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

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

Inactive Publication Date: 2010-08-18
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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] Fig. 1 is the first embodiment disclosed in the present invention, an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical hinge fixed to an output rod and 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 end of the lower support rod 3 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 with it; The offset output rod 9 is fixedly connected at the intersection point A of the center line, and the angle α between the cylindrical straight output rod 8 and the axis of the offset output rod 9 h , a h =60°, and the offset direction is arbitrary.

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

Embodiment 2

[0021] Fig. 2 is a second embodiment disclosed in the present invention, an offset output three-degree-of-freedom spherical parallel mechanism with a central spherical hinge connected to the output rod and the movable platform by a prismatic moving pair. It also consists 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 form rotating pins (5, 5', 5"), the moving platform 7, the moving platform and the upper end of the upper connecting rods form rotating pins (12, 12', 12"). The central spherical surface 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 and an offset out...

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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 a spherical parallel mechanism with offset output three degrees of freedom with a central spherical pair, belonging to the field of mechanics or mechanics. Background technique [0002] Canadian scholar Gosselin proposed a design method of 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 parallel mechanisms with few degrees of freedom. It has many configurations, and a typical representative mechanism is the 3-RRR mechanism, as shown in Figure 3. It consists of a fixed platform, a moving platform and three branch chains connected in parallel between the two platforms with a single rotation pair. Each branch chain has two arc-shaped members connected in series with a single rotation pair, and the axes of all the rotation pairs intersect at o...

Claims

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Application Information

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