Novel spatial three-freedom-degree parallel connection mechanism
A technology with degrees of freedom and space, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large load difference, high manufacturing cost, and large inertia of end effectors, etc., to achieve easy manufacturing and installation, good dynamic performance, and good posture. powerful effect
Active Publication Date: 2013-09-11
TIANJIN UNIV
View PDF7 Cites 11 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] The shortcomings of this type of mechanism are: the structure of each branch chain is complex, the arrangement of the kinematic pairs in the branch chain is difficult, the requirements for processing and assembly are harsh, the manufacturing cost is high, the inertia of the end effector is large, and the unconstrained branch chain and precise The loads of the constrained branch chains vary greatly, which affects the dynamic performance of the mechanism, etc.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0010] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0011] As shown in the figure, a new type of space three-degree-of-freedom parallel mechanism of the present invention includes a frame 7, a moving platform 1 is arranged above the frame, and the frame is arranged symmetrically in an equilateral triangle. Each triangular side of the frame is provided with a guide slide rail, and the first, second, and third active branch chain spaces are three-symmetrical, that is, they are spatially symmetrically distributed between the frame and the moving platform. Between, the first, second, and third active branch chains have the same structure, and each active branch chain includes a sliding saddle connected with a guide rail to form a linear movement pair, and the sliding saddle is movable with one end of the connecting rod The other end of the connecting rod is connected with the moving platform throu...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a novel spatial three-freedom-degree parallel connection mechanism which comprises a frame. A movable platform is disposed above the frame. The frame is of a regular triangle symmetrical structure. A guide slide rail is disposed on each triangle edge of the frame. A first drive support chain, a second drive support chain and a third drive support chain are spatially symmetrically disposed between the frame and the movable platform. The first drive support chain, the a second drive support chain and the third drive support chain are of the same structure. Each drive support chain comprises a slide saddle which is connected with the corresponding guide slide rail to form a liner motion pair, the slide saddle is movably connected with one end of a connecting rod, and the other end of the connecting rod is provided with a three-rotation-freedom-degree hinge connected with the movable platform. The parallel connection mechanism is simple in structure, convenient to manufacture and mount, high in gesture ability and good in dynamic performance.
Description
technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel mechanism capable of realizing three-rotation operation in space. Background technique [0002] According to patents ZL200910054381, ZL201210182195.7, etc., the existing three-degree-of-freedom parallel mechanism in space mainly has two realization forms: first, two (or three) unconstrained motion branch chains and A three-degree-of-freedom just-constrained branch chain is connected, and driving devices are installed on the branch chains. Each branch chain can move independently under the drive of the driving device, so that the moving platform generates three rotations in space relative to the frame; One-degree parallel mechanism and one-degree-of-freedom rotor connected in series. [0003] The shortcomings of this type of mechanism are: the structure of each branch chain is complex, the arrangement of the kinematic pairs in the branch chain is difficult, the requirements for ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 宋轶民高浩孙涛董罡齐杨
Owner TIANJIN UNIV