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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: 2012-06-13
DONGHUA UNIV
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[0005] The technical problem to be solved by the present invention is to provide a decoupled three-rotation parallel mechanism to overcome the defects of complex structure, inconvenient control and low motion precision in the prior art
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[0019] Such as figure 1 Shown: a decoupled three-rotation parallel mechanism, including a base 1, a moving platform 2, and a first kinematic branch chain 3, a second kinematic branch chain 4 and a third kinematic branch chain connected between the base 1 and the moving platform 2 Motion branch chain 5;
[0020] The first motion branch chain 3 includes a first universal hinge 31, a first swivel pair 32, a second swivel pair 33, a third swivel pair 34, a fourth swivel pair 35, a fifth swivel pair 36, The sixth rotation pair 37 and the seventh rotation pair 55, the first rotation pair 32 is connected with the first universal joint hinge 31 through the inner rod 321, and the fifth rotation pair 36 is connected with the first universal joint hinge 31 through the rod 322. The universal joint hinge 31 is connected, and the first universal joint hinge 31 is connected with the base 1, and the first rotating shaft 312 of the first universal joint hinge 31 is connected with the first ro...
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Abstract
The invention relates to a decoupled three-rotation parallel mechanism, which comprises a base, a dynamic platform, a first moving branch chain, a second moving branch chain and a third moving branch chain, wherein the first, second and third moving branch chains are connected between the base and the dynamic platform; the first moving branch chain comprises a first universal hinge, a first rotating pair, a second rotating pair, a third rotating pair, a fourth rotating pair, a fifth rotating pair, a sixth rotating pair and a seventy rotating pair, which are connected in turn; the second moving chain comprises a tenth rotating pair, an eleventh rotating pair and a second rotating rod, which are connected in turn; and the third moving branch chain comprises a second universal hinge, a moving pair, a twelfth rotating pair and a thirteenth rotating pair, which are connected in turn, and one end of the twelfth rotating pair is connected with the seventh rotating pair through the dynamic rotating platform. In the invention, fewer moving pairs are adopted, the structure is simple, the installation is convenient, the rotation inertia is small, and the motion response is quick; and the motion decoupling and control are simple, so the development cost is reduced.
Description
technical field [0001] The invention relates to the field of machine tools and industrial robots, in particular to a decoupling three-rotation parallel mechanism for virtual-axis numerical control machine tools with parallel structures and parallel robots. 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 relationship between input and output) is nonlinear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how to achieve...
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