Motion decoupling two-degree-of-freedom rotation parallel mechanism

A degree of freedom and parallel technology, applied in manipulators, program-controlled manipulators, mobile/orientation solar collectors, etc., can solve the problems of small working space and difficult control of parallel mechanisms

Inactive Publication Date: 2011-07-20
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Compared with the series mechanism, the parallel mechanism has a small working space, strong coupling between movements, and more difficult control

Method used

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  • Motion decoupling two-degree-of-freedom rotation parallel mechanism
  • Motion decoupling two-degree-of-freedom rotation parallel mechanism

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Embodiment Construction

[0008] A two-degree-of-freedom rotational parallel mechanism with motion decoupling (see figure 1 ), consisting of fixed platform 1, moving platform 5 and two branches, wherein the first branch has two kinematic pairs of revolving joint and Hooke hinge, the kinematic pair connected with moving platform 5 is revolving joint 4, and fixed platform The kinematic pair connected with 1 is Hooke hinge 2; the second branch also has two kinematic pairs of revolving joint and Hooke hinge, the kinematic pair connected with moving platform 5 is revolving pair 6, and the kinematic pair connected with fixed platform 1 is Hooke hinge 8; one of the axes of the two Hooke hinges (2, 8) connected to the fixed platform 1 remains collinear, and the other axis remains parallel to the axes of the rotating pair 4 and the rotating pair 6 connected to the moving platform 5 .

[0009] The motion decoupling two-degree-of-freedom rotating parallel mechanism of the present invention has the characteristic...

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Abstract

The invention relates to a motion decoupling two-degree-of-freedom rotation parallel mechanism, and belongs to the field of parallel robots. The mechanism consists of a fixed platform, a moving platform, and two branches which connect the fixed platform and the moving platform, wherein the two branches respectively consist of two kinematic pairs, namely a revolute pair and a hooke joint; the revolute pair is connected with the moving platform and the hooke joint is connected with the fixed platform; and one axis of one of the two hooke joints is collinear with one axis of the other of the two hooke joint, and the other axes of the two hooke joints are parallel with the axes of the two revolute pairs. The two-degree-of-freedom rotation parallel mechanism has the characteristics of good kinematic properties, high flexibility, large working space and the like; and kinematics positive and reverse solutions are simple, and two rotations of the moving platform are completely decoupled, so that the mechanism is easy to control and calibrate, saves energy, and can be widely applied to telescopes, cameras, positioners, radar tracking, solar panels, missile launchers, gun sight setters and the like.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a two-degree-of-freedom rotating parallel mechanism with motion decoupling. Background technique [0002] In the past two decades, parallel mechanisms have been widely used in the industry because of their high rigidity, large load-carrying capacity, small cumulative error, good dynamic characteristics, and compact structure, especially in virtual axis machine tools. , micro-motion console, various motion simulators, force and torque sensors and other industries. [0003] Compared with the series mechanism, the parallel mechanism has a small working space, strong coupling between movements, and more difficult control. However, if the movement of the mechanism can be decoupled, its working space will be enlarged, and it will be easy to control and achieve higher motion precision, which is of great significance to the movement control, trajectory planning and calibration of the mech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
CPCF24J2/54Y02E10/47F24S30/40
Inventor 侯雨雷卢文娟曾达幸康凯佳
Owner YANSHAN UNIV
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