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Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints

A degree of freedom, Hooke technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of less freedom of movement, more degrees of freedom of constraints, complex structure, etc., to achieve simple and reliable structure, and improve lateral stiffness. , the effect of high lateral stiffness

Active Publication Date: 2013-01-02
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The two-degree-of-freedom translational parallel mechanism is one of the few-degree-of-freedom parallel mechanisms. Due to the few degrees of freedom in motion, there are many degrees of freedom that need to be constrained, which makes the design of the motion branch chain more difficult.
In the actual working process, the loads borne by the two-degree-of-freedom translational parallel mechanism are all spatial, that is to say, all directions of the moving platform are affected by external loads, so these mechanisms cannot meet the lateral stiffness requirements during the movement process. Require
In order to improve the lateral stiffness of the two-degree-of-freedom translational parallel mechanism, the two-degree-of-freedom translational parallel mechanism proposed by CN101224578A and CN101224577A form space constraints through the arrangement of the Hooke hinge, which improves the force condition of the branch chain and improves the lateral stiffness of the mechanism. bearing capacity and stiffness, but there are over-constraints and the structure is more complex

Method used

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  • Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints
  • Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints
  • Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints

Examples

Experimental program
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Effect test

Embodiment 1

[0016] The general structure of the two-degree-of-freedom translational parallel mechanism of the present invention is as follows: figure 1 As shown, in addition to the above-mentioned structural features, the composite branch chain of the first motion branch chain includes the first motion slider 31, the first and second sub-constraint branch chains, and the first and second sub-constraint branch chains are connected in parallel Between the first motion slider 31 and the motion platform 7, the single branch chain of the second motion branch chain includes the second motion slider 32 and the third sub-constraint branch chain, and the first motion slider 31 is arranged on the first The guide rail 21, the second moving slider 32 is arranged on the second guide rail 22; the first sub-constraint branch chain is formed by connecting the first Hooke hinge 41, the first connecting rod 51 and the fourth Hooke hinge 61 in series , the second sub-constraint branch chain is formed by con...

Embodiment 2

[0019] The general structure of the two-degree-of-freedom translational parallel mechanism of the present invention is as follows: figure 2 As shown, in addition to the characteristics of Embodiment 1, the axes of the first and second pairs of guide rails 21 and 22 arranged on the fixed platform 1 are arranged in parallel, so the moving directions of the first and second moving sliders 31 and 32 are parallel to each other.

Embodiment 3

[0021] The general structure of the two-degree-of-freedom translational parallel mechanism of the present invention is as follows: image 3 As shown, the difference between this mechanism and the mechanism of Embodiment 1 is that the two moving branch chains connecting the fixed platform 1 and the moving platform 7 in parallel are both compound branch chains, and the structural arrangement of the two compound branch chains is the same as that of Embodiment 1. The branch chains are identical, wherein the sub-branches connected in series by the third Hookee hinge 43, the third connecting rod 53 and the sixth Hookee hinge 63 are equivalent to the second sub-constrained branch chain of the composite branch chain in Embodiment 1, by The sub-branch connected in series by the fourth Hookee hinge 44 , the fourth connecting rod 54 and the seventh Hookee hinge 64 is equivalent to the first sub-constraint branch of the composite branch in Embodiment 1.

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Abstract

The invention discloses a translation parallel mechanism with two degrees of freedom and hooke joints as passive joints. The parallel robot mechanism comprises a moving platform, a fixed platform, two pairs of guide rails and two moving side chains, and the moving side chains are connected between the fixed platform and the moving platform in parallel. One or two secondary constraint side chains and a moving slider are serially connected to form each moving side chain, the moving sliders are directly connected with the guide rails, the corresponding hooke joint, a corresponding connecting rod and another corresponding hooke joint are serially connected to form each secondary constraint side chain, and the secondary constraint side chains are connected between the moving platform and the moving sliders in parallel. The translation parallel mechanism with the two degrees of freedom is simple in structure and does not have an over-constraint structure; and the hooke joints are used as the passive joints, so that stress states of the connecting rods are improved, and lateral rigidity of the mechanism is improved.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a two-degree-of-freedom translation parallel mechanism whose passive hinge is a Hooke hinge. Background technique [0002] The parallel mechanism is a closed-loop motion system formed by multiple branch chains connected in parallel to the fixed platform and the moving platform. The drive motor is installed on the fixed platform, which reduces the mass of the moving parts. Compared with the traditional series mechanism, the parallel mechanism has the following advantages: strong bearing capacity, high stiffness-to-mass ratio, small error, easy to realize compact structure, high-speed movement, and modular design. [0003] The two-degree-of-freedom translational parallel mechanism is one of the few-degree-of-freedom parallel mechanisms. Due to the few degrees of freedom in motion, there are many degrees of freedom that need to be constrained, making the design of the kinematic branch...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 彭斌彬李增明孙宇武凯王栓虎丁武学
Owner NANJING UNIV OF SCI & TECH
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