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Triple rotating parallel mechanism for virtual axis machine tool and robot

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

Inactive Publication Date: 2012-06-13
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a three-rotation parallel mechanism for virtual-axis machine tools and robots to overcome the defects of complex structure, inconvenient control and low motion precision in the prior art

Method used

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  • Triple rotating parallel mechanism for virtual axis machine tool and robot
  • Triple rotating parallel mechanism for virtual axis machine tool and robot

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Embodiment Construction

[0017] Below in conjunction with specific embodiment, further illustrate the present invention. The drawings show a preferred embodiment of the present invention, and the technical solution of the present invention is not limited to this embodiment.

[0018] see figure 1 , the present invention is used for the three-rotation parallel mechanism of virtual axis machine tools and robots, consisting of frame 1, moving platform 2 and the first kinematic branch chain 3 connected between the frame and the moving platform, the second kinematic branch chain 4 and the second kinematic branch chain The three-movement chain consists of 5 branches.

[0019] The first kinematic branch chain 3 includes a first universal hinge 31, a first moving pair 32 and a second universal hinge 33 connected in sequence; the other end of the first universal hinge 31 is connected to the frame 1 through a first connecting rod 34 , the other end of the second universal hinge 33 is connected with the moving ...

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Abstract

The invention provides a triple rotating parallel mechanism for a virtual axis machine tool and a robot. The triple rotating parallel mechanism for the virtual axis machine tool and the robot consists of a machine frame, a moveable platform, and a first motion branched chain, a second motion branched chain and a third motion branched chain which are connected between the machine frame and the moveable platform, wherein the first motion branched chain comprises a first universal hinge, a first moveable pair and a second universal hinge which are connected with one another sequentially; the second motion branched chain comprises a third universal hinge, a second moveable pair and a fourth universal hinge which are connected with one another sequentially; and the third motion branched chain comprises a rotating pair and a fifth universal hinge which are connected with each other sequentially. The triple rotating parallel mechanism for the virtual axis machine tool and the robot has threedecoupled rotational degrees of freedom which only depend on the linear control of the motion pairs of the motion branched chains, wherein the implementing principle is very simple and the linear relationship is very good.

Description

technical field [0001] The invention relates to a machine tool and an industrial robot, in particular to a three-rotation parallel mechanism for a virtual axis machine tool and a robot with a parallel structure virtual axis numerical control machine tool and a parallel robot. Background technique [0002] 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 input and output) are non-linear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how to achiev...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/25B25J9/08
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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