Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive

A technology of driving branches and degrees of freedom, applied in the field of robotics, can solve the problem of difficulty in obtaining precision dual macro and micro-drive parallel mechanisms, and achieve the effects of not easy interference, strong bearing capacity, and high dexterity.

Inactive Publication Date: 2011-11-23
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since some of the above-mentioned parallel mechanisms have many branch chains, most of the drivers with twice the number of branch chains are far away from the base, so it is difficult to obtain a double macro- and micro-drive parallel mechanism with high precision and simple structure

Method used

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  • Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive
  • Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive
  • Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive

Examples

Experimental program
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Effect test

Embodiment 1

[0010] In the three-dimensional schematic diagram of Example 1, one end is connected to the machine base 1, and the other end is connected to the moving platform 2, and the two ends of the three branch chains are symmetrically distributed in an equilateral triangle, wherein the single drive branch chain is composed of two universal pairs 3-1, 3-2 and a driving and moving pair 4-1 form a branch chain of UPU series structure, the universal pair 3-1 is connected with the base, and the universal pair 3-2 is connected with the moving platform. The two universal joints are connected by a driving mobile joint, and the axis of the driving mobile joint passes through the centers of the universal joints at both ends. Each compound drive branch chain is composed of two rotating pairs 5, 6, a driving moving pair 4-2 and a spherical hinge 7, forming an RRPS type compound driving series structure branch chain, and the axes of the two rotating pairs intersect each other perpendicularly to for...

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Abstract

The invention discloses a branch three-leg five-DOF (degree of freedom) parallel mechanism containing a double-compound drive. The branch three-leg five-DOF parallel mechanism comprises an engine base, a movable platform and a single-drive branched chain for connecting the engine base and the movable platform and two compound drive branched chains with the same structure, both ends of each of three branched chains are symmetrically distributed in a regular triangle shape, wherein the single-drive branched chain is composed of two universal pairs and a drive translation pair to form a UPU-type series structure branched chain. Each compound drive branched chain is composed of two revolute pairs, a drive translation pair and a spherical hinge to form an RRPS-type compound drive series structure branched chain, and axial lines of two revolute pairs are vertical to each other to form a universal pair, wherein one revolute pair is connected with the engine base and coaxially connected with a drive motor, and the spherical hinge is connected with the movable platform. The branch three-leg five-DOF parallel mechanism is strong in bearing capacity, good in stability, large in working space, high in flexibility, simple in structure, less in movable branched chain, hard to interference, free from automatic jogging, high in precision, close to a frame in drive and easy to control.

Description

technical field [0001] The present invention relates to robots, especially parallel robots. Background technique [0002] Parallel robots and equipment are relatively characterized by high rigidity, strong carrying capacity, light end mass, small inertia, and no accumulation of position errors, and are complementary to serial robots and equipment in application. In the field of high-end equipment manufacturing, there have been many important applications in heavy parallel equipment, military equipment, intelligent manufacturing parallel equipment, aerospace simulation training, submarine operations, underground mining, medical and biological engineering, and micro-electromechanical systems. Each driving leg of a traditional parallel robot and its equipment is a single drive, and the number of driving legs is equal to the degree of freedom. When the center of the moving platform is far away from the center of the machine base or is excessively inclined, the stability and car...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/44
Inventor 路懿路扬胡波叶妮佳赵少华
Owner YANSHAN UNIV
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