High-rigidity four-degree-of-freedom parallel mechanism capable of adjusting postures
A technology with high stiffness and degree of freedom, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of affecting the fast-forward capability and dynamic performance of the mechanism, difficult to achieve lightweight design, and the weight of the moving platform, etc. quality, improved fast-forward capability, and the effect of increasing overall stiffness
Active Publication Date: 2014-05-21
TIANJIN UNIV
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Problems solved by technology
[0003] Due to the motorized spindle installed on the moving platform, this kind of mechanism has the disadvantages that the weight of the moving platform is too large, which affects the fast-forwarding ability and dynamic performance of the mechanism, and it is difficult to achieve lightweight design
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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 high-stiffness four-degree-of-freedom parallel mechanism with attitude adjustment capability of the present invention includes a fixed frame 1 , first, second, third, and fourth active branch chains 2 , 3 , 4 , and 5 and a moving platform 6 . The first, second, third, and fourth hinges are arranged on the fixed frame along the same circumferential direction, preferably, the first, second, and third hinges are evenly spaced on the fixed frame 1 along the same circumferential direction. , the fourth hinges 7, 8, 9, 10, the first, second, third, and fourth hinges 7, 8, 9, 10 have a degree of freedom of rotation, and are connected to the fixed frame 1 through rotating shafts respectively . The first, second, third, and fourth active branch chains 2, 3, 4, and 5 have the same structural form, and the first, second, third, and fourth ac...
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The invention discloses a high-rigidity four-degree-of-freedom parallel mechanism capable of adjusting postures, which comprises a fixing frame, a first driving branch chain, a second driving branch chain, a third driving branch chain, a fourth driving branch chain and a movable platform. A first hinge, a second hinge, a third hinge and a fourth hinge are fixed on the fixing frame along the same circumferential direction, each of the first driving branch chain, the second driving branch chain, the third driving branch chain and the fourth driving branch chain comprises an outer wall, first guide rails are mounted on two sides of each outer wall respectively, a first slider is mounted on the inner side of each of the first hinge, the second hinge, the third hinge and the fourth hinge, and the first guide rails driven by a driving device can be slidably fittingly connected with the first sliders axially along the outer walls. The movable platform is arranged below the fixing frame and comprises a main platform, the lower ends of the outer walls 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 second slider, a third slider, a fourth slider and a fifth slider through a fifth hinge, a sixth hinge, a seventh hinge and an eighth hinge respectively, and each slider driven by the corresponding driving branch chain is slidably connected with the second guide rail mounted on the outer wall of the main platform. Integral rigidity of the mechanism can be improved, weight of the platform can be effectively reduced, and quick advancing capacity of the mechanism is improved.
Description
technical field [0001] The invention relates to a four-degree-of-freedom parallel manipulator, in particular to a parallel manipulator comprising four branch chains with the same structure and capable of operating with three rotational degrees of freedom and one translational degree of freedom. Background technique [0002] According to the patents US6431802 and ZL200610013608.3, it is known that the existing three-rotation and one-translational parallel mechanism in space is generally realized in the form of a two-rotation-translational parallel mechanism supplemented by an electric spindle. Three branch chains with the same structure are symmetrically distributed on the fixed frame, and the ends of the branch chains are connected to the moving platform. Driven by the driving device installed on the branch chain, the moving platform can produce two rotational and one translational degrees of freedom relative to the fixed frame. . The electric spindle is installed on the mo...
Claims
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IPC IPC(8): B25J9/08B25J17/00
Inventor 孙涛宋轶民连宾宾董罡齐杨
Owner TIANJIN UNIV