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Three-translation-parallel-operation platform

An operating platform, three translation technology, applied in the direction of large fixed members, metal processing machinery parts, manipulators, etc., can solve problems such as difficulty in solving and application of end effectors, complex structure, etc.

Inactive Publication Date: 2012-05-09
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, for the 6-SPS and 6-RSS mechanisms, the spatial pose of the end effector is relatively flexible, but due to the relatively complex structure of the mechanism, it is difficult to solve and apply the end effector

Method used

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Embodiment Construction

[0009] The technology of the present invention will be further described below by means of accompanying drawings and examples.

[0010] attached figure 1 Shown is the first embodiment of the present invention, which includes a dynamic platform 1, a static platform 2 and three identical branch chains connected between the dynamic platform 1 and the static platform 2, each branch chain has three axes parallel to each other. Rotating pair series structure R 11 -R 12 -R 13 , and another structure R with two revolving pairs whose axes are parallel to each other is connected in series 14 -R 15 , and the two ends of each branch chain pass through the outermost revolving pair R of the aforementioned branch chain respectively 11 , R 15 They are connected with the static platform 2 and the dynamic platform 1 respectively.

[0011] As a second embodiment of the present invention, the third of the three identical branch chains in the first embodiment is used in a series structure R...

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Abstract

The invention discloses a three-translation-parallel-operation platform, which comprises a movable platform, a fixed platform and three branch chains connected between the movable platform and the fixed platform. The three-translation-parallel-operation platform is characterized in that: each branch chain is formed in a manner that a structure formed by connecting in series three revolute pairs with shaft lines parallel to each other is connected in series with another structure formed by connecting in series two revolute pairs with shaft lines parallel to each other, and the two ends of each branch chain are connected with the movable platform and the fixed platform by the revolute pairs at the outermost end of the branch chain respectively; meanwhile, one or two of the three same branch chains can be replaced with a branch chain formed in a manner that the structure formed by connecting in series the two revolute pairs with two groups of shaft lines parallel to each other is connected in series with a prismatic joint; moreover, the third branch chain in the three same branch chains also can be replaced with a structure formed in a manner that a spherical pair, a prismatic joint and a spherical pair (S-P-S) are connected in series. The three revolute pairs on the fixed platform are controlled to obtain the three-dimensional pure translation output of the fixed platform. The three-translation-parallel-operation platform has large working space and convenient manufacture and installation, and can be used as a performing mechanism for intelligent equipment, such as a novel parallel coordinate measurer, a ruling machine, an engraver, a coating machine, and the like.

Description

technical field [0001] The invention relates to an actuator of a robot and an intelligent equipment, and specifically provides a new three-translation parallel operation platform for a robot and a parallel machine tool, a parallel coordinate measurement, a marking machine, an engraving machine, and a parallel machine. Background technique [0002] Parallel mechanisms have been widely used in the fields of robots, virtual axis machine tools, coordinate measuring machines, simulation platforms, and micro-manipulators. The 6-DOF Stewart parallel machine tool is considered to be a revolution in the structure of machine tools since the 20th century; Axial coordinate measuring machine (including measuring marking machine) is also a major progress in scientific measuring instruments in recent years. It has unique characteristics such as high structural rigidity, high movement speed, and no error superposition, which can make the performance of measurement accuracy and measurement ef...

Claims

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Application Information

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IPC IPC(8): B23Q1/44B25J11/00
Inventor 沈惠平余同柱杨廷力邓嘉鸣陈爱莲
Owner CHANGZHOU UNIV
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