Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain

A closed-loop sub-chain and sub-chain technology, applied in the field of robotics, can solve the problem that multiple drives cannot be connected to the frame at the same time, and achieve the effect of small inertia of the mechanism and good dynamic performance

Inactive Publication Date: 2013-03-27
GUANGXI UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel mechanism including prr open-loop sub-chain and pprpr closed-loop sub-chain, whic

Method used

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  • Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain
  • Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain
  • Parallel mechanism containing prr open-loop sub-chain and pprpr closed-loop sub-chain

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Embodiment Construction

[0018] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] control figure 1 , image 3 , Figure 4 , Figure 5 and Figure 6 , a five-degree-of-freedom parallel mechanism with a closed-loop sub-chain, including an actuator sub-chain and a six-bar mechanism closed-loop sub-chain, its structure and connection method are:

[0020] The sub-chain of the actuator is formed by connecting the first connecting rod 11, the second connecting rod 15, the first slider 13, the first Hooke hinge 7, the moving platform 4 and the frame 1, and one end of the first connecting rod 11 passes through The first rotating pair 2 is connected on the frame 1, the other end of the first connecting rod 11 is connected with the first sliding block 13 through the first moving pair 12, and the other end of the first sliding block 13 is connected with the second connecting rod through the second rotating p...

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Abstract

Disclosed is a parallel mechanism containing a prr open-loop sub-chain and a pprpr closed-loop sub-chain. The parallel mechanism comprises an actuator sub-chain and a six-bar linkage closed-loop sub-chain. The six-bar linkage closed-loop sub-chain can control a third connection bar to move in a plane where the six-bar linkage closed-loop sub-chain is in, and motion of a first connection bar and the third connection bar can achieve space motion of a movable platform. The parallel mechanism is achieved by controlling a closed-loop sub-chain, and the space motion of the movable platform is achieved through the space motion of the closed-loop sub-chain, the first connection bar and the third connection bar. The parallel mechanism has the advantages of being compact in structure and simple to control. All connection bars are connected onto a rack and can be made to be light bars, so that the mechanism motion 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 parallel mechanism comprising a prr open-loop sub-chain and a pprpr closed-loop sub-chain. 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. 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 will be more excellent, such as ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 蔡敢为胥刚王小纯潘宇晨于腾丁侃吕姗姗高德中
Owner GUANGXI UNIV
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