Decoupled tri-rotation parallel mechanism

A three-rotation, parallel technology, used in manipulators, program-controlled manipulators, metal processing mechanical parts, etc., can solve the problems of low motion accuracy, complex structure, inconvenient control, etc., and achieve the effect of small moment of inertia, simple control, and simple structure

Inactive Publication Date: 2011-01-05
SHANGHAI UNIV OF ENG SCI
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  • Abstract
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Problems solved by technology

The purpose of the present invention is to provide a decoupled three-rotation parallel mechanism to ov

Method used

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  • Decoupled tri-rotation parallel mechanism

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Example Embodiment

The present invention will be further explained below in conjunction with specific embodiments. The drawings show a preferred embodiment of the present invention, and the technical solution of the present invention is not limited to this embodiment.

Referring to Figure 1, the decoupled three-rotation parallel mechanism of the present invention consists of a frame 1, a moving platform 2, and a first movement branch chain 3, a second movement branch chain 4, and a third movement connected between the frame and the moving platform. The branch is composed of 5.

The first movement branch 3 includes a first universal hinge 31, a first moving pair 32, and a second universal hinge 33 that are connected in sequence; the other end of the first universal hinge 31 is connected to the frame 1 through a connecting rod 34, The other end of the two universal hinge 33 is connected to the movable platform 2 through a connecting rod 35.

The second motion branch 4 includes a first ball hinge 41,...

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Abstract

The invention provides a decoupled tri-rotation parallel mechanism, which comprises a stand, a moving platform, a first moving branch chain, a second moving branch chain and a third moving branch chain, wherein the first moving branch chain, the second moving branch chain and the third moving branch chain are connected between the stand and the moving platform. The first moving branch chain comprises a first universal hinge, a first moving pair and a second universal hinge which are sequentially connected; the second moving branch chain comprises a first spherical hinge, a second moving pair and a second spherical hinge which are sequentially connected; and the third moving branch comprises a rotation pair and a third universal hinge which are sequentially connected. The invention has three decouple rotational degrees of freedom, and the rotational freedom degree of freedom only depends on the linear control of the moving pair of the moving branch chains, therefore, the implementation principle is very simple and the mechanism has quite good linear relation.

Description

Decoupled three-rotation parallel mechanism technical field The invention relates to a machine tool and an industrial robot, in particular to a three-rotation parallel mechanism for decoupling a virtual-axis numerical control machine tool with a parallel structure and a parallel robot. Background technique Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operation fields. However, the driving units of the parallel mechanism are coupled, that is, the movement of the overall output platform (moving platform) of the parallel mechanism in any direction is the synthesis of the movements of all driving units, and the movement of each driving unit is combined with the overall movement of the parallel mechanism ( That is, the relationship between input and output) is nonlinear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Th...

Claims

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Application Information

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IPC IPC(8): B25J9/08B23Q1/44
Inventor 张帆徐新成胡义刚朱建军刘燕宋芳
Owner SHANGHAI UNIV OF ENG SCI
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