Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
A degree of freedom, moving platform technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex kinematics, unfavorable production efficiency, improvement and other problems, achieve high-speed and high-acceleration dynamic response characteristics, and relatively simple kinematics , the effect of improving production efficiency
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[0016] Example 1:
[0017] The structure of a four-degree-of-freedom single-platform parallel mechanism capable of realizing SCARA motion in this embodiment is as follows: figure 1 As shown, it includes a fixed platform 17, a moving platform 11 and a first branch I, a second branch II, a third branch III and a fourth branch IV, which are respectively connected to the fixed platform 17 and the moving platform. 11, and form a closed-loop space mechanism with the fixed platform 17 and the movable platform 11.
[0018] The structures of the first branch I, the second branch II, the third branch III and the fourth branch IV are exactly the same, and the fourth branch IV is taken as an example in the figure, including: the driving arm 16, the left connecting rod 14 , the right link 15, the support rod 13, the connecting piece 12 and the kinematic pair. There are seven motion pairs, one is the rotating pair R connected between the fixed platform 17 and the drive arm 16, the other i...
Example Embodiment
[0020] Embodiment 2:
[0021] The structure of a four-degree-of-freedom single-platform parallel mechanism capable of realizing SCARA motion in this embodiment is as follows: figure 2 As shown, similar to Embodiment 1, it also includes the first branch I, the second branch II, the third branch III and the fourth branch IV with the same structure. The difference between this embodiment and the first embodiment is that the first branch I, the second branch II, the third branch III and the fourth branch IV all adopt the driving form of active driving of the mobile pair. The specific structure is as follows: the slider 23 of the fourth branch IV is connected with the left link 21 through a spherical hinge, the slider 23 is connected with the right link 22 through a spherical hinge, and the slider 23 is connected with the fixed platform. 24 is connected by a moving pair and the moving pair is actively driven. In this embodiment, the fixed platform is composed of four separate fi...
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