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Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair

A technology of degrees of freedom and moving pairs, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of increasing the difficulty of mechanism installation, and achieve the effects of improving load-bearing performance, good rigidity, and flexible movement of mechanisms

Inactive Publication Date: 2015-08-12
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, each branch chain in this technology is composed of 3R pairs, and the 9 rotating pairs in the mechanism need to meet at one point, which increases the difficulty of installation of the mechanism

Method used

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  • Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0017] like figure 1 As shown, this embodiment includes: a moving platform 7, a base 1, and three kinematic branch chains with the same structure, wherein: the two ends of each kinematic branch chain are respectively connected to the base 1 and the moving platform 7 by rotating kinematic pairs 2 and 6. connected.

[0018] The kinematic branches with the same structure are distributed symmetrically between the dynamic and static platforms, that is, the angle between the diameters from the center of the static platform to the hinge point is 120 degrees.

[0019] The kinematic branch chain is a two-stage arc-shaped moving pair, including: a socketed upper arc-shaped rod 5 and a lower arc-shaped rod 2, wherein: the lower arc-shaped rod 2 is connected to the base 1 Rotation kinematic pair 2 The connecting line of the rotary kinematic pair 6 connected with the upper arc rod 5 and the moving platform 7 intersects at a point O, which is the center of the radius of curvature of the ar...

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Abstract

The invention provides a three-degree-of-freedom spherical parallel mechanism with an arc-shaped movable pair. The three-degree-of-freedom spherical parallel mechanism comprises a movable platform, a base and three movable branched chains with the same structure, wherein the two ends of each movable branched chain are connected with the movable platform through a rotary pair and the base respectively; each movable branched chain is a two-section type arc-shaped movable pair. The device has a simple and compact structure and is easy to assemble and has good rigidity; the mechanism can move flexibly and can be applied to application occasions of space posture positioning of robot shoulder joints, satellite positioning devices and the like.

Description

technical field [0001] The invention relates to a technology in the field of robot design and manufacture, in particular to a three-degree-of-freedom spherical parallel mechanism with an arc-shaped moving pair. Background technique [0002] The parallel mechanism is usually formed by connecting the moving platform and the fixed platform through multiple branch chains. Compared with the series mechanism, it has the advantages of compact structure, rigidity, strong bearing capacity, and small cumulative error, so it has been widely used in engineering practice. Three-degree-of-freedom spherical parallel mechanism, the moving platform can realize three rotations around the fixed point, so it can be used for the repair of flexible eyes, lumbar joints, wrist joints, shoulder joints and ankle joints, and can also be used for the rotary table for machining 1. Machine tool base and work positioning in machine tool processing, and can also be used for satellite positioning devices, e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J17/00
Inventor 林荣富郭为忠高峰
Owner SHANGHAI JIAO TONG UNIV
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