Overconstrained parallel mechanism with equivalent Tricept mechanical movement

A mechanism motion, over-constrained technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problem of reducing the number of joints, and achieve the effect of fewer joints, excellent motion characteristics, and simple structure

Inactive Publication Date: 2015-03-04
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In fact, the Triccpt mechanism itself does not use the minimum number of joints, and there is still room for further reduction in the number of joints

Method used

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  • Overconstrained parallel mechanism with equivalent Tricept mechanical movement
  • Overconstrained parallel mechanism with equivalent Tricept mechanical movement
  • Overconstrained parallel mechanism with equivalent Tricept mechanical movement

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0015] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] Example 1

[0017] figure 1 It is the first embodiment disclosed by the present invention. An over-constrained parallel mechanism with equivalent Tricept mechanism movement described in the present invention includes a fixed platform 1 , a moving platform 2 , three drive branches ( 3 , 4 , 5 ) connecting them and an intermediate constraint branch 6 . Among them, the fixed platform 1 and the moving platform 2 are equilateral triangles, the two ends of the three driving branches (3, 4, 5) are respectively connected to the three vertices of the fixed platform 1 and the moving platform, and the constraint branch 6 in the middle is connected to the fixed platform 1 and center of moving platform 2.

[0018] Universal hinges ( R 11 , R 12 ), mobile vice ( P 1 ) and ball pair (S 1 ), the outer rotating pair of the universal joint ( R...

Embodiment 2

[0020] figure 2 It is the second embodiment disclosed by the present invention. figure 2 Among them, the constraint branch 6 in the middle is a UPR branch, and the universal hinge ( R 01 , R 02 ), mobile vice ( P 0 ) and rotating pair ( R 03 ). Outer turning pair of universal joint ( R 01 ) is connected with the center of the fixed platform 1, its axis points to the lower end point of the second branch 4, and is connected with the second branch 4 universal hinge outer rotation pair ( R 21 ) are collinear, and the inner rotating pair of the universal joint ( R 02 ) perpendicular to the revolving joint in the branch ( R 03 ), and with the moving pair in the branch ( P 0 ) vertically, the revolving pair ( R 03 ) is connected with the moving platform 2, and its axis points to the upper end point of the second branch 4. The other parts are connected in the same manner as in Example 1.

Embodiment 3

[0022] image 3 It is the third embodiment disclosed by the present invention. image 3 Among them, the second branch 4 is an SPR branch, and the second branch 4 is sequentially connected with ball pairs (S 2 ), mobile vice ( P 2 ) and rotating pair ( R 21 ). Among them, the ball pair (S 2 ) is connected to the fixed platform 1, and the rotating pair ( R 21 ) is connected with the moving platform 2, its axis is parallel to the opposite side of the moving platform 2, and the moving pair P 2 vertical. The other parts are connected in the same manner as in Example 1.

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Abstract

The invention discloses an overconstrained parallel mechanism with equivalent Tricept mechanical movement. First and third driving branches are the same in structure; rotating pairs at the outer sides of universal hinges of the two driving branches are connected with a fixed platform; rotating pairs at the inner sides of the universal hinges are perpendicular to movement pairs; and spherical pairs are connected with a movable platform. The rotating pair at the outer side of the universal hinge of the second driving branch is connected with the fixed platform, and is pointed to the center of the fixed platform; the rotating pair at the inner side of the universal hinge is parallel to rotating pairs at the upper ends of the branches, and is perpendicular to movement pairs of the branches; and the rotating pairs at the upper ends of the branches are connected with the movable platform, and are parallel to opposite edges of the movable platform. A rotating pair at the outer side of a universal hinge of a middle constrained branch is connected with the fixed platform, and is pointed to the lower end point of the second branch; a rotating pair at the inner side of the universal hinge is parallel to the connecting line of upper end points of the first and third branches, and is perpendicular to the movement pairs; and the movement pairs are vertically connected with the movable platform. The overconstrained parallel mechanism has equivalent kinematics with the Tricept mechanism, remains excellent movement characteristics of the Tricept mechanism, has smaller movement pairs compared with the Tricept mechanism, and has higher rigidity and movement precision.

Description

technical field [0001] The invention relates to the field of parallel mechanisms, in particular to an over-constrained parallel mechanism with equivalent Tricept mechanism motion. Background technique [0002] Parallel mechanisms with few degrees of freedom have been a research hotspot in mechanism science in recent decades, and their configurations are very rich, but there are still very few mechanisms successfully applied in the industry. The Tricept mechanism (US4732525) is one of the most successful parallel mechanisms promoted in the industry. Dr. Neumann, the inventor of the mechanism, pointed out that the geometric errors of the joints, clearances and other problems are the main sources of the accuracy of parallel machine tools. The parallel mechanism with fewer joint points and less invalid degrees of freedom is the first choice for the machine tool body. Based on this concept, Dr. Neumann proposed an Exechon mechanism with fewer joints (WO2006054935). In fact, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/25
CPCB25J9/003
Inventor 胡波
Owner YANSHAN UNIV
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