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Space three-translational freedom degree parallel connection mechanism with far-rack double lever

A technology of degrees of freedom and three translations, applied in the field of robotics, can solve the problems of limiting the working space of the mechanism, reducing the precision of the mechanism, and the inability to automatically compensate the gap, etc., achieving the effect of long service life and expanding the working space

Inactive Publication Date: 2010-04-07
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the use of Hooke hinges or spherical hinges, the working space of the mechanism is limited, and the gap between these two types of hinges is not easy to control, which is not conducive to improving the accuracy of the mechanism
In addition, the gap cannot be automatically compensated after the hinge of this type of mechanism is worn, and the precision of the mechanism will be reduced after long-term use

Method used

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  • Space three-translational freedom degree parallel connection mechanism with far-rack double lever
  • Space three-translational freedom degree parallel connection mechanism with far-rack double lever
  • Space three-translational freedom degree parallel connection mechanism with far-rack double lever

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Embodiment Construction

[0017] The present invention will be further described below in conjunction with accompanying drawing:

[0018] Such as Figure 1 to Figure 4 As shown, a parallel mechanism with three translation degrees of freedom in space with two rods on a far frame consists of a fixed frame 1, a moving platform 8 and three branch chains with the same structure respectively arranged between the fixed frame 1 and the moving platform 8 Constitute; The constitution mode of one of described three branch chains is: each branch chain is respectively made up of driving device 2, near frame bar 3, the first frame bar 6, the second frame bar 7, tensioner 4a, 4b and structure The same rotating shaft I 5a1, 5a2, rotating shaft II 5b1, 5b2 constitute, the rotating shaft I 5a1 is parallel to the axis of the rotating shaft II 5b1, the axis of the rotating shaft I 5a2 is parallel to the rotating shaft II 5b2, and the tensioner 4a includes an elastic connecting rod 4a-1 and pin shafts 9, 10, the two ends ...

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Abstract

The invention discloses a space tripod-based parallel kinematic mechanism with remote double bars. Both ends of a first side bar and a second side bar are respectively provided with staining machines,one end of which is rotationally connected with the first side bar and the other is rotationally connected with the second side bar; inner grooves are respectively arranged at the front end and the back end of the first side bar and the second side bar; the junctions of both sides of the ends of the near side bar and the far side bar are respectively rotationally connected with shafts 1, the endsof which are respectively connected with outer grooves which combine and are connected with the front ends of the first side bar and the second side bar; the moving platform and the shaft 1 are correspondingly rotationally connected with shafts 2, the ends of which are respectively provided with outer grooves which combine and are connected with the back ends of the first side bar and the secondside bar. With the adoption of open two-degree-of-freedom rotary pair, the mechanism realizes all the functions of the traditional hook joint. However, compared with the traditional hook joint, the mechanism is easier to eliminate the radial clearance and the axial clearance, thus being conducive to enlarging the workspace of the mechanism.

Description

technical field [0001] The invention relates to a robot, in particular to a robot with a space three-translation degree-of-freedom parallel mechanism with two rods on a remote frame. Background technique [0002] US Patent US4976582 (or WO8703528, EP0250470, CH672089, EP0250470, JP63501860T) discloses a spatially symmetrical three-translational parallel mechanism, which includes three active branch chains, each branch chain comprising two parts, a near frame bar and a far frame bar. There are two types of remote frame rods of this type of mechanism, one is a single rod form, and the two ends of the rod are respectively connected with the near frame rod and the moving platform through a Hooke hinge; the other is a parallelogram formed by two rods, each The two ends of the rod are respectively connected with the near frame rod and the moving platform through ball joints, wherein one end of the near frame rod has only one degree of freedom of movement or rotation relative to th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J19/00
Inventor 黄田梅江平赵学满张利敏张策
Owner TIANJIN UNIV
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