All-analytic partial-decoupling parallel operation device with six degrees of freedom
An operating device and a technology of degrees of freedom, which are applied to large fixed members, metal processing machinery parts, manipulators, etc., can solve problems such as difficulties in solving end-effector kinematics, inability to obtain positive analytical solutions, and influence of application range
Inactive Publication Date: 2012-07-18
CHANGZHOU UNIV
View PDF5 Cites 7 Cited by
- 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, and has a large load and good stiffness, but the ki
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
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, a fully analytical six-degree-of-freedom partially decoupled parallel operation device, including a dynamic platform 1, a static platform 0, and a simple branch chain connected between the dynamic platform 1 and the static platform 0 1. The first mixed branch chain and the second mixed branch chain, the simple branch chain is composed of a rotating pair R 31 , Ball Vice-S 32 , Qiu Fu Er S 33 The R-S-S type branch chain composed of series, its spherical pair S 33 , revolving pair one R 31 respectively on the dynamic platform 1 and the static platform 0; the first mixed branch chain is composed of R-S-S type simple branch chain two R 11 -S 12 -S 13 ′ and simple branched triple R 15 -S 14 -S 13 Composition, and the spherical pair three S at the two ends of the sim...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
An all-analytic partial-decoupling parallel operation device with six degrees of freedom comprises a movable platform (1), a fixed platform (0), a first simple branched chain, a first mixed branched chain and a second mixed branched chain. The first simple branched chain, the first mixed branched chain and the second mixed branched chain are connected between the movable platform (1) and the fixed platform (0), the first simple branched chain is an R-S-S type branched chain, the first mixed branched chain consists of a second R-S-S type simple branched chain and a third simple branched chain, a third ball pair (S13') and a second rotating pair (R11) which are disposed at two ends of the second simple branched chain are respectively arranged on the movable platform (1) and the fixed platform (0), a fourth ball pair (S13) and a rotating pair (R15) which are disposed at two ends of the third simple branched chain are respectively arranged on a first component (2) and the static platform (0), the second simple branched chain consists of the first component (2), the second mixed branched chain consists of a fourth R-S-S type simple branched chain, a fifth simple branched chain and a sixth simple branched chain, a fifth ball pair (S23'') and a fifth rotating pair (R21) which are disposed at two ends of the fifth simple branched chain and a seventh ball pair (S23') and a sixth rotating pair (R25) which are disposed on the sixth simple branched chain are respectively arranged on a second component (3) and the fixed platform (0), and the fourth simple branched chain consists of the second component (3). By the aid of six rotating pairs in a control mechanism, three-dimensional translation and three-dimensional rotation of the movable platform can be outputted.
Description
technical field [0001] The invention relates to an actuator for robots and intelligent equipment, in particular to provide a novel fully analytical six-degree-of-freedom partially decoupled parallel operation device for equipment such as robots and parallel machine tools. Background technique [0002] Parallel mechanisms have been widely used in the fields of robots, virtual axis machine tools, coordinate measuring machines, and simulation platforms. The 6-DOF Stewart parallel machine tool is considered to be a revolution in machine tool structure since the 20th century; virtual axis coordinate measuring machines with parallel structures (including measuring marking machine) is also a major progress in scientific measuring instruments in recent years. It has unique features such as high structural rigidity, high movement speed, and no error superposition, which can greatly improve the performance of measurement accuracy and measurement efficiency. . At present, for the 6-SP...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B25J9/08B23Q1/25
Inventor 沈惠平余同柱邓嘉鸣杨廷力
Owner CHANGZHOU UNIV