Parallel mechanism capable of realizing interconversion between 3D translation and 3D rotation
A three-dimensional rotation, three-dimensional translation technology, applied in the field of manufacturing, can solve the problem of rare parallel mechanism, and achieve the effect of simple structure and flexible control
Inactive Publication Date: 2008-07-23
SHANDONG UNIV OF TECH
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Problems solved by technology
Most of the above-mentioned parallel robot mechanisms can only convert translational or rotational input into three-dimensional rotational output, and parallel mechanisms that can simultaneously realize three-dimensional rotation and three-dimensional movement are rare.
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[0013] In the embodiment shown in Fig. 1: it includes a moving platform 1, a fixed platform 2 and four branch chains, one of which is a branch whose top end is fixedly connected to the moving platform 1, and the other end is connected to the fixed platform 2 through a ball joint 3. Rod 4, all the other three branch chains contain a telescopic rod 5, and the two ends of the telescopic rod 5 are respectively connected with the moving platform 1 and the fixed platform 2 through the ball joint 3.
[0014] If the two ends of the telescopic rod 5 are respectively connected to the moving platform 1 and the fixed platform 2 to form an equilateral triangle, and the spherical hinge 3 connecting the strut 4 to the fixed platform 2 is located at the center of the equilateral triangle, then the performance of the mechanism will be better. .
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The invention provides a parallel mechanism which can realize mutual transformation of three-dimensional translational motion and three-dimensional rotation. The invention includes a moving platform, a fixed platform and a plurality of branched chains arranged between the moving platform and the fixed platform and is characterized in that the invention includes four branched chains, wherein, one branched chain is a strut with the top end fixedly connected with the moving platform and the other end is connected with the fixed platform by a ball hinge; the rest three branched chain all includes a telescopic lever, the two ends of which are respectively connected with the moving platform and the fixed platform by the ball hinges. The invention can realize the mutual transformation of the three-dimensional translational motion and the three-dimensional rotation, the corresponding three-dimensional rotation output can be obtained at one end of the moving platform just by inputting the displacement of the telescopic lever; the corresponding displacement output can be obtained at three telescopic levers just by inputting the displacement of the three-dimensional rotation of the moving platform.
Description
technical field [0001] The invention belongs to the field of manufacturing technology, and in particular relates to a parallel mechanism capable of realizing mutual conversion between three-dimensional translation and three-dimensional rotation. Background technique [0002] Parallel mechanism has many advantages such as high output precision, good structural rigidity, strong bearing capacity and simple kinematic inverse solution. Among them, the structure of parallel mechanism with few degrees of freedom is simpler and the working space is larger, so it has become a hot spot in robot research in the world. [0003] The three-degree-of-freedom parallel mechanism has a variety of motion forms, such as three-dimensional translation, two-dimensional translation, one-dimensional rotation, and three-dimensional rotation, among which there are few parallel robot mechanisms that can realize three-degree-of-freedom rotation. There are mainly the 3-RRR spherical mechanism proposed by...
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IPC IPC(8): B25J19/00B25J9/08
Inventor 宫金良张彦斐魏修亭
Owner SHANDONG UNIV OF TECH
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