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Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation

A technology with degrees of freedom and three translations, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to solve problems such as increasing structural complexity and complex kinematics

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

AI Technical Summary

Problems solved by technology

However, its rotary output motion is generated by the relative motion of the double platform, which increases the structural complexity of this type of mechanism and leads to complex kinematic characteristics

Method used

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  • Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation
  • Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation

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Embodiment 1

[0016] The structure of a four-degree-of-freedom single-platform parallel mechanism that can realize three translations and one rotation in this embodiment is as follows: figure 1 As shown, it includes a fixed platform composed of four fixed plates 12, 13, 18, 19, a moving platform 11 on which an actuator is installed, and the first branch chain I, the second branch chain II, the third branch chain III and the first branch chain Four branch chains IV, one end of the four branch chains is respectively connected to four fixed plates (12, 13, 18, 19), and the other end is connected to the moving platform 11, and the four branch chains are respectively connected to four fixed plates (12, 13, 19). 18, 19) and the moving platform 11 form a spatial closed-loop mechanism.

[0017] The structure of the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV is exactly the same, and only the structure of the first branch chain I is mar...

Embodiment 2

[0020] The structure of a four-degree-of-freedom single-platform parallel mechanism that can realize three translations and one rotation in this embodiment is as follows: figure 2 As shown, it is the same as the embodiment, including a moving platform 21 on which an actuator is installed, 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, and four blocks A fixed platform composed of fixed plates. 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 composed of a slider, a parallelogram mechanism and a kinematic pair Composition, that is, a parallelogram mechanism Pa is used. It is reflected in the specific structure: in the figure, taking the first branch chain I as an example, the slider 22 is connected with the parallelogram mechanism Pa through a rotation pai...

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Abstract

The invention relates to a four-degree-of-degree single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation and belongs to the technical field of industrial robots. The mechanism comprises a moving platform for installing an actuator, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain which have same structures are connected between the moving platform and the fixed platform and respectively comprise a driving moving pair; and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected with the fixed platform and the moving platform respectively to form a parallel closed loop mechanism, and the parallel closed loop mechanism drives the moving platform to move through the four driving moving pairs so that three-dimensional translation and one-dimensional rotation in space are achieved. The parallel mechanism has structure characteristics of single platforms and is concise in structure and simple in kinematics, and achievement of high-speed movement is facilitated.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a four-degree-of-freedom single-platform parallel mechanism capable of high-speed motion. Background technique [0002] In the field of industrial robots, manipulators that can realize Selective Compliance Assembly Robot Arm (SCARA) movement have been widely used in industrial fields such as automatic handling, spraying, welding and assembly. SCARA motion generally refers to three-dimensional translation and one-dimensional rotation in space, and the rotation axis is perpendicular to the horizontal plane. The manipulator has good compliance in the horizontal plane and good rigidity in the direction perpendicular to the horizontal plane. This kind of robot arm was first realized by serial mechanism. The series mechanism and the parallel mechanism are a pair of relative concepts. Different from the single open-loop branch chain structure of the series mechanism, the parallel mecha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 谢福贵刘辛军王立平尤政
Owner TSINGHUA UNIV
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