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Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs

A technology of complete decoupling and moving pairs, applied in the field of robotics, can solve problems such as inconvenient control and complex structure, and achieve the effects of easy assembly, simple and compact structure, and good rigidity

Inactive Publication Date: 2015-10-21
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this technology is a redundant drive, which requires more degrees of freedom of the drive motor than the platform, and the structure is relatively complicated, which is not easy to control

Method used

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  • Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs
  • Four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] like figure 1 As shown, this embodiment includes: a moving platform 6, a base 1, and three branch chains L1-L3, wherein one end of the branch chains L1-L3 is movably connected to the base 1, and the other end is rotatably connected to the moving platform 6, so that The moving platform 6 moves in two dimensions or rotates around the fixed point O in three degrees of freedom on a spherical surface.

[0021] In this embodiment, the three branch chains are all connected with the two-dimensional movement of the base, and the three branch chains all include: the arc-shaped moving pair PR and the straight connecting rod 3 connected in sequence, wherein: the two ends of the arc-shaped moving pair PR are respectively connected to the moving The platform 6 and one end of the straight link 3 are rotatably connected to form revolving pairs R11 / R21 / R31 and R12 / R22 / R32, and the other end of the straight link 3 is movably connected to the base 1 .

[0022] The axis of the rotary pair...

Embodiment 2

[0029] like figure 2 As shown, compared with Embodiment 1, in this embodiment, two of the three branch chains are connected to the base two-dimensionally, and one branch chain is connected to the base in one-dimensional movement.

[0030] The one-dimensional movable connection is realized by a moving pair arranged on the base 1, and the moving pair is connected with the branch chain.

[0031] Compared with embodiment 1, the technical effect of this embodiment is as follows: embodiment 1 can be used for one-dimensional movement in the horizontal direction and three-dimensional rotation around point O; while embodiment 2 can realize one-dimensional movement in the vertical direction and rotation around point O Three-dimensional rotation.

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Abstract

A four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs comprises a moving platform, a base and three branch chains. One end of each branch chain is movably connected with the base, and the other end of each branch chain is connected with the moving platform in a rotating mode. Moreover, at least two branch chains are movably connected with the base in a two-dimensional mode, and each of the three branch chains comprises a linear moving pair and one arc moving pair or a linear connection rod and one arc moving pair which are sequentially connected in series, so that the moving platform moves in a two-dimensional mode or spherically rotates around a fixed point O in a three-freedom-degree mode. The three-dimensional rotation characteristic of the moving platform is only related to driving of the arc moving pairs, the two-dimensional moving characteristic of the point O is only related to driving of the moving pair P1, and the rotating characteristic and the moving characteristic of the moving platform have the advantage of complete decoupling.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to a one-movement-three-rotation (1T3R) four-degree-of-freedom rotational movement complete decoupling 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. [0003] Most of the existing four-degree-of-freedom parallel mechanisms do not have decoupling features, the control is more complicated, and it is difficult to meet the requirements of practical engineering applications; most of the four-degree-of-freedom parallel mechanisms currently have five chains, which not only limits the Working space, and adding materials makes the str...

Claims

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Application Information

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