Parallel mechanism to implement tri-translation and mono-rotation

A technology of three-translational and planar four-bar mechanism, which is applied in the direction of manipulators and manufacturing tools, can solve the problems of large working space, small working space, high rigidity, etc., and achieve the effect of simple processing, manufacturing and assembly, compact structure and high rigidity

Inactive Publication Date: 2009-09-16
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings of the existing four-degree-of-freedom parallel mechanism with small working space and propose a three-translation and one-rotation four-degree-of-freedom parallel mechanism. This type of parallel mechanism has an asymmetric structure, high rigidity, large working space, and The advantages of learning positive and negative solutions are simple

Method used

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  • Parallel mechanism to implement tri-translation and mono-rotation
  • Parallel mechanism to implement tri-translation and mono-rotation
  • Parallel mechanism to implement tri-translation and mono-rotation

Examples

Experimental program
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Effect test

Embodiment 1

[0021] Example 1: A four-degree-of-freedom parallel mechanism composed of a five-bar slider mechanism, a crank-slider mechanism, and a planar four-bar mechanism

[0022] attached figure 1 And attached figure 2 It is a side view of Embodiment 1 of the present invention, wherein the drive motor 12 simultaneously drives the active part 1 of the five-bar slider mechanism and the active part 17 of the crank slider mechanism through a pair of gears 14 and 15, and the active part 17 drives the driven part 18 And the slider 4, and the linear motion of the slider 4 and the driving part 1 jointly drive the driven parts 2 and 3, so that the driven part 2 can realize the motion trajectory and acceleration required by the end effector. The motor 11 drives the driving part 5 of the planar four-bar mechanism through the gear 16, and the driving part 5 drives the driven parts 6 and 20, and the rotation of the driven part 20 can realize the rotation of the end effector. 13 is the driving mo...

Embodiment 2

[0024] Embodiment 2: A four-degree-of-freedom parallel mechanism composed of a five-bar mechanism, a crank-rocker mechanism and a planar four-bar mechanism

[0025] attached Figure 4 And attached Figure 5 It is a side view of Embodiment 2 of the present invention, wherein the drive motor 27 simultaneously drives the active part 21 of the five-bar mechanism and the active part 28 of the crank-rocker mechanism through a pair of gears 25 and 26, and the active part 28 drives the driven part 29 and the rocker The rocker 32 and the swing of the rocker 32 and the driving part 21 jointly drive the driven parts 23 and 24, so that the driven part 24 realizes the movement trajectory and acceleration required by the end effector. The motor 11 drives the active part 5 of the planar four-bar mechanism through the gears 30 and 31, and the active part 5 drives the driven parts 6 and 20, and the rotation of the driven part 20 can realize the rotation of the end effector. 13 is the driving...

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Abstract

The invention relates to a parallel mechanism to implement tri-translation and mono-rotation, consisting of a slider (8) and an end effector (7), and three groups of planar linkage mechanisms connecting said two, where the three groups include a five bar slider mechanism, a slider-crank mechanism and a plane four bar mechanism. The plane four bar mechanism consists of a driving element (5) and a driven element (6, 20). The end effector (7) has a rotary shaft connected to a connecting bar (2), while the driven element (20) of the plane four bar mechanism is connected with the end effector. The five bar slider mechanism and the slider-crank mechanism share a slider (4) and a drive motor (12), while the slider (4) is served as a driving element of the five bar slider mechanism. The slider-crank mechanism and the five bar slider mechanism form a planar combination mechanism to implement two degrees of freedom (DOF) motion required by the end effector by use of a drive motor (12). The plane four bar mechanism formed by a driving element (5) and a driven element (6, 20) can implement a function of rotation for the end effector. Furthermore, the slider (8) can implement straight reciprocating motion by means of a ball screw (10). Therefore, the mechanism can implement four DOF motion with tri-translation and mono-rotation, and implement four DOF motion of tri-translation and mono-rotation by means of three drive motor.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to a parallel mechanism capable of realizing three translations and one rotation. Background technique [0002] A parallel mechanism refers to a mechanism that is connected by two or more branches, has two or more degrees of freedom, and is driven in parallel. Parallel mechanisms have been widely used in many technical fields in recent years due to their characteristics of large stiffness-to-weight ratio, strong bearing capacity, small error accumulation, good dynamic performance, and compact structure. The early parallel mechanism is usually a Stewart parallel mechanism with 6 degrees of freedom. The upper platform and the lower platform of this mechanism are connected by six branches. There are two spherical joints at both ends of each branch, and a moving pair in the middle. The driving pair pushes the moving pair to make relative movement, changing the length of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
Inventor 李兵陈原杨晓钧林晓锐
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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