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Parallel Mechanism with Three Degrees of Freedom

A degree of freedom, parallel technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low control accuracy and low stiffness, and achieve the effects of high stiffness, avoidance of stuck, and simple structure

Active Publication Date: 2016-04-27
上海新纪元机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the three-degree-of-freedom parallel mechanism system has low stiffness and low control precision

Method used

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  • Parallel Mechanism with Three Degrees of Freedom
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Embodiment Construction

[0021] Below, the structure and working principle of the present invention will be further described in conjunction with the accompanying drawings.

[0022] figure 1 It is a structural schematic diagram of a three-degree-of-freedom parallel mechanism of the present invention.

[0023] For the convenience of description, a coordinate system is established in the figure, and the length direction of platform 1 (i.e. figure 1 The left and right direction of itself) is regarded as the x-axis direction, and the height direction of the fixed platform 1 (ie figure 1 The up and down direction of itself) is regarded as the z-axis direction, and the width direction of the fixed platform 1 (that is, the direction perpendicular to both the x-axis and the y-axis) is regarded as the y-axis direction.

[0024] see figure 1 , the three-degree-of-freedom parallel mechanism of the present invention includes a fixed platform 1, a moving platform 2, and a first branch chain 3, a second branch c...

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Abstract

The invention discloses a three degree-of-freedom parallel mechanism. The three degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, and a first branch chain, a second branch chain, a third branch chain and a fourth branch chain which are positioned between the fixed platform and the movable platform; the first branch chain and the third branch chain are arranged oppositely in a horizontal first direction; the second branch chain and the fourth branch chain are arranged oppositely in a second direction which is perpendicular to the first direction, wherein each of the first branch chain and the third branch chain is provided with two rotating pairs and a hook hinge; each of the second branch chain and the fourth branch chain is provided with two rotating pairs and a three degree-of-freedom rotating structure. By adopting the three degree-of-freedom parallel mechanism disclosed by the invention, two-rotation and one-movement three degree-of-freedom movement can be realized; moreover, the three degree-of-freedom parallel mechanism is simple in structure, high in rigidity, and easy to control.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel mechanism. Background technique [0002] At present, parallel mechanisms with six degrees of freedom have been widely used, but in many special occasions, such as in the field of robotics, parallel mechanisms only need some degrees of freedom to achieve corresponding functions, so in recent years, less space, especially three degrees of freedom High-degree parallel mechanisms have become a hot field in robotics. [0003] The Chinese invention patent specification with the notification number CN103056870A discloses a two-rotation-one-movement three-degree-of-freedom parallel mechanism, which includes a fixed platform, a moving platform, and three motion branches connecting the two platforms. The parallel mechanism has a simple structure and can be processed and assembled Easy and easy to control. However, since the parallel mechanism only includes three ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 马苏湖吴家宸陈养彬
Owner 上海新纪元机器人有限公司