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Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains

A technology of plane sub-chain and degrees of freedom, applied in the direction of manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve the problems of difficulty in processing and manufacturing, difficulty in ensuring accuracy, etc., and achieve easy processing accuracy, convenient processing and manufacturing, and broad application prospects. Effect

Inactive Publication Date: 2012-08-08
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such a branch structure brings great difficulties to the actual processing and manufacturing, and it is difficult to guarantee the accuracy

Method used

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  • Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains
  • Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains
  • Non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains

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Embodiment Construction

[0026] in figure 1 In the three-dimensional schematic diagram of Embodiment 1 of the non-convergent axisymmetric two-turn-one-shift parallel mechanism with two-degree-of-freedom plane sub-chains shown, the parallel mechanism is composed of a fixed platform 1, a movable platform 6 and three branches with exactly the same structure. , Each branch starting from the fixed platform is a two-degree-of-freedom plane sub-chain connected to the fixed platform, an intermediate rotation pair R3, an intermediate movement pair P4, and a movable platform rotation pair R5 connected to the movable platform. The degree plane sub-chain is composed of two rotating pairs R1 and R2 whose axes are parallel to each other. The rotating pair R1 connects the fixed platform 1 and the connecting rod 2, and is arranged in parallel with the fixed platform. The rotating pair R2 connects the connecting rod 2 and the connecting rod 3. The rotating pair R3 connects the connecting rod 3 and the connecting rod ...

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Abstract

A non-concurrent axis symmetric two-rotation one-movement parallel mechanism with two-degree of freedom planar subchains comprises a moveable platform, a static platform, and three structurally identical moveable branches for connecting the moveable platform and the static platform, wherein each branch consists of a sliding pair, two revolute pairs and a two-degree of freedom planar subchain; the revolute pairs in the planar subchain are parallel to each other; the sliding pair is vertical to the revolute pairs; and the revolute pairs in the planar subchain are parallel to the static platform and the moveable platform. The non-concurrent axis symmetric two-rotation one-movement parallel mechanism with the two-degree of freedom planar subchains has two rotational degrees of freedom and a movement degree of freedom, and no any concurrent axis exists in the branches and between the branches, so that the non-concurrent axis symmetric two-rotation one-movement parallel mechanism with the two-degree of freedom planar subchains is very simple in structure and relatively convenient to manufacture and has very wide application prospect.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel mechanism with two degrees of freedom in rotation and one degree of freedom in movement. Background technique [0002] Compared with serial robots, parallel robots have the advantages of high rigidity, fast movement speed and high precision, and are widely used in the field of machinery industry. Hunt proposed a 3-RPS three-degree-of-freedom parallel mechanism in 1983, which has two degrees of freedom of rotation and one degree of freedom of movement perpendicular to the fixed platform (K.H. Hunt, Structural Kinematics of In-Parallel-Actuated Robot-Arms, Journal of Mechanisms Transmissions and Automation in Design, 105 (1983) 705-705), this mechanism has since received extensive attention and application. The 3-PRS three-degree-of-freedom parallel mechanism, which has similar kinematic properties to 3-RPS, has been successfully applied to the design of machine tool spindles. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/25
Inventor 黄真陈子明李艳文陈谊超曹文熬
Owner YANSHAN UNIV
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