Space three-rotation freedom parallel mechanism

A technology with three rotations and degrees of freedom, applied in the field of robotics, can solve the problems of increasing the quality of the kinematic chain and unfavorable high-speed movement of the mechanism, and achieve the effect of easy high-speed movement, good dynamic characteristics of the mechanism, and compact structure

Inactive Publication Date: 2008-08-20
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Since the whole mechanism adopts internal auxiliary drive, this driving method needs to fix the motor on the kinematic branch

Method used

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  • Space three-rotation freedom parallel mechanism
  • Space three-rotation freedom parallel mechanism

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Embodiment Construction

[0011] The present invention will be further described below in conjunction with accompanying drawing:

[0012] Such as figure 1 and figure 2 As shown, the present invention is a parallel mechanism with three rotational degrees of freedom in space. The fixed frame 1, the movable platform 4 that is ball-hinged with the bracket 1a on the fixed frame, and the fixed frame 1 and the movable platform 4 are respectively axisymmetrically and evenly arranged on the fixed frame 1 and the movable platform 4. The three kinematic branch chains with the same structure are formed; the three kinematic branch chains are composed of sliders 2 and connecting rods 3 respectively, and adopt the form of external drive, and the driving device is installed on the fixed frame 1. The connection between the moving platform 4 and the fixed frame 1 is as follows: the moving platform 4 is connected to the end of the bracket 1a fixed on the fixed frame 1 by using a ball joint. There are two ways to conne...

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Abstract

The invention discloses a parallel combined mechanism of three rotation degrees of freedom, comprising a mounting bracket, a moving platform, between the mounting bracket and the moving platform is provided with a middle support and three moving branched chain of same structure and coaxial symmetry uniform arrangement, the moving branched chain comprises a slider and a connecting rod, the slider is connected with the mounting bracket by a shifting pair; the connecting rod can be used that one end is connected with the end terminal of the slider by a hook joint, the other end is connected with the moving platform by a ball joint; the connecting rod can also be used that one end is connected with the end terminal of the slider by a ball joint, the other end is connected with the moving platform by a hook joint. The parallel combined mechanism of three rotation degrees of freedom has the advantages that using a structure of external pair drive to reduce the quality of the moving chain, easy to realize high-speed movement, and good mechanism dynamic property, suitable for the parallel robot, parallel machine tool and inching robot and other occasions.

Description

technical field [0001] The invention relates to a robot, in particular to a robot belonging to a parallel mechanism with three rotational degrees of freedom in space. Background technique [0002] Parallel mechanisms have advantages that traditional series mechanisms do not have, such as high rigidity and high load-to-weight ratio, and have become a hot spot in international mechanism research in recent years. The early parallel mechanism is usually a 6-SPS Stewart platform mechanism with 6 degrees of freedom, which has the disadvantages of small working space, difficult motion solution, and complex structural design. Due to these inherent shortcomings of the Stewart platform, researchers have turned their attention to the parallel mechanism with less degrees of freedom in recent years, that is, the parallel mechanism with less than 6 degrees of freedom in the motion of the moving platform. The parallel mechanism with few degrees of freedom has the advantages of simple stru...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J19/00
Inventor 黄田赵学满王攀峰
Owner TIANJIN UNIV
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