Parallel mechanism with three-dimensional translation and one-dimensional rotation

A three-dimensional translation and parallel technology, applied in the field of robots, to achieve the effect of clear movement mode, improved rigidity and simple structure

Inactive Publication Date: 2011-07-27
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The limitation of the above mechanism is that it can only realize the rotation around the axis perpendicular to the moving platform

Method used

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  • Parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Parallel mechanism with three-dimensional translation and one-dimensional rotation

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Embodiment Construction

[0015] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0016] see Figure 1 ~ Figure 2 , a parallel mechanism with three-dimensional translation and one-dimensional rotation in the present invention, comprising a fixed frame 1, a moving platform 11, and four branch chains with the same structure symmetrically arranged between the fixed frame 1 and the moving platform 11; each The branch chain is composed of the near frame bar 2, the far frame bar I 7, the far frame bar II 8 and the upper connecting shaft 3 connecting the near frame bar 2 and the far frame bar I 7 and the far frame bar II 8. One end of the near frame rod 2 is affixed to the driving end 13 of the fixed frame 1, and the other end is affixed to the upper connecting shaft 3; the far frame rod I 7 and the far frame rod II 8 are arrange...

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Abstract

The invention discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation. The parallel mechanism comprises a fixed frame, a moving platform and four branched chains which are symmetrically arranged between the fixed frame and the moving platform and have the same structure. Each branched chain comprises a near frame rod and two far frame rods parallel to each other, wherein one end of the near frame rod is fixedly connected with the drive end fixed on the fixed frame and the other end of the near frame rod is fixedly connected with an upper connection shaft; and one end of each far frame rod is ball-hinged with the upper connection shaft, and the other end of each far frame rod is ball-hinged with a lower connection shaft fixedly connected to the movingplatform. The moving platform comprises a main platform and a secondary platform which are connected by a rotary pair and vertical to each other, wherein both ends of the main platform and the secondary platform are connected with the corresponding lower connection shafts respectively. The parallel mechanism is simple in structure, has definite mode of motion and can meet the requirements of complex holding-releasing operations; and because the drive ends are symmetrically arranged, the rigidity of the mechanism in the whole working space is improved, and simultaneously by replacing the main platform and the secondary platform, or adding a reversing mechanism, the rotational degree of freedom is realized in three orthogonal directions.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] According to patents US20090019960A1 and EP1084802B1, it is known that the existing parallel mechanism capable of three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be paral...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
CPCY10S901/27B25J17/0266B25J9/0051Y10S901/26Y10T74/20329Y10T74/20335
Inventor 黄田宋轶民赵学满梅江平张利敏刘海涛王攀峰
Owner TIANJIN UNIV
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