Redundancy-driven three-degree-of-freedom parallel mechanism

A degree of freedom, parallel technology, used in metal processing machinery parts, large fixed members, metal processing equipment, etc., can solve the problems of irregular working space, small working space, complex CNC programming, etc. and improve the accuracy, realize the effect of modularization

Inactive Publication Date: 2010-09-29
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the parallel mechanism also has its inherent defects, especially the 6-DOF parallel mechanism, which has strong kinematic coupling, small working space, complex kinematics forward solution, irregular working space, complex NC programming, etc.
These shortcomings increase the complexity of the control and subsequent calibration work, which limits the popularization and application of parallel mechanisms to a greater extent.

Method used

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  • Redundancy-driven three-degree-of-freedom parallel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] The structure of the drive redundant three-degree-of-freedom parallel mechanism in this embodiment is as follows: figure 1 Shown, comprise fixed platform 11, fixed platform 17, fixed platform 112, moving platform 18 and first, second, the third branch chain, described three branch chains are respectively connected to fixed platform 11, fixed platform 17, fixed platform 112 Between the moving platform 18 and the platform 11, the fixed platform 17, the fixed platform 112 and the moving platform 18 constitute a space closed-loop mechanism.

[0026] The first and second branch chains are PRRR type motion branch chains, including slider 12, slider 16, connecting rod 13, connecting rod 15, U-shaped frame 14 and kinematic pairs. There are four kinematic pairs, one is to be connected to the mobile pair (P) between the fixed platform 11, the fixed platform 17 and the slide block 12, the slide block 16, and one is to be connected to the slide block 12, the slide block 16 and the ...

Embodiment 2

[0029] The structure of the drive redundant three-degree-of-freedom parallel mechanism in this embodiment is as follows: figure 2As shown, the difference between this mechanism and Embodiment 1 is that the placement direction of slide table 21 is perpendicular to the placement direction of slide table 110 in Embodiment 1. At this time, the direction of the moving pair on slide table 21 is the same as that of Embodiment 1. 1 is connected to the plane where the direction of movement of the moving pair between the fixed platform 11, the fixed platform 17 and the slide block 12 and the slide block 16 is vertical.

Embodiment 3

[0031] The structure of the drive redundant three-degree-of-freedom parallel mechanism in this embodiment is as follows: image 3 As shown, the difference between this mechanism and Embodiment 1 is that the placement direction of the fixed platform 31 and the fixed platform 32 is perpendicular to the placement direction of the fixed platform 11 and the fixed platform 17 in Embodiment 1, and the fixed platform 31 and the fixed platform 32 The moving direction of the moving pair on the top is on a straight line, and this straight line direction is parallel to the moving direction of the moving pair connected between the fixed platform 112 and the slide table 110 in Embodiment 1.

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Abstract

The invention relates to a redundancy-driven three-degree-of-freedom parallel mechanism, and belongs to the technical field of manufacturing of numerical control devices. The parallel mechanism comprises a moving platform and a fixed platform for arranging an actuator, a first branch chain, a second branch chain and a third branch chain with a redundancy driver, wherein the first branch chain and the second branch chain have the same structure, are connected between the moving platform and the fixed platform and are both provided with an actively driven motion pair; the third branch chain is used for realizing rotational degree of freedom and the redundancy driver is applied to the motion pair of the third branch chain; the third branch chain is provided with two driven motion pairs and connected between the moving platform and the fixed platform; the first, second and third branch chains are respectively connected with the moving platform and the fixed platform to form a space parallel closed-loop mechanism; and the space parallel closed-loop mechanism drives the moving platform to move though four input motion pairs so as to realize two moving degree of freedom and one rotational degree of freedom. The parallel mechanism has the advantages of high flexibility, accuracy and rigidity and easy realization of modularization.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing, and in particular relates to a modular drive redundant three-degree-of-freedom parallel mechanism that can be applied to the field of numerical control device manufacturing. Background technique [0002] The parallel mechanism is a closed-loop mechanism composed of multiple branch chains. Compared with the traditional series mechanism, it has the following advantages: [0003] It has the advantages of simple and compact structure, high rigidity, large bearing capacity per unit weight, no error accumulation, small mass of moving parts, and easy realization of high-speed movement. These advantages make up for the shortcomings of traditional numerical control devices to a certain extent. However, the parallel mechanism also has its inherent defects, especially the 6-DOF parallel mechanism, which has strong kinematic coupling, small working space, complex kinematics forward solution, irregula...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/26
Inventor 刘辛军汪劲松谢福贵
Owner TSINGHUA UNIV
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