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 problems such as low motion precision, inconvenient control, complex structure, etc., and achieve the effects of small moment of inertia, simple control, and fast motion response

Inactive Publication Date: 2010-06-09
DONGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 decoupled virtual axis machine tool and robot to solve the defects of complex structure, inconvenient control and low motion precision in the prior art

Method used

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

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Embodiment 1

[0018] A two-rotation-one-movement parallel mechanism for the decoupling of virtual-axis machine tools and robots, consisting of a frame 1, a moving platform 3, and a No. 2b, the No. 3 motion branch chain 2c is composed of the No. 1 motion branch chain 2a and the No. 2 motion branch chain 2b having the same structure, including No. 1 rotating pair 21, No. 2 rotating pair 24, No. 1 moving pair 22, and No. 2 moving pair Auxiliary 25 and No. 1 ball hinge 23, No. 2 ball hinge 26 and bar, described No. 1 revolving pair 21, No. 2 revolving pair 24 are fixed on the frame 1, and the axis extension lines are mutually orthogonal, and described one No. mobile pair 22, No. 2 mobile pair 25 are perpendicular to No. 1 rotating pair 21, No. 2 rotating pair 24 axes, and No. 3 motion branch chain 2c comprises No. 3 moving pair 27, No. 3 ball hinge 28 and bar, described The No. 3 mobile pair 27 of the No. 3 motion branch chain 2c is vertically fixed on the frame 1, and the No. 1 ball hinge 23, ...

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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) andthree 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 easycalibration 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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Patent Type & Authority Patents(China)
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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