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Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction

A technology of hybrid mechanism and degree of freedom, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve problems such as strong motion coupling, easy to generate singularity, and small working space, and achieve high flexibility, easy control, and mobile Effects decoupled from rotation

Active Publication Date: 2010-06-02
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Compared with the traditional serial structure, the parallel mechanism has unique characteristics such as high structural rigidity, high motion speed, and no error accumulation, but it also has inherent defects such as strong motion coupling, small working space, and easy occurrence of singularities

Method used

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  • Five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction

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Embodiment

[0012] The general structure of the embodiment of the present invention is as figure 1 shown. The hybrid mechanism is composed of a fixed platform 1, an intermediate platform 4, a moving platform 6, a branch connecting the intermediate platform 4 and the fixed platform 1, and a branch connecting the moving platform 6 and the intermediate platform 4. The middle platform 4 is connected with the fixed platform 1 through three identical structures 2, 3, 10, each branch has a movable rod as a driving pair, the driving rod is connected with a fixed-length rod through a universal hinge, and the fixed-length rod The other end is connected to the intermediate platform 4 through a universal joint, and the mechanism realizes the three-dimensional movement of the intermediate platform 4 relative to the fixed platform 1 by controlling the position of the driving pair during the movement. The moving platform 6 is connected to the middle platform 4 through three active branches 5, 8, 9 with...

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Abstract

The invention relates to a five-DOF (degree of freedom) redundance driving hybrid mechanism suitable for vibration reduction, comprising a fixed platform, a middle platform, a movable platform, six active branched chains and a passive branched chain, wherein the middle platform is connected with the fixed platform through three branches with same structures, and each branch comprises a telescopic rod which is fixed on the fixed platform, obliquely arranged and used as a drive pair; the other end of a drive rod is connected with a fixed long rod through a universal hinge; the fixed long rod is connected with the middle platform through the other universal hinge; the inner axial lines and the outer axial lines of the two universal hinges are respectively mutually parallel; the middle platform is connected with the movable platform through the three branches with same structures, and each branch comprises the telescopic rod used as the drive pair; one end of a connecting rod is connected with the middle platform through the universal hinge, and the other end is connected with the movable platform through a spherical hinge; and the movable platform is connected to the center of the middle platform through the passive branched chain comprising the universal hinge. The invention organically combines a space three-DOF translational mechanism and a two-DOF rotation mechanism and has the advantages of high rigidity and flexibility, complete decoupling translation and rotation and simple control.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and relates to a five-degree-of-freedom redundant drive hybrid mechanism suitable for vibration reduction. Background technique [0002] In the decades since the concept of parallel mechanism was put forward, parallel mechanism has been developed rapidly, and now they are applied in more and more fields. From the original flight simulator to the current processing machine tools, multi-coordinate measuring machines, micro-electromechanical systems, force sensors, entertainment and leisure, food packaging, medical and sanitation, and vibration reduction and vibration isolation, the shadow of parallel mechanisms can be seen in many fields. The development of parallel mechanisms has gone through a transition from six-degree-of-freedom mechanisms to more specialized less-degree-of-freedom mechanisms. In recent years, many scholars have focused on less-degree-of-freedom parallel mechan...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 李兵赵伟杨晓钧
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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