Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes

A technology without converging axes and degrees of freedom, applied in manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve problems such as difficulty in ensuring machining accuracy and difficulty in manufacturing, and achieve guaranteed machining accuracy, easy machining accuracy, and branching The effect of simple structure

Inactive Publication Date: 2014-12-10
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such geometric constraints bring great difficulty to the machining and manufacturing of the mechanism, and it is difficult to guarantee the machining accuracy

Method used

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  • Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes
  • Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes
  • Symmetric three-freedom-degree rotary parallel mechanism without intersecting axes

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Embodiment Construction

[0023] exist figure 1 In the three-degree-of-freedom rotating parallel mechanism embodiment 1 shown without converging axes, the parallel mechanism is composed of a fixed platform 1, a moving platform 6 and three movable branches with identical structures, and each movable branch consists of two A revolving pair and a three-degree-of-freedom planar sub-chain are composed of three revolving pairs R1, R2, and R3 whose axes are parallel to each other. The revolving pair R1 connects the fixed platform 1 and The connecting rod 2 is arranged obliquely 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 4, and the rotating pair R4 connects the connecting rod 4 and the connecting rod 5. The rotating pair The axis of R4 and the axis of the rotating pair R3 are not parallel to each other, the rotating pair R5 is connected to the connecting rod 5 and the moving pla...

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Abstract

A symmetric three-freedom-degree rotary parallel mechanism without intersecting axes comprises a moving platform, a fixing platform and three moving branches, wherein the three moving branches have the same structure and are used for connecting the fixing platform and the moving platform, each of the moving branches consists of a three-freedom-degree plane sub-chain and two rotation pairs, rotation pairs of the plane sub-chains are in parallel, moving pairs and rotation pairs are vertical mutually, and rotation pairs of the plane sub-chains are respectively arranged obliquely relative to the fixing platform and the moving platform. The mechanism has three rotary freedom degrees, and no intersecting axes exist among all branches. The mechanism is simple in structure and convenient to process and produce and has wide application prospects.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel mechanism with three rotation degrees of freedom and few degrees of freedom in space. 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. The parallel mechanism with three rotational degrees of freedom can realize arbitrary attitude changes in space, and is widely used in satellite positioning antennas, three-dimensional rotating platforms, multi-axis machining centers, and bionic robots. The traditional three-degree-of-freedom rotating parallel mechanism contains multiple axes that meet at one point. The most representative one is the 3-RRR rotating parallel mechanism proposed by Cox in 1981 (D.J. Cox. The Dynamic Modeling and Command Signal Formulation for Parallel Multi-Parameter Robotic Devices. Master Thesis to the Uni...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B23Q1/25
Inventor 黄真陈子明曹文熬陈谊超丁华锋
Owner YANSHAN UNIV
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