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Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving

A completely decoupling and rotating mechanism technology, applied in the field of robotics, can solve problems such as complex structures, and achieve the effects of simple and compact structure, easy assembly, and good rigidity

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

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Problems solved by technology

But this prior art has more branch chains, moving components and moving pairs and has three platforms, which makes the structure complicated

Method used

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  • Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving
  • Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving
  • Six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving

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Experimental program
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Effect test

Embodiment 1

[0024] Such as figure 1 As shown, this embodiment includes: a movable platform 7, a base 1, and three motion branch chains L1 to L3, wherein one end of the motion branch chains L1 to L3 is movably connected with the base 1, and the other end is rotatably connected with the movable platform 7 , Making the movable platform 7 move in two dimensions or rotate around the fixed point O with three degrees of freedom on the sphere.

[0025] In this embodiment, the three kinematic branches are all movably connected to the base 1 in two dimensions, and the three kinematic branches L1 to L3 all include: a one-dimensional or two-dimensional movement mechanism and a rotation mechanism, wherein: the two ends of the rotation mechanism are respectively It is rotatably connected with the movable platform 7 and the one-dimensional or two-dimensional motion mechanism to form two rotating pairs R1 and R2. The other end of the one-dimensional or two-dimensional motion mechanism is movably connected wi...

Embodiment 2

[0034] Such as figure 2 As shown, this embodiment is compared with embodiment 1, the rotating mechanism is realized by two arc-shaped rods 5 and 6 that are connected in rotation. The rotating connection itself constitutes a rotating pair R2, and the rotating mechanism is connected to the movable platform 7 in rotation. A rotating pair R3 is formed, and the rotating mechanism is rotatably connected with the linear moving pair P3 to form a rotating pair R1.

[0035] Compared with the first embodiment, the technical effect of this embodiment is greater in rigidity and easier to control.

Embodiment 3

[0037] Such as image 3 As shown, in this embodiment, compared with the embodiment 2, the one-dimensional or two-dimensional motion mechanism in the motion branch chain is realized by the parallelogram motion pair Pa.

[0038] Compared with the second embodiment, the technical effect of this embodiment is that the parallelogram movement pair Pa is used to realize the movement of the P pair, which makes the structure more stable and rigid.

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Abstract

A six-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving comprises a moving platform, a base and three moving branch chains. One end of each moving branch chain is movably connected with the base, and the other end of each moving branch chain is connected with the moving platform in a rotating mode. The three moving branch chains are identical in structure and each comprise a one-dimensional / two-dimensional moving mechanism and a rotating mechanism. Movable connection means that the three moving branch chains are movably connected with the base in a one-dimensional or two-dimensional mode, so that the moving platform moves in a two-dimensional mode or spherically rotates around a fixed point O by three freedom degrees; the three-dimensional rotation characteristic of the moving platform is only related to driving of arc moving pairs and not related to driving of moving pairs; the three-dimensional moving characteristic of the point O is only related to driving of the moving pairs and not related to driving of the arc moving pairs; the rotating characteristic and the moving characteristic of the moving platform have the advantage of complete decoupling of rotating and moving.

Description

Technical field [0001] The invention relates to a technology in the field of robotics, in particular to a six-degree-of-freedom rotation and movement completely decoupled parallel mechanism. Background technique [0002] Parallel mechanisms are usually formed by connecting a moving platform and a fixed platform through multiple branch chains. Compared with a series mechanism, it has the advantages of compact structure, rigidity, strong carrying capacity, and small cumulative error, so it is widely used in practical engineering. [0003] Most of the existing six-degree-of-freedom parallel mechanisms do not have decoupling characteristics, and the control is relatively complex, and it is difficult to meet the requirements of practical engineering applications. At present, most six-degree-of-freedom parallel mechanisms have 6 chains, which not only restricts the dynamic platform Working space and adding materials make the structure more complicated. [0004] After searching the prior a...

Claims

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Application Information

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