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Parallel mechanism containing two identical closed-loop sub-chains

A closed-loop sub-chain and sub-chain technology, applied in the field of robotics, can solve the problems of complex structure and difficult control of parallel mechanisms, and achieve the effects of small inertia of the mechanism, simple connection structure of rods, and good dynamic performance

Inactive Publication Date: 2015-04-01
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel mechanism containing two identical closed-loop sub-chains, which solves the disadvantage of complex structure and difficult control of parallel mechanisms with multiple branch chains

Method used

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  • Parallel mechanism containing two identical closed-loop sub-chains
  • Parallel mechanism containing two identical closed-loop sub-chains
  • Parallel mechanism containing two identical closed-loop sub-chains

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Embodiment Construction

[0017] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] control figure 1 , figure 2 , image 3 , Figure 4 with Figure 5 , a parallel mechanism containing two identical closed-loop sub-chains, including a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain.

[0019] The closed-loop sub-chain of the first five-bar mechanism is connected by the first connecting rod (4), the second connecting rod (7), the third connecting rod (8), the fourth connecting rod (10) and the first column (3) Formed, the first column (3) is connected with the frame (1) through the first rotating pair (2), and one end of the first connecting rod (4) is connected to the first column (3) through the first moving pair (5) , the other end of the first connecting rod (4) is connected with the second connecting rod (7) through the...

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Abstract

The invention relates to a parallel mechanism containing two identical closed-loop sub-chains. The parallel mechanism comprises a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain. The first five-bar mechanism closed-loop sub-chain can control a first hooke joint to move, the second five-bar mechanism closed-loop sub-chain can control a second hooke joint to move, and the motion of the first hooke joint and the second hooke joint can achieve space motion of a movable platform. According to the parallel mechanism, the motion of the two hooke joints in space is controlled by two closed-loop sub-chains, and accordingly, multi-freedom-degree motion of the movable platform is achieved. The parallel mechanism has the advantages of being compact in structure and simple to control, the mechanism moving inertia is small, and the dynamic performance is good.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-degree-of-freedom parallel mechanism with closed-loop sub-chains. Background technique [0002] Compared with the traditional serial mechanism, the parallel mechanism has the following characteristics: no cumulative error and high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; Compact structure, high rigidity, large bearing capacity; symmetrical parallel mechanism has better isotropy. Since the parallel mechanism itself is relatively complex, if the branch contains closed loops, the mechanism will be more complicated. Therefore, generally speaking, the symmetrical parallel mechanism with branches without closed loops will have the most typical properties. However, if the closed-loop application Properly, the performance of the parallel mechanism...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 蔡敢为丁侃潘宇晨于腾胥刚高德中吕姗姗王小纯
Owner GUANGXI UNIV