Spatial three-degree-of-freedom parallel mechanism
A degree of freedom, parallel technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low running speed of the mechanism, large inertia of the execution part, and many motion pairs, and achieve simplified trajectory planning, large working space, low cost effect
Inactive Publication Date: 2014-12-24
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0004] At present, the space three-degree-of-freedom parallel mechanism has broad application prospects in the fields of processing equipment, food packaging, and medical equipment. For the problem of low speed, it is necessary to create a new model that meets the requirements of the motion form, has fewer motions, and runs at a higher speed.
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[0020] Such as figure 1 As shown, the space three-degree-of-freedom parallel mechanism provided by the present invention is composed of a fixed platform 1, a moving platform 2 and three branch chains connecting the above two platforms; wherein the first branch chain is sequentially installed on the fixed platform from the fixed platform to the moving platform The first guide rail D1 on 1, the first cylindrical pair C1 set on the first guide rail D1, the first connecting rod L11 fixed on the first cylindrical pair C1, and the first moving pair P1 fixed at the other end of the first connecting rod L11 , the second connecting rod L12 that moves with the first moving pair P1, the first Hooke hinge U1 installed between the other end of the second connecting rod L12 and the moving platform; the second branch chain is sequentially installed from the fixed platform to the moving platform The second guide rail D2 on the fixed platform, the second cylindrical pair C2 set on the second ...
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The invention discloses a spatial three-degree-of-freedom parallel mechanism, which relates to the technical field of robots and advanced manufacturing, in particular to a spatial three-degree-of-freedom parallel robot mechanism. The mechanism is composed of a motion platform, a fixed platform and three branched chains, wherein the three branched chains are used for connecting the motion platform with the fixed platform, and each branched chain is composed of a guide rail, a cylindrical pair, a moving pair, a hook hinge and connecting rods among the guide rail, the cylindrical pair, the moving pair and the hook hinge from the fixed platform to the motion platform. According to the mechanism, movement output of one-dimensional translation and two-dimensional rotation in a cartesian coordinate system can be realized by the working platforms of the mechanism, and the mechanism has the advantages of simplicity, easiness in manufacturing and installation, high driving accuracy, low cost, large work space and good driving characteristics; meanwhile, the kinematic positive and negative solutions of the mechanism are simple, and a series of technical problems of path planning, control, correction and the like are simplified.
Description
technical field [0001] The invention relates to the field of robot mechanism and advanced manufacturing technology, in particular to a parallel mechanism realizing three degrees of freedom in space. Background technique [0002] A parallel mechanism is a group of two or more branches connected in parallel. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. Numerical control machine tools, robot manipulators and manufacturing units composed of parallel mechanisms as transmission and feed mechanisms are collectively referred to as parallel configuration equipment, which is a new type of manufacturing equipment developed in recent years with broad application prospects. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipula...
Claims
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Inventor 李彬李杨民赵新华杨玉维孟广柱
Owner TIANJIN UNIVERSITY OF TECHNOLOGY