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Decoupling parallel mechanism

A parallel and decoupling technology, applied in the direction of manipulators, program-controlled manipulators, metal processing machinery parts, etc., to achieve the effects of fast motion response, reduced development costs, and convenient installation

Inactive Publication Date: 2010-07-21
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Literature [Li Huiliang, Jin Qiong, Yang Tingli, A type of parallel mechanism with one translation and two rotations decoupling for virtual axis machine tools and robots and its displacement analysis, Machinery Manufacturing and Research, Feb 2002, (1): 9-12, 14 ] proposed a two-rotation-one-movement with triangular decoupling characteristics for the parallel mechanism of virtual axis machine tools and robots, but the output degree of freedom is not completely controlled by a single driver, and still belongs to the partial decoupling for virtual axis machine tools and robots Parallel mechanism, a completely decoupled two-rotation-one-movement parallel mechanism literature and inventions for imaginary axis machine tools and robots have not yet been retrieved

Method used

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Embodiment 1

[0019] The two rotations and one movement of the decoupled virtual axis machine tool and the robot in the present invention are used for the parallel mechanism of the virtual axis machine tool and the robot, such as figure 1 As shown, it consists of a frame, a moving platform 3, and two motion branch chains 2a and 2b connecting the frame and the moving platform 3. The motion branch chain 2a includes a moving pair 21, a rotating pair 22, a rotating pair 23 and a rod , one end of the moving pair 21 is connected to the frame, and the other end is connected to the rotating pair 22 and the rotating pair 23 in turn through a rod, the rotating pair 23 is connected to the platform 3, the moving pair 21 is radially arranged, and the described rotating pair 22 and the rotating pair 23 are axially Set, the horizontal included angle of rotating pair 22 and rotating pair 23 is 90 degrees; Described kinematic branch chain 2b comprises moving pair 24, rotating pair 25, rotating pair 26 and ro...

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Abstract

The invention relates to a decoupling parallel mechanism, which comprises a stand, a mobile platform (3), a mobile branched chain (2a) and a mobile branched chain (2b), wherein the mobile branched chain (2a) and the mobile branched chain (2b) are connected with the stand and the mobile platform (3); the mobile branched chain (2a) comprises a sliding pair (21), a revolute pair (22), a revolute pair (23) and a rod piece; the mobile branched chain (2b) comprises a sliding pair (24), a revolute pair (25), a revolute pair (26) and a rod piece; and the axial lines of the sliding pair (21) and the sliding pair (24) are parallel, the revolute pair (22) and the revolute pair (25) are coaxial, and the revolute pair (23) and the revolute pair (26) are coaxial. Compared with the prior art, the invention improves the rigidity of the mechanism through the parallel mechanism, the carrying capacity of the mechanism in unit volume is higher, and a motor is close to a base, thus the movement inertia of the mechanism is reduced, and higher response speed can be obtained.

Description

technical field [0001] The invention relates to a machine tool and an industrial robot, in particular to a virtual-axis numerical control machine tool with a parallel structure, and a new type of executive mechanism provided by the parallel robot. Background technique [0002] Parallel mechanisms for virtual axis machine tools and robots are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-manipulation fields. However, the driving units of the parallel mechanism used for the virtual axis machine tool and robot are coupled, that is, the movement of the overall output platform of the parallel mechanism used for the virtual axis machine tool and robot along any direction is the motion synthesis of all drive units, And there is nonlinearity between the movement of each driving unit and the overall movement (ie input and output) of the parallel mechanism used for the virtual axis machine tool and robot. This characteristic leads to com...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/48
Inventor 张帆徐正好胡义刚成琼沈耀仁刘燕
Owner SHANGHAI UNIV OF ENG SCI
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