Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot

A technology of robot and degree of freedom, which is applied in the direction of manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve the problems of inconvenient control, low motion precision, complex structure, etc., and achieve simple control, small moment of inertia, and fast motion response Effect

Inactive Publication Date: 2012-08-08
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology

[0005] The purpose of the present invention is to provide a two-rotation-degree-of-freedom 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

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  • Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot
  • Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot

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Embodiment Construction

[0017] 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.

[0018] See figure 1 , The present invention is a two-degree-of-rotation parallel mechanism for virtual-axis machine tools and robots, including a static platform 1, a moving platform 3, and a first movement branch chain 2a and a second movement branch connected between the static platform and the moving platform. Chain 2b.

[0019] The first kinematic branch 2a includes a universal hinge 21, a moving pair 23, and a first rotating pair 24 connected in sequence; the universal hinge 21 is also connected to the static platform 1, and the first rotating pair 24 is also connected to the moving platform 3 through a connecting rod 22 In the first movement branch 2a, the axis of the first rotating pair 24 is parallel to the second rot...

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Abstract

The invention provides a two-rotational degree-of-freedom parallel mechanism for an imaginary axis machine tool and a robot. The two-rotational degree-of-freedom parallel mechanism comprises a static platform, a movable platform, a first movable branched chain and a second movable branched chain, wherein the first movable branched chain and the second movable branched chain are connected between the static platform and the movable platform; the first movable branched chain comprises a universal hinge, a moving pair and a first revolute pair which are connected in sequence; the universal hingeis also connected with the static platform; the first revolute pair is also connected with the movable platform through a connecting rod; the second movable branched chain comprises a second revolutepair and a third revolute pair which are connected in sequence; the second revolute pair is also connected with the static platform; and the third revolute pair is also connected with the movable platform. The two-rotational degree-of-freedom parallel mechanism has two decoupled rotational degrees of freedom which only depend on the linear control of kinematic pairs of the movable branched chains, and has an extremely simple implementation principle and an extremely good linear relationship.

Description

Technical field [0001] The invention relates to a machine tool and an industrial robot, in particular to a two-rotation-degree-of-freedom parallel mechanism for a virtual-axis machine tool and a parallel robot for a virtual-axis CNC machine tool and a parallel robot with a parallel structure. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operations. However, the drive 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 all drive units, and the movement of each drive unit is the same as the overall movement of the parallel mechanism ( That is, the input and output are non-linear. This feature leads to complicated control of the parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how to achieve decoupling of par...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/26B25J9/08
Inventor 张帆刘燕宋芳
Owner SHANGHAI UNIV OF ENG SCI
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