A Three-DOF Parallel Mechanism Containing Planar Branches and Intermediate Passive Branches
A branch and passive technology, applied in the field of robotics, to achieve the effect of easy human-machine mutual safety protection, elimination of gaps, and large working space
Inactive Publication Date: 2016-05-18
YANSHAN UNIV
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[0003] The above-mentioned three-degree-of-freedom parallel mechanisms have their own characteristics, but they have not been used to manufacture helicopter propeller drives, ship propeller drives, steelmaking slag removal machines, mining equipment and dental repair robots.
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[0016] exist figure 1 In the schematic diagram of the three-degree-of-freedom parallel mechanism including the planar branch and the intermediate passive branch shown, two RPR-type linear drive branches 5 with the same structure are arranged symmetrically in a plane between the moving platform 2 and the machine base 1, and are connected with the SPS-type linear drive The branches 6 are evenly distributed on the circumference between the moving platform and the machine base; the SP type linear passive branch is located in the middle of the moving platform and the machine base. The lower horizontal shaft 3 is rotationally connected with one side of the machine base, and the upper horizontal shaft 4 is rotationally coupled with one side of the moving platform on the same side of the machine base. Each RPR type linear drive branch includes an upper end revolving pair, a middle moving pair electric cylinder and a lower end revolving pair; the upper ends of the two RPR type branches...
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A three-freedom-degree parallel mechanism with plane branches and a middle driven branch comprises a movable platform, a base, an upper transverse shaft, a lower transverse shaft, two RPR (revolute pair-prismatic pair-revolute pair) linear drive branches, an SPS (spherical pair-revolute pair-spherical pair) linear drive branch and an SP (spherical pair-revolute pair) middle linear driven branch. The upper transverse shaft and the lower transverse shaft are connected with the movable platform and the base through revolute pairs, the upper ends and the lower ends of the two RPR branches are connected with the revolute pairs of the two ends of the upper transverse shaft and the two ends of the lower transverse shaft respectively, the axes of the four revolute pairs are parallel, and a plane closed-loop double-drive branch chain is formed. The upper end and the lower end of the SPS branch are connected with the base and the movable platform through spherical pairs respectively. The upper end of a cylindrical rod of the SP branch is perpendicularly and fixedly connected with the movable platform. The middle of the cylindrical rod is in slide fit with a center hole of a sphere and the sphere is connected with the center of the base through a spherical pair. The three-freedom-degree parallel mechanism is simple in structure, large in bearing capacity and high in rigidity, the lower end of the cylindrical rod is connected with different tools, and various devices can be formed.
Description
technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] In the past 20 years, the three-degree-of-freedom parallel mechanism has been a hot spot and frontier in the field of robotics research at home and abroad. At present, Sweden’s (including UP passive branch) 3SPS+UP type, Germany’s (including 4U parallel sub-chain) Delta type, Tsai’s three-level motion 3UPU type, Hunt’s 3RPS type, Huangtian’s 2SPS+UP type and 3PRS type, Yanshan University Some three-degree-of-freedom parallel mechanisms such as Luyi's 3SPR type have been successfully used in the manufacture of parallel machine tools, medical equipment, micro-electromechanical equipment, multi-dimensional force parallel sensors, etc. In recent years, the Chinese authorized invention patents for three-degree-of-freedom parallel mechanisms are as follows: CN101844307A discloses a drive redundant three-degree-of-freedom parallel mechanism; CN1...
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IPC IPC(8): B25J9/00B25J11/00
Inventor 路懿叶妮佳路扬刘洋陈志强
Owner YANSHAN UNIV