Three-move one-rotation four-freedom degree space parallel connection mechanism

A technology with a degree of freedom and space, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increased kinematic complexity, unfavorable production efficiency, complex structure, etc., to achieve easy high-speed and high-acceleration movement, simple structure, and smooth learn simple effects

Inactive Publication Date: 2013-02-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the double-platform structure of the H4 mechanism, its structure is complicated, and at the same time, the complexity of kinematics is increased, which has an adve

Method used

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  • Three-move one-rotation four-freedom degree space parallel connection mechanism
  • Three-move one-rotation four-freedom degree space parallel connection mechanism

Examples

Experimental program
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Effect test

Embodiment 1

[0016] The structure of a three-movement-one-rotation four-degree-of-freedom space parallel mechanism in this embodiment is as follows: figure 1 As shown, it includes a fixed platform 18, a moving platform 11, and the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV, and the four branch chains are respectively connected to the fixed platform 18 and the moving platform 11, and form a space closed-loop mechanism with the fixed platform 18 and the moving platform 11.

[0017] The first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV structure are completely the same, all are R R(Pa)RR type motion branch chain, in the figure, the first branch chain I includes: connecting rod 17, parallelogram mechanism Pa, connecting piece 12 and motion pair. There are four kinematic pairs, one is the revolving pair R connected between the fixed platform 18 and the connecting rod 17, t...

Embodiment 2

[0020] The structure of a three-movement-one-rotation four-degree-of-freedom space parallel mechanism in this embodiment is as follows: figure 2 As shown, similar to Example 1, it also includes the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV with the same structure. The difference between this embodiment and Embodiment 1 is that the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV are all P The R(Pa)RR type kinematic branch chain, that is, the difference between this embodiment and the first embodiment is that the driving form of the active drive of the mobile pair is adopted. Embodied in the specific structure is: the slide block 22 of its first branch chain 1 is connected with the upper link 21 of the parallelogram mechanism Pa by a rotating pair, the slide block 22 is connected with the fixed platform 23 by a moving pair and the moving pair is Activel...

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Abstract

The invention discloses a three-move one-rotation four-freedom degree space parallel connection mechanism and belongs to the technical field of parallel connection robots. The mechanism comprises a moving platform, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the moving platform and the fixed platform are used for installing an actuator, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the moving platform and the fixed platform and provided with the same structure, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain all contain a moving pair which is driven actively; and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected with the fixed platform and the moving platform to form a space parallel connection closed-loop mechanism, the space parallel connection closed-loop mechanism moves through four output moving driving platforms, three-dimensional translation and one-dimensional rotation in the space can be achieved, the space parallel connection mechanism has a structural characteristic of a single platform, a high-speed high-dynamic response characteristic is achieved, and mechanism can be used in a sorting production line to achieve rapid capture motion.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a four-degree-of-freedom space parallel mechanism that can realize high-speed motion and is applied to production lines such as packaging, manufacturing, assembly, and material picking. Background technique [0002] The parallel mechanism is a closed-loop mechanism composed of multiple branch chains. The corresponding traditional mechanism mostly uses a single open-chain structure to achieve multiple degrees of freedom of the terminal. This type of mechanism is usually called a series mechanism. In the parallel mechanism, the mechanism with less than six degrees of freedom is called a parallel mechanism with few degrees of freedom, and the four-degree-of-freedom parallel mechanism of the present invention belongs to this type of mechanism. In recent years, parallel mechanisms with few degrees of freedom have been more and more valued and favored by researchers. Clavel first propose...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 谢福贵刘辛军汪劲松尤政
Owner TSINGHUA UNIV
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