Three degree-of-freedom parallel mechanism with symmetrical space surfaces

A technology with plane symmetry and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex positive kinematics solutions, strong kinematic coupling, small workspace, etc., and achieve simple positive kinematic solutions and simple control methods. , the effect of large working space

Inactive Publication Date: 2013-03-20
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0003] Due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been well resolved, such as strong kinematic coupling, complex kinematics solutions, small working space, poor transmission characteristics, etc.

Method used

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  • Three degree-of-freedom parallel mechanism with symmetrical space surfaces

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Embodiment 1

[0018] Such as figure 1 As shown, a plane-symmetric three-degree-of-freedom parallel mechanism is constructed, and the motion platform of the mechanism can realize a motion output in the form of one translation and two rotations.

[0019] The space plane symmetric three-degree-of-freedom parallel mechanism provided by the present invention is composed of a moving platform (1), a fixed platform (2) and three branch chains connecting the above two platforms. The first branch chain (C1S1) is composed of the first cylindrical pair (C1), the first moving pair (P1), the first spherical pair (S1) and the first connecting rod (L11) and the second connecting rod (L12) between them; the second branch chain (C2S2) consists of the first Composed of two cylinder pairs (C2), the second moving pair (P2), the second spherical pair (S2) and the third connecting rod (L21) and fourth connecting rod (L22) between them; the third branch chain (C3S3 ) consists of the third cylindrical pair (C3), t...

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Abstract

The invention discloses a three degree-of-freedom parallel mechanism with symmetrical space surfaces, and relates to the technical field of robots and space mechanisms. The mechanism is composed of a fixed platform, a moving platform and three support chains which are used for connecting the fixed platform and the moving platform. Two of the three support chains from the fixed platform to the moving platform are respectively composed of a cylindrical pair C, a prismatic pair P, a spherical pair S and connecting bars among the cylindrical pair C, the prismatic pair P and the spherical pair S. The other support chain from the fixed platform to the moving platform is composed of a cylindrical pair C, a prismatic pair P and a connecting bar between the cylindrical pair C and the prismatic pair P, and namely the parallel mechanism is a moving chain type parallel mechanism. According to a worktable of the parallel mechanism, three degree-of-freedom move output which contains a one-dimensional move and a bi-dimensional rotation can be achieved, and adjustment of positions and postures of the moving platform can be achieved through control on displacement of the prismatic pairs P in the support chains. The parallel mechanism is simple and novel in structure, concise in moving forward solution, and simple and convenient in control method. The parallel mechanism has a wide potential application prospect in multiple fields such as robot technology, machining and locating devices.

Description

technical field [0001] The invention relates to the technical field of robots and space mechanisms, in particular to a plane-symmetric three-degree-of-freedom parallel mechanism. Background technique [0002] The Stewart platform proposed by Stewart in 1965 is composed of upper and lower platforms and 6 driving rods. The driving rods can be independently expanded and retracted, and are connected to the upper and lower platforms by ball hinges respectively. In this way, the upper platform has 6 degrees of freedom. With the continuous deepening of research on various parallel mechanisms, people will collectively refer to all mechanisms that connect the upper and lower platforms through two or more branch chains, the mechanism has two or more degrees of freedom, and the driving mode is parallel drive. is a parallel mechanism. Compared with the traditional serial mechanism, the parallel mechanism has the advantages of large load capacity, high rigidity, fast movement speed, hig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 李彬赵新华刘磊
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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