Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism

A technology of robots and machine tools, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low motion accuracy, inconvenient control, complex structure, etc., and achieve the effect of small moment of inertia, simple control, and fast motion response.

Inactive Publication Date: 2008-08-27
DONGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a two-rotation-one-movement parallel mechanism of a decoup...

Method used

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  • Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism

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Embodiment 1

[0018] The two-rotation-one-movement parallel mechanism of the decoupled virtual-axis machine tool and the robot in the present invention, such as figure 1 As shown, it consists of a frame 1, a moving platform 3 and three motion branch chains 2a, 2b, and 2c connecting the frame 1 and the motion platform 3, and is characterized in that two of the motion branch chains 2a and 2b have the same structure, Including rotating pairs 21, 24, moving pairs 22, 25 and rods, the axes of the rotating pairs 21, 24 are perpendicular to the axes of the moving pairs 22, 25, and the kinematic branch chain 2a and the kinematic branch chain 2b The extension lines of the rotating pairs 21, 24 are orthogonal to each other, and the rotating pairs 21, 24 are fixed on the frame 1, and the kinematic branch chain 2c includes a moving pair and a rod, and the moving pair 27 of the kinematic branching chain 2c is vertically fixed on the frame 1. On the frame 1, three kinematic branch chains are connected to...

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Abstract

The invention relates to a two-rotation and one-movement parallel mechanism which is used in the decoupling of the virtual axis machine and robot, consisting of a frame (1), a moving platform (3) and three motion branch chains which connect the frame (1) and the moving platform (3). The motion branch chains (2a) and (2b) have the same structure which comprises revolute joint (21),(24), shifting pair (22),(25), spherical joint (23),(26) and the member, wherein junction of the motion branch chain(2c) and the frame is a vertex of a right angle. With only a few kinematic pairs, the mechanism has the advantages of simple structure, easy installation, small moment of inertia and fast motion response. Basically, single output degree of freedom only needs to control single driving unit. With easy calibration and control, not only the movement control is more precise but also the development cost and cycle is greatly lowered.

Description

technical field [0001] The invention relates to a machine tool and an industrial robot, in particular to a virtual-axis numerical control machine tool with a parallel structure, and a new type of executive mechanism provided by the parallel robot. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operation fields. However, the drive units of the parallel mechanism are coupled, that is, the movement of the overall output platform of the parallel mechanism in any direction is the synthesis of the motions of all drive units, and the movement of each drive unit is combined with the overall movement of the parallel mechanism (i.e. input and output ) is non-linear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how to achieve decoupling of parallel mechanisms to simplify control and cali...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 李蓓智杨建国张帆王胜利朱大虎吴喜如于景刚
Owner DONGHUA UNIV
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