Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface

A technology of spherical hinge and degree of freedom, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of small output working space of the mechanism, mismatch of angular displacement stiffness, unreasonable load composition, etc., and achieve improved mechanical properties and high performance. Effects of over-constraint, improvement of linear displacement stiffness and overall static stiffness

Inactive Publication Date: 2008-11-19
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In the prior art, the three-degree-of-freedom spherical parallel mechanisms all have the same disadvantages: the composition of the load on the component is unreasonable; the static stiffness of the mechanism is small, although the angular displacement stiffness is large, the linear displacement stiffness is extremely small, The displacement does not match the stiffness of the angular displacement; the output working space of the mechanism is small, and the mechanism will have a strange phenomenon when the swing angle in both directions exceeds a certain angle
Greatly influenced the application of the mechanism in engineering

Method used

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  • Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface
  • Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface
  • Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface

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Embodiment 1

[0017] figure 1 It is the first embodiment disclosed by the present invention, which is an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical hinge and an output rod fixed to a moving platform. It consists of a three-degree-of-freedom spherical parallel mechanism, a central spherical hinge, and an offset output rod unit. The lower support rod 3 lower end of the central spherical hinge is fixed with the fixed platform 1, and the axis of the lower support rod 3 passes through the center point of the fixed platform; the cylindrical straight output rod 8 passes through the center of the moving platform 7 and is fixed thereto; The offset output rod 9 is fixedly connected at the intersection point A of the center line, and the angle between the axis of the cylindrical straight output rod 8 and the offset output rod 9 is α h , α h =60°, the bias direction is arbitrary.

[0018]The axis of the double-ear bracket 17 coincides with the axis o...

Embodiment 2

[0021] figure 2 It is the second embodiment disclosed by the present invention, an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical hinge connected with the output rod and the moving platform by a prism moving pair. It is also composed of a three-degree-of-freedom spherical parallel mechanism, a central spherical hinge, and an offset output rod unit. The three-degree-of-freedom spherical parallel mechanism includes a fixed platform 1, a drive input shaft (2, 2', 2"), a lower link (4, 4', 4"), an upper link (18, 18', 18") ), the upper and lower connecting rods constitute a rotating pin (5, 5', 5 "), the moving platform 7, the moving platform and the upper end of the upper connecting rod constitute a rotating pin (12, 12', 12 "). The center spherical The hinge includes a lower support rod 3, a support ball socket 21, a ball head 6, and a prismatic straight output rod 20. The offset output rod unit includes a prismatic output rod 20 an...

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Abstract

The invention discloses a bias output three freedom spherical parallel mechanism with a central spherical hinge, which consists of a three freedom spherical parallel mechanism, the central spherical hinge and a bias output link unit, and is characterized in that the lower end of a lower support bar (3) of the central spherical hinge is fixed to a fixed platform (1); the axis of the lower support bar (3) passes through the central point of the fixed platform (1); a cylindrical straight output link (8) passes through the center of a moving platform (7), is fixed to the moving platform or connected with the moving platform through a prismatic pair; the upper end of the straight output link (8) is fixedly connected with a bias output link (9) at the point of intersection (A) of central lines; the axial included angle alpha h of the cylindrical straight output link (8) and the bias output link (9) ranges from 0 DEG to100 DEG; and the bias direction is random. The bias output three freedom spherical parallel mechanism has the advantages of high restriction, high rigidity, large working space, unloading function and greatly improved mechanical property of mechanism.

Description

technical field [0001] The invention relates to an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical pair, which belongs to the field of mechanics or machinery. Background technique [0002] Canadian scholar Gosselin proposed a design method for a spherical three-degree-of-freedom parallel mechanism in 1994, and designed a "camera automatic positioning device". , minus 30 degrees. [0003] The three-degree-of-freedom spherical parallel mechanism is one of the important and typical few-degree-of-freedom parallel mechanisms. It has many configurations, and the representative typical mechanism is the 3-RRR mechanism, such as image 3 shown. It consists of a fixed platform, a moving platform and three branch chains connected in parallel between the two platforms with a single rotary pair. Each branch chain has two arc-shaped components connected in series with a single rotary pair, and the axes of all the rotary pairs intersect at one ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
Inventor 周玉林高峰
Owner YANSHAN UNIV
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