Parallel mechanism with three branching chains and six degrees of freedom

A technology with a degree of freedom and three branches, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools, can solve problems such as complex mechanisms and motions, and the promotion and application of unfavorable mechanisms, so as to achieve good dynamic performance, reduce quality and complexity, and expand The effect of the field of application

Active Publication Date: 2015-03-11
HEBEI UNIV OF TECH
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Problems solved by technology

The existing six-degree-of-freedom three-branch parallel robot mechanism (such as patent application number 201210227966.X) is a six-degree-of-freedom three-branch

Method used

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  • Parallel mechanism with three branching chains and six degrees of freedom
  • Parallel mechanism with three branching chains and six degrees of freedom

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[0008] The present invention will be further described below in conjunction with the embodiments and drawings, but the embodiments do not limit the protection scope of the claims of this application.

[0009] The three-branched six-degree-of-freedom parallel mechanism (referred to as the parallel mechanism, see figure 1 , 2 ) Including: static platform 1 and moving platform 2 and three motion branches with the same structure connected between static platform 1 and moving platform 2, namely first motion branch A, second motion branch B and third motion Branch C, three moving branches are evenly distributed around the center point of the static platform. The structural dimensions of each branch chain are the same. Now take the first movement branch A (see figure 2 ) As an example. The first movement branch chain A includes: a cylindrical pair A5, a parallelogram kinematic chain A3, an upper link rotation pair A2 and a lower link rotation pair A4 with parallel axes, and a moving ...

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Abstract

The invention discloses a parallel mechanism with three branching chains and six degrees of freedom. The parallel mechanism comprises a static platform, a dynamic platform and three moving branching chains, wherein the three moving branching chains are uniformly distributed and connected between the static platform and the dynamic platform. The parallel mechanism is characterized in that each moving branching chain comprises a cylinder pair, a parallelogram-shaped moving chain, an upper link rotating pair, a lower link rotating pair and a dynamic platform rotating pair, wherein the axes of the upper link moving pair and the lower link moving pair are parallel to each other; the axis of the dynamic platform rotating pair passes through a central point of the dynamic platform; the cylinder pair is connected with the static platform, and the axis of the cylinder pair is vertical to the static platform; the cylinder pair can move and up and down along the axis and rotate around the axis to drive the parallel mechanism; the axes of the upper link rotating pair and the lower link rotating pair are respectively positioned at an upper link and a lower link of the parallelogram-shaped moving chain, and are also overlapped with the axes of the upper link and the lower link, respectively; the parallelogram-shaped moving chain comprises a parallelogram and four parallelogram-shaped rotating pair, wherein the parallelogram is composed of four links; the four parallelogram-shaped rotating pairs are of the same structure.

Description

technical field [0001] The invention relates to parallel robot technology in the field of mechanics, in particular to a three-branched six-degree-of-freedom parallel mechanism. Background technique [0002] The DELTA robot mechanism is a parallel mechanism with closed-loop sub-chains and movement with three degrees of freedom. It has two triangular platforms, that is, the upper base platform and the lower motion platform, and the three sides of the base platform are respectively connected to the three sides of the motion platform through three identical kinematic chains. Each kinematic chain has a parallelogram closed loop composed of four slewing pairs and rods, and this closed loop is connected in series with a driving arm with a rotating joint. These three kinematic chains determine the kinematic characteristics of the motion platform. The overall structure of the mechanism is simple and compact, and the driving parts are evenly distributed on the fixed platform, so that...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 张建军王晓慧李为民程锐
Owner HEBEI UNIV OF TECH
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