Elliptical six-degree-of-freedom parallel connection mechanism

A degree-of-freedom, elliptical technology used in manipulators, program-controlled manipulators, metal processing machine parts, etc.

Inactive Publication Date: 2011-09-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, the driving rod will require a larger rotation angle in a certain direction, but not in other directions. I...

Method used

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  • Elliptical six-degree-of-freedom parallel connection mechanism
  • Elliptical six-degree-of-freedom parallel connection mechanism
  • Elliptical six-degree-of-freedom parallel connection mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0027] Please refer to the table above and figure 2 As shown, when c=d, the vertices of the static platform 1 are distributed on a circle, a≠b means that the vertices of the moving platform 2 are arranged on the circumference of an ellipse, and the driving rod includes the connected driving rod upper limb 4 and the driving rod lower limbs5. In this case, in the initial state, the minor axis of the ellipse where the upper hinge 3 connecting the moving platform 2 and the driving rod upper limb 4 is parallel to the symmetry axis of the lower hinge 6 connecting the static platform 1 and the driving rod lower limb 5 .

Embodiment approach 2

[0029] Please refer to the table above and image 3 As shown, when c=d, the vertices of the static platform 1 are distributed on a circle, a≠b means that the vertices of the moving platform 2 are arranged on the circumference of an ellipse, and the driving rod includes the connected driving rod upper limb 4 and the driving rod lower limbs5. In this case, in the initial state, the minor axis of the ellipse where the upper hinge 3 connecting the moving platform 2 and the upper limb 4 of the driving rod is perpendicular to the axis of symmetry of the lower hinge 6 connecting the static platform 1 and the lower limb 5 of the driving rod.

Embodiment approach 3

[0031] Please refer to the table above and Figure 4 As shown, when c≠d, the vertices of the static platform 1 are distributed on an ellipse, a≠b means that the vertices of the moving platform 2 are arranged on the circumference of the ellipse, and the driving rod includes the connected driving rod upper limb 4 and the driving rod lower limbs5. In this case, in the initial state, the major axis of the ellipse where the hinge 3 connecting the moving platform 2 and the upper limb 4 of the driving rod is perpendicular to the major axis of the ellipse where the hinge 6 connecting the static platform 1 and the lower limb 5 of the driving rod is perpendicular.

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Abstract

The invention discloses an elliptical six-degree-of-freedom parallel connection mechanism which comprises six drive rods, a static platform and a dynamic platform, wherein the dynamic platform is connected to the static platform through the six drive rods; the drive rods are connected with the static platform through lower hinges and connected with the dynamic platform through upper hinges; the six lower hinges connecting the drive rods with the static platform are distributed on a circumference or an elliptical circumference; and the six upper hinges connecting the drive rods with the dynamic platform are distributed on an elliptical circumference. By arranging the hinge points between the dynamic platform and the drive rods, namely the upper hinges, on an elliptical circumference, the elliptical six-degree-of-freedom parallel connection mechanism enables the drive rods to obtain a relatively large turning angle in the direction of the major axis of the elliptical circumference.

Description

technical field [0001] The invention relates to a six-degree-of-freedom parallel mechanism, in particular to a six-degree-of-freedom parallel mechanism with an improved structure. Background technique [0002] In 1965, after the publication of Stewart's paper on the use of 6-DOF parallel mechanisms for flight simulators, parallel mechanisms received widespread attention from the academic community. As a typical 6-DOF parallel mechanism, the 6-SPS parallel mechanism has been widely used due to its high rigidity, large bearing capacity, and simple motion inverse solution; its application fields include motion simulators, parallel machine tools, medical equipment, entertainment devices, etc. [0003] In 1947, Dr. Eric Gough, a famous automobile engineer of Dunlop Rubber Company in Birmingham, UK, invented the first variable-rod long octahedron six-leg parallel mechanism—a universal tire testing machine. In 1962, Klaus Cappel, an engineer at the Franklin Institute in the Unite...

Claims

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Application Information

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IPC IPC(8): B25J9/08B23Q1/44
Inventor 吴洪涛程世利李成刚陈柏朱玉川缪群华潘心伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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