Spatially-symmetrical four-degree-of-freedom parallel mechanism
A DOF, Fully Symmetric Technology
Active Publication Date: 2014-04-09
TIANJIN UNIV
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Problems solved by technology
[0003] For this type of robot, since the servo motor and reducer are installed in the active swing head, its disadvantage is that the weight of the moving platform is too large, which affects the fast-forward ability and dynamic performance of the mechanism, which is not conducive to the pursuit of high stiffness / mass ratio
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[0012] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0013] The novel spatially symmetrical four-degree-of-freedom parallel mechanism of the present invention includes a frame 1, a first active branch chain 2, a second active branch chain 3, a third active branch chain 4 and a fourth active branch chain 5, and a driven branch chain 6 and moving platform 7 . The driven branch chain 6 is located in the central opening of the frame 1, and the central opening of the frame 1 is connected to the first hinge 8. The first hinge 8 has two rotational degrees of freedom, including an outer ring and an inner ring, The outer ring is rotationally connected with the inner wall of the central opening of the frame 1 through the outer ring rotating shaft, and the inner ring is rotationally connected with the outer ring through the inner ring rotating shaft. The outer ring rotating shaft and the inner ring rotati...
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The invention discloses a novel spatially-symmetrical four-degree-of-freedom parallel mechanism, which comprises a frame. A driven branch chain is arranged in a frame central hole which is connected with a first hinge, a first driving branch chain, a second driving branch chain, a third driving branch chain and a fourth driving branch chain are spatially symmetrically arranged on the frame with the central axis of the frame as a symmetry axis, each driving branch chain comprises a wall plate fixedly connected with the outer wall of the frame, a second guide rail is arranged on each wall plate, and a second slider is fixedly mounted on a connecting block which is connected with a rod through a third hinge with two degrees of rotation freedom. A movable platform comprises a main platform, the lower end of the rod of each driving branch chain is connected with the main platform below the frame through the fourth hinge, the lower end of the driven branch chain is fixedly connected with the top wall of the main platform, the lower ends of the rods of the first driving branch chain, the second driving branch chain, the third driving branch chain and the fourth driving branch chain are connected with a third slider, a fourth slider, a fifth slider and a sixth slider through the fourth hinge respectively, and the third slider, the fourth slider, the fifth slider and the sixth slider are driven by the driving branch chains to be slidably connected with the second guide rail mounted on the outer wall of the main platform respectively. Using the novel spatially-symmetrical four-degree-of-freedom parallel mechanism can improve dynamical performance.
Description
technical field [0001] The invention relates to a robot, in particular to a four-degree-of-freedom parallel manipulator capable of realizing three-dimensional rotation and one-dimensional translation operation functions. Background technique [0002] According to patents US6431802 and ZL200610013608.3, it can be known that the existing three-rotation-translational parallel manipulator is generally a structural form of a two-rotation-translational parallel mechanism in space and an active swing head. Among them, the space two-rotation-translational parallel mechanism connects the frame and the moving platform through three active branch chains with the same structure, and adjusting the servo motor installed on the active branch chains can make the moving platform realize two-dimensional rotation and one-dimensional translation; the active swing The head is generally an electric spindle structure, and the end effector fixedly installed on the moving platform makes it rotate ar...
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IPC IPC(8): B25J9/08
Inventor 宋轶民连宾宾孙涛董罡张嘉滕
Owner TIANJIN UNIV