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Hybrid input spatial 3-DOF (degree-of-freedom) parallel mechanism

A technology of mixed input and degrees of freedom, which is applied in the fields of robotics and space mechanics, can solve the problems of large size of the mechanism and sacrifice of flexibility of the mechanism, so as to reduce the motion inertia, improve the processing and assembly accuracy of parts, and reduce the joints of the mechanism. Effect

Inactive Publication Date: 2011-09-14
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

In response to these requirements, the current parallel mechanism with a single drive form often cannot fully meet the requirements. Even if the application conditions are met, a relatively high price will be paid: such as making the mechanism very large, or sacrificing the flexibility of the mechanism, etc.

Method used

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Embodiment 1

[0018] A space-parallel mechanism with one translation and two rotations is realized by using the driving method of mixed input, and the driving part of the mechanism is completely placed on the fixed platform, which greatly reduces the motion inertia of the whole mechanism. The mechanism is composed of a moving platform 1, a fixed platform 2 and three branch chains A1B1, A2B2, A3B3 connecting the above two platforms; the branch chains A1B1 and A2B2 are composed of rotating hinges R12, R22 and Hooke hinges T1 and T2 respectively from top to bottom. , rotating hinges R11, R21 and connecting rods L11, L12, L21, L22 between them; branch chain A3B3 consists of Hooke hinges T31, T31 from top to bottom, connecting rod L3 between them and sliding pair H2 Composition; of which:

[0019] Said connecting rods L12 and L22 have the same length, they are connected with the moving platform 1 through the rotating hinges R12 and R22 respectively, the connecting rod L3 is connected with the mo...

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Abstract

The invention relates to a hybrid input spatial 3-DOF (degree-of-freedom) parallel mechanism, relating to the technical field of robots and spatial mechanisms. The mechanism comprises a mobile platform, a fixed platform and three branched chains connecting the two platforms, wherein two branched chains comprise a rotating joint, a Hook joint and a rotating joint, as well as connecting bars therebetween, and the like. The input mode of the mechanism is of a hybrid input mode, namely the input consists of two rotating inputs and one mobile input, the mobile platform can realize movement output of one translation and two rotating; and the mechanism has fewer joints, and the total number of degrees of freedom of a kinematic pair is only 13, so that for the parallel mechanism, the component machining and whole machine assembling precision problems caused by excessive degrees of freedom of a kinematic pair can be effectively improved. Three driving pairs (including two rotating joints and one slippage pair) of the mechanism are directly connected with the fixed platform, therefore, the movement inertia of the mechanism is greatly decreased, and further the high-speed movement of the mechanism can be realized.

Description

【Technical field】 [0001] The invention relates to the technical fields of robotics and space mechanism, in particular to a space three-degree-of-freedom parallel mechanism with mixed input. 【Background technique】 [0002] A parallel mechanism is a group of two or more branches connected in parallel. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. At present, the drive input of the parallel mechanism adopts a single drive mode, that is, all the drives are either all telescopic movement inputs, or all are rotation input modes, and for the parallel combination of both movement and rotation input modes Institutions currently do little research. With the study of mechanism and the development of control technology and computer technology, the application field of parallel mechanism will be further expanded, which wil...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 李彬赵新华
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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