and its extended mechanical hand
  • Plane parallel mechanism with constrained branched chain and its extended mechanical hand

Examples

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Embodiment Construction

[0026] The working principle of the planar parallel mechanism, which is the core part of this design, will be introduced in detail below in conjunction with the accompanying drawings.

[0027] Such as figure 1 As shown, the slider-driven parallel mechanism consists of fixed-length rods 8, 10, an output platform 9, an active slider 2, an active slider 5, and a sliding guide rail 1 to form a plane parallel closed-chain structure. Due to the frame structure, the entire structure is very light in weight.

[0028] Fixed-length rods 8,10, slide blocks 2,5 and output platform 9 hinged therewith, plus a plane parallel mechanism formed by guide rail 1, have good rigidity. One end of the telescopic rod 4 is fixed to the follower slider 3 , and the other end is fixed to the output platform 9 to limit the swinging freedom of the output platform 9 . When the sliders 2 and 5 change positions, the hinge points of the rods 8 and 10 also change accordingly, and the positions and postures of ...

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Abstract

The invention relates to a plane parallel mechanism of a reconfigurable high-speed belt restriction branched chain with flexible form and prolongation manipulator device. A plane parallel mechanism of belt restriction branched chain comprises an output stage wherein the two ends of the output stage are connected with the connecting rod link and the other end of the connecting rod is mounted on the guide rail, an expansion link mounted on the output stage, the other end of the expansion link is provided with slipper which is embedded in the rail.

Description

technical field [0001] The invention belongs to the field of manipulator devices, in particular to a hybrid manipulator structure with a reconfigurable, high-speed planar parallel mechanism with constrained branch chains. Background technique [0002] The development of robot technology has become a symbol of industrial automation and is widely used in modern mass production. [0003] Handling robot is an emerging technology in the field of logistics automation technology, especially in recent years, it occupies a very important position in the field of transportation industry. With the development of the national economy, the expansion of production scale and the improvement of the level of mechanical automation, the application of handling robot technology has become more and more popular due to its advantages in mechanical structure, scope of application, equipment footprint, flexibility, cost and maintenance. widely, and become a development trend. At present, handling...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00B25J19/00
Inventor 唐晓强汪劲松邵珠峰姚蕊黄鹏
Owner TSINGHUA UNIV
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