Full decoupled three-dimensional moving parallel robot mechanism

A three-dimensional mobile and robot technology, applied in the direction of instruments, manipulators, mechanical measuring devices, etc., can solve problems such as complex kinematics solutions, strong kinematic coupling, and small work space, and achieve simplified trajectory planning, good transmission characteristics, and large work space. big effect

Inactive Publication Date: 2010-05-05
TIANJIN UNIVERSITY OF TECHNOLOGY
View PDF5 Cites 30 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been well resolved, s

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Full decoupled three-dimensional moving parallel robot mechanism
  • Full decoupled three-dimensional moving parallel robot mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0019] The fully decoupled three-dimensional mobile parallel robot mechanism of the present invention is composed of a motion platform, a fixed platform and three branch chains connecting the above two platforms. The platform where A1, A2 and A3 are located is a motion platform. In the first branch chain, A1 is a spherical pair, B1 is a spherical pair, and C1 is a rotating pair; in the second branch chain, A2 and B2 are a rotating pair, and C2 is a cylindrical pair. ; In the third branch chain, A3 and B3 are rotating pairs, and C3 is a cylindrical pair. The three branch chains are respectively connected to the fixed platform through kinematic pairs C1, C2 and C3. In the mechanism, each branch chain has a driving pair, the driving pair in the first branch chain is the rotating pair C1, the driving pair in the second branch chain is the moving pair in the cylindrical pair C2, and the driving pair in the third branch chain is the cylindrical pair Mobile vice in C3. In the first...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a full decoupled three-dimensional moving parallel robot mechanism. The mechanism is characterized in that the mechanism comprises a moving platform, a fixed platform and three branched chains used for linking the two platforms, wherein the first branched chain comprises a spherical pair A1, a rod length L1, a spherical pair B1, a rod length L2 and a revolute pair C1 from top to bottom; the second branched chain comprises a revolute pair A2, a rod length L3, a revolute pair B2, a rod length L4 and a cylindrical pair C2 from top to bottom; and the third branched chain comprises a revolute pair A3, a rod length L5, a revolute pair B3, a rod length L6 and a cylindrical pair C3. The mechanism working platform of the invention can be used to realize the three-dimensional translational motion output, the mechanism is simple, the preparation and installation are easy, the transmission accuracy is high, the cost is low; the working space is larger, the transmission characteristic is good; furthermore, the mechanism motion is fully decoupled, the forward and inverse kinematics are both analytical solutions, and a series of technical problems of trajectory planning, trajectory control, trajectory correction and the like are simplified.

Description

【Technical field】 [0001] The invention relates to the field of advanced manufacturing, and relates to a fully decoupled three-dimensional mobile parallel robot mechanism used for executive mechanisms such as numerical control machine tools and measuring machines. 【Background technique】 [0002] The parallel robot mechanism can be defined as: the upper and lower platforms (fixed platform and moving platform) are connected by two or more kinematic branch chains, each kinematic branch chain is composed of connecting rods and kinematic pairs, and the kinematic platform has two or more A mechanism with more than two degrees of freedom driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B23Q1/48G01B5/008B25J9/08
Inventor 赵新华李彬
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap