Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection
A completely symmetrical, closed-loop sub-chain technology, applied in the field of robotics, can solve problems such as difficult control and complex structure of parallel mechanisms, and achieve the effects of simple bar connection structure, small mechanism inertia, and good dynamic performance
Inactive Publication Date: 2015-04-01
GUANGXI UNIV
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[0003] The purpose of the present invention is to provide a double closed-loop sub-chain parallel mechanism with fully symmetrical kinematic pair connections, which solves the shortcomings of complex structure and difficult control of the parallel mechanism with multiple branch chains
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[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 double closed-loop sub-chain parallel mechanism with fully symmetrical kinematic pair connections, 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 second rotating pair (5) , the other end of the first connecting rod (4) is connected with the sec...
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The invention relates to a double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection. The double closed-loop subchain parallel mechanism comprises a first five-rod mechanism closed-loop subchain, a second five-rod mechanism closed-loop subchain and an executing mechanism subchain. The first five-rod mechanism closed-loop subchain can control a first hooke joint to move, the second five-rod mechanism closed-loop subchain can control a second hooke joint to move, and movement of the first hooke joint second hooke joint can achieve space motion of a movable platform. The double closed-loop subchain parallel mechanism controls space motion of the two hooke joints through two closed-loop subchains, accordingly achieves space multi-freedom-degree motion of the movable platform, has the advantages of compact structure and simple and flexible control, is small in motion inertness of the mechanism, and is good in dynamics performance.
Description
technical field [0001] The invention relates to the field of robots, in particular to a space 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; completely 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 p...
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IPC IPC(8): B25J9/00
Inventor 蔡敢为丁侃潘宇晨胥刚于腾高德中吕姗姗王小纯
Owner GUANGXI UNIV