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Special three-degree-of-freedom two-translation and one-rotation parallel mechanism

A two-translation, degree-of-freedom technology, used in manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve the problems of small working space, difficult kinematics solutions, and difficulty in manufacturing high-precision ball pairs.

Inactive Publication Date: 2012-05-30
DALIAN CHUANGDA TECH TRADE MARKET
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For example, (1) kinematics is difficult to solve; (2) the motion platform pose is a strong coupling of input, which is not conducive to control; (3) the mechanism is complex, so that the work space is small; (4) it is difficult to manufacture high-precision ball pairs Wait

Method used

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  • Special three-degree-of-freedom two-translation and one-rotation parallel mechanism
  • Special three-degree-of-freedom two-translation and one-rotation parallel mechanism
  • Special three-degree-of-freedom two-translation and one-rotation parallel mechanism

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Embodiment Construction

[0009] The structure shown in accompanying drawing 1 can also be an embodiment of the present invention. It consists of a dynamic platform 1, a static platform 2 and two generalized branches with different structures. The first generalized branch is routed by the mobile pair P ll , 4 revolving pairs R perpendicular to the moving pair 91 , R 92 , R 93 , R 94 The parallelogram circuit formed, and the two revolving pairs R whose axes respectively coincide with the opposite sides of the quadrilateral 10 , The wind is connected in series. The second generalized branch consists of 4 revolving pairs R 2 , R 3、 R 4 , R 5 and 2 mobile vice P l ,P 6 The 6-bar planar circuit and a mutually perpendicular revolving pair R 7 formed in series. The end components of the two generalized branches are fixedly connected to the dynamic and static platforms respectively, and the two revolving pairs R located on the dynamic platform 7 , R 8 Arranged in parallel with each other, there ...

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Abstract

The invention discloses a special three-degree-of-freedom two-translation and one-rotation parallel mechanism, which consists of a movable platform, a stationary platform, a first generalized branch and a second generalized branch, wherein the first generalized branch is formed by connecting a movable pair, a parallelogram-shaped loop which is vertical to the movable pair and consists of four rotary pairs, and two rotary pairs of which axes are superposed with the two opposite sides of a parallelogram respectively in series; the second generalized branch is formed by connecting a six-rod planar loop consisting of four rotary pairs and two movable pairs, and a vertical rotary pair in series; end part members of the two generalized branches are fixedly connected to the movable and stationary platforms respectively; the two rotary pairs positioned on the movable platform are arranged in parallel; three movable pairs positioned on the stationary platform are arranged in parallel; and the movable platform can be controlled to realize two-dimensional translation and one-dimensional rotary output by controlling the motion of the three movable pairs on the stationary platform. The mechanism has the advantages of simple structure, partial control decoupling property, easiness for precision processing, and the like.

Description

technical field [0001] The invention relates to an executive mechanism of a machine tool and a robot. Specifically, it provides a special three-degree-of-freedom two-translation-rotation parallel mechanism for a virtual-axis numerical control machine tool with a parallel structure and a parallel robot. Background technique [0002] Parallel structure CNC machine tool refers to the machine tool with parallel mechanism as the executive mechanism. This machine tool is considered to be a revolution in the structure of machine tools since the 20th century. At present, prototypes of this machine tool have been developed in the United States, Japan and other countries, and the parallel mechanisms used are all traditional Stelvart mechanisms. This mechanism for controlling the position and attitude of the tool in space is mainly composed of a base, a moving platform and a connecting rod. The base and the moving platform are connected by a connecting rod, and the two ends of the con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/44B25J9/08
Inventor 孙文秀
Owner DALIAN CHUANGDA TECH TRADE MARKET
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