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Redundant drive three-freedom-degree parallel mechanism with double motion platforms

A technology of motion platform and degree of freedom, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of ball joints, increase the difficulty of manufacturing, and difficult control of precision, so as to improve the rigidity and carrying capacity and facilitate manufacturing Simple effect of installation and kinematic model

Active Publication Date: 2015-05-06
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the two rotation axes of the 3-PRS parallel mechanism of the z3 spindle head change with the change of the pose of the moving platform, which brings inconvenience to the actual motion calibration and control of the mechanism.
The 2-UPR-SPR parallel mechanism has a spherical joint, which increases the difficulty of manufacturing and the accuracy is not easy to control
And whether it is 3-PRS or 2-UPR-SPR, the number of branches is 3, which is a non-redundant drive parallel mechanism, which reduces the stiffness and load-carrying performance of the mechanism

Method used

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  • Redundant drive three-freedom-degree parallel mechanism with double motion platforms
  • Redundant drive three-freedom-degree parallel mechanism with double motion platforms
  • Redundant drive three-freedom-degree parallel mechanism with double motion platforms

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Embodiment Construction

[0024] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0025] figure 1 with figure 2 As shown, the four branches of the mechanism are symmetrically distributed in pairs (the first branch, the second branch, the third branch and the fourth branch surround the circumference of the upper platform in a clockwise direction, or surround the uniform distribution in a counterclockwise direction. Cloth on the circumference of the upper platform). The guide rails and leading screws in the four branches are all installed on the frame, and their axes are all perpendicular to the ground. The first slide block 6 of the first branch is slidably matched with the guide rail, and is driven by the first branch lead screw 2 through a threaded structure (the slide block is shaped on a nut suitable for the thread of the lead screw; the same below), the first slide block 6 It is connected with the connecting rod 14 through the fir...

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Abstract

The invention relates to a redundant drive three-freedom-degree parallel mechanism with double motion platforms. The aim is that the mechanism has the advantages that a kinematic model is simple, calibrating control is easy and the mechanism is convenient to manufacture and install. The technical scheme is that the redundant drive three-freedom-degree parallel mechanism with the double motion platforms comprises an upper platform, a lower platform, a machine frame and four independent telescopic adjusting branches. The redundant drive three-freedom-degree parallel mechanism is characterized in that every moving pair comprises a sliding block in sliding fit with a guide rail, a driving device of every moving pair is a screw rod mechanism driven by a motor, the screw rod mechanism comprises a screw rod driving the sliding block through a thread fit structure, and the axis of the guide rail and the axis of the screw rod are perpendicular to the ground.

Description

technical field [0001] The invention relates to an executive mechanism of a machine tool and an industrial robot, in particular a redundant drive three-degree-of-freedom parallel mechanism with a double-motion platform. Background technique [0002] The degree of freedom of the parallel mechanism with few degrees of freedom is less than 6, and it has the characteristics of simple structure, high precision, large working space, and easy control. Due to these advantages, parallel mechanisms with few degrees of freedom have been widely used in industrial fields such as machining and medical equipment. Among them, the three-degree-of-freedom parallel mechanism is a research hotspot of the few-degree-of-freedom parallel mechanism. Nowadays, in the application field of parallel machine tools, the three-degree-of-freedom [PP] S-type parallel mechanism with rotation in two directions around space and movement in one direction is widely used, such as the 3- The Z3 (WO2000025976) sp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/25B25J9/08
Inventor 李秦川马吉钢黄田戴建生刘辛军
Owner ZHEJIANG SCI-TECH UNIV
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