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Novel two-rotation parallel mechanism

A parallel and new technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of inability to meet the requirements of the application field, high assembly difficulty, complex structure, etc., and achieve excellent mechanical rigidity, easy assembly, and simple mechanism structure. Effect

Active Publication Date: 2015-02-04
TIANJIN UNIV
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Problems solved by technology

[0003] At present, the proposed parallel mechanism mainly has the following deficiencies: 1) The proposed two-rotation parallel mechanism has a complex structure and contains complex hinges. As described in patents CN102079090A and CN102294693A, the mechanism is composed of multiple branch chains, and the structure is complex; Contains complex hinges and is difficult to assemble; 2) The existing mechanism cannot provide sufficient rigidity to complete the required operations. The structural features of the mechanism described in patents CN102126212A and CN103624559A can be equivalent to a type of planar mechanism, which cannot be normal to the mechanism The direction provides sufficient support stiffness, so it cannot support satellites, robot arms, etc. to complete the required tracking and positioning operations
[0004] In summary, the existing two-rotation parallel mechanism cannot meet the requirements of the above application fields

Method used

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Embodiment Construction

[0019] The present invention will be described in detail below in conjunction with specific embodiments.

[0020] As shown in the accompanying drawings, a novel two-rotation parallel mechanism of the present invention consists of a static platform 1, a dynamic platform 5, and a first branch chain 2, a second branch chain 3 and a third branch chain 4 connecting the dynamic and static platforms. , the first branch chain, the second branch chain and the third branch chain are distributed symmetrically in a space of 120 degrees;

[0021] The first branch chain 2 includes the first static platform rotating pair 6 installed on the static platform 1, the rotating shaft of the first static platform rotating pair is rotationally connected with one end of the lower arc rod 7, and the lower arc rod 7 The other end is rotationally connected to one end of the upper arc-shaped rod 9 through the first intermediate rotating pair 8, and the other end of the upper arc-shaped rod 9 is rotational...

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Abstract

The invention discloses a novel two-rotation parallel mechanism, which comprises a static platform, a moving platform and a first branched-chain, a second branched-chain and a third branched-chain which are used for connecting the static platform with the moving platform, wherein the first branched-chain, the second branched-chain and the third branched-chain are symmetrically distributed at an included angle of 120 degrees. The novel two-rotation parallel mechanism comprises a connecting rod, a Hooke hinge and a rotational pair, each branched-chain consists of ordinary simple hinges, and the mechanism is simple in structure and is easy to assemble; the mechanism is not provided with a special complicated hinge inside, and the rigidity property of the mechanism is superior, so the novel two-rotation parallel mechanism can be applied to positioning satellite tracking, robot shoulder / wrist posture adjustment and other occasions.

Description

technical field [0001] The invention relates to a two-rotation parallel mechanism, in particular to a two-rotation parallel mechanism with asymmetric branch chains. Background technique [0002] The two-rotation parallel mechanism has broad application prospects in the industrial field. It can be used in positioning and tracking devices for inter-satellite link satellites, robot shoulder / wrist joints, minimally invasive surgical robotic hands, etc. The above-mentioned application fields require that the two-rotation parallel mechanism is easy to assemble and Has a certain stiffness performance. [0003] At present, the proposed parallel mechanism mainly has the following deficiencies: 1) The proposed two-rotation parallel mechanism has a complex structure and contains complex hinges. As described in patents CN102079090A and CN102294693A, the mechanism is composed of multiple branch chains, and the structure is complex; Contains complex hinges and is difficult to assemble; 2...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/00
Inventor 宋轶民齐杨孙涛
Owner TIANJIN UNIV
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