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Two-rotating complete decoupling parallel mechanism

A completely decoupled and parallel technology, applied in the field of robots, can solve the problems of high manufacturing cost and complex structure, and achieve the effect of good processing and assembly performance, simple calibration and easy control.

Inactive Publication Date: 2014-03-12
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The structure is more complex and the manufacturing cost is high

Method used

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  • Two-rotating complete decoupling parallel mechanism
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Examples

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Effect test

Embodiment 1

[0013] exist figure 1 In the schematic diagram of a fully decoupled parallel mechanism with two rotations shown, the structures of the first branch 1 and the second branch 15 are exactly the same, and one end of the connecting rod 3 in the two branches is connected with the fixed platform 14 through the first rotating pair 2, the The other end of connecting rod one 3 is connected with one end of connecting rod two 5 through rotating pair two 4, and the other end of this connecting rod two 5 is connected with one end of connecting rod three 7 through rotating pair three 6, and the other end of this connecting rod three 7 One end is connected to the moving platform 9 through the rotating pair 4 8, the axis of the rotating pair 1 connected with the fixed platform in this branch is perpendicular to the axes of the other three rotating pairs, and the axes of the three rotating pairs are parallel to each other and perpendicular to the moving platform. platform; the two ends of the m...

Embodiment 2

[0015] exist figure 2 In the schematic diagram of a fully decoupled parallel mechanism with two rotations shown, the structures of the first branch 1 and the second branch 15 are exactly the same, and one end of the connecting rod 15 in the two branches is connected to the fixed platform 14 through the Hooke hinge 16, The connection relationship of other rods and figure 1 same.

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Abstract

A two-rotating complete decoupling parallel mechanism mainly comprises a movable platform, a fixed platform and three branches connected with the movable platform and the fixed platform. The structure of the first branch and the structure of the second branch are identical, the first branch and the second branch are respectively formed by four rotating pairs and three connecting rods, one end of each first connecting rod of each branch is connected with the fixed platform through the corresponding first rotating pair, the other end of each first connecting rod is connected with one end of the corresponding second connecting rod through the corresponding second rotating pair, the other end of each second connecting rod is connected with one end of the corresponding third connecting rod through the corresponding third rotating pair, and the other end of each third connecting rod is connected with the movable platform through the corresponding fourth rotating pair; the third branch is composed of two rotating pairs and one moving pair, the third branch is respectively connected with the movable platform and the fixed platform through the fifth rotating pair and the sixth rotating pair, and the axis of the fifth rotating pair and the axis of the sixth rotating pair are vertical to each other. The two-rotating complete decoupling parallel mechanism has the advantages of being simple in structure, easy to machine, assemble and control and good in dynamic performance, achieving motion decoupling and the like.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] The parallel robot mechanism has multiple degrees of freedom and multi-loop closed chain in space. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. [0003] The degrees of freedom of parallel mechanisms vary from 2 to 6. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, and it is also widely used in industry. However, the structure of the parallel mechanism with few degrees of freedom is simple, and the manufacturing and control costs are low. Therefore, the parallel mechanism with f...

Claims

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Application Information

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IPC IPC(8): B23Q1/48B25J9/00
CPCB25J9/003
Inventor 曾达幸卢文娟胡志涛苏永林
Owner YANSHAN UNIV
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