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Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom

A technology with symmetrical structure and degrees of freedom, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of complex kinematic models and difficult calibration, and achieve the effect of simplified kinematics description, high stiffness, and easy control.

Inactive Publication Date: 2011-07-20
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Existing two-rotation-one-shift three-degree-of-freedom parallel mechanisms (US6431802, WO0025976, ZL 200610013608.3, EP1123175, CA2349579, DE59905578D, ES2198991T, ZL200710057179.4) all have accompanying motions, resulting in complex kinematic models, difficult real-time control, and calibration

Method used

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  • Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom

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Embodiment Construction

[0015] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0016] In the embodiment, the axes of the two rotating pairs in the universal hinge of each branch are perpendicular to each other and intersect; the center point of the universal hinge is the intersection point of the axes of the two rotating pairs in the universal hinge; The first rotating shaft in the universal joint 18, the universal joint 28 and the universal joint 38 mentioned above is respectively the rotation pair of the universal joint directly connected to the moving platform. In addition, at least one of the single-degree-of-freedom kinematic pairs in each branch is an active moving pair or an active rotating pair, and the driving mechanism of the active moving pair is a screw mechanism driven by a motor, or a servo motor, and the active rotating pair The driving mechanism is a reducer driven by a motor. The above are all conventional designs of ...

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Abstract

The invention relates to a parallel mechanism, which has the characteristics that concomitant motion does not exist and the mechanism is easy to control, simple in structure, high in rigidity and low in cost. The technical scheme is that: a symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom comprises a moving platform, a frame, and first, second and third branches connected in parallel between the moving platform and the frame, and is characterized in that: in the first, second and third branches, each branch is connected with a revolute pair, a kinematic pair and a universal hinge in turn from the frame to the moving platform, and the moving direction of the kinematic pair in each branch is vertical to the axis of the revolute pair; the axis of a revolute pair of the universal hinge connected with the moving platform in the first branch is collinear with the axis of a revolute pair of the universal hinge connected with the moving platform in the second branch, and passes through a central point of the universal hinge in the third branch; and the axis of a revolute pair of the universal hinge connected with the moving platform in the third branch is vertical or parallel to the axes of the revolute pairs of the two universal hinges connected with the moving platform in the first and second branches.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a parallel mechanism with two rotations, one movement and three degrees of freedom. Background technique [0002] Parallel robots with few degrees of freedom and less than 6 degrees of freedom are currently the focus of international parallel robotics academia and industry. In practical applications, there are a considerable number of operating tasks that require less than 6 degrees of freedom. At this time, the application of a suitable parallel robot with fewer degrees of freedom can effectively save the cost of system design, manufacturing, control and maintenance. [0003] The 3-DOF parallel mechanism with two rotation degrees of freedom and one movement degree of freedom (referred to as 2 rotations and 1 movement) is a very important class of parallel robots with few degrees of freedom. The 3-PRS / RPS type parallel mechanism is a typical representative of the two-rotation-one-shift three...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 查姗姗段启涵韩阳李婷吴伟峰李秦川胡挺
Owner ZHEJIANG SCI-TECH UNIV
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