4SPR+2R type four-freedom-degree parallel mechanism

A degree of freedom, parallel technology, applied in the field of robotics, to achieve the effect of large working space, high rigidity, and simple overall structure

Inactive Publication Date: 2015-02-25
YANSHAN UNIV
View PDF14 Cites 28 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Up to now, there have been no reports on the construction of a symmetrical four-degree-of-freedom parallel mechanism using two sub-rods as a moving platform and four sub-rods as a machine base.

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 4SPR+2R type four-freedom-degree parallel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0012] exist figure 1 In the schematic diagram of the 4SPR+2R type four-degree-of-freedom parallel mechanism, the base 1 is four sub-rods, and the circular plate of the base is provided with four ball sub-seats, and the four ball sub-seats are evenly distributed near the circle The circumference of the edge of the shaped plate; the moving platform 2 is a pair of secondary rods, and the two opposite sides of the regular quadrilateral plate of the moving platform are respectively provided with through holes parallel to each other, and the first transverse axis 3 and the second transverse axis 4 respectively pass through Through the through holes on both sides of the above-mentioned moving platform, through holes are provided at both ends of the two horizontal shafts protruding from the through holes, and the axes of the through holes at the two ends of each horizontal shaft are parallel to each other and perpendicular to the horizontal axis; the four structures are the same The ...

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

No PUM Login to view more

Abstract

The invention provides a 4SPR+2R type four-freedom-degree parallel mechanism. A base is composed of four auxiliary rods, four ball pair seats evenly distributed on the circumferential side are arranged on a round plate of the base, a movable platform is composed of two auxiliary rods, parallel through holes are formed in the two opposite sides of a square plate of the movable platform respectively, a first cross shaft and a second cross shaft penetrate through the through holes of the movable platform respectively, through holes are formed in the two ends of the first cross shaft and the two ends of the second cross shaft, and the axes of the two through holes of each cross shaft are parallel and perpendicular to the cross shaft. Four SPR type linear drive branches with the same structure are evenly distributed circumferentially between the movable platform and the base, each SPR type linear drive branch is composed of a rotating pair at the upper end, a movable pair electric cylinder in the middle and a ball pair at the lower end, the ball pairs at the lower ends of the branches are connected with the ball pair seats of the base, the upper ends of two branches are connected with the two ends of the first cross shaft through the rotating pairs, and the upper ends of the other two branches are connected with the two ends of the second cross shaft through the rotating pairs respectively. The 4SPR+2R type four-freedom-degree parallel mechanism has the advantages of being simple in structure, large in work space, high in rigidity, good in translational motion characteristic in all directions and the like.

Description

technical field [0001] The invention relates to a robot, in particular to a 4SPR+2R four-degree-of-freedom parallel mechanism. Background technique [0002] For the convenience of illustration, let S, U, P and R denote the ball joint, the universal joint, the moving joint and the rotating joint respectively. In the past 20 years, the four-degree-of-freedom parallel mechanism has been a hot spot and frontier in the field of robotics research at home and abroad. At present, some four-degree-of-freedom parallel mechanisms have been successfully used in the manufacture of parallel machine tools, medical equipment, micro-electromechanical equipment, multi-dimensional force parallel sensors, etc. The Chinese authorized invention patents related to the four-degree-of-freedom parallel robot mechanism found in recent years are as follows: CN100586666 [invention authorization] announced a four-degree-of-freedom parallel mechanism with three-dimensional movement and one rotation; CN10...

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
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 路懿叶妮佳路扬代卓宏刘洋
Owner YANSHAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap