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Motion-decoupling parallel mechanism with two rotation freedom degrees and one movement freedom degree

A technology with degrees of freedom and movement, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as the promotion and application of unfavorable parallel mechanisms, and achieve the effect of excellent kinematic decoupling

Active Publication Date: 2016-01-06
HENAN UNIV OF SCI & TECH
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Problems solved by technology

However, the kinematic coupling of most existing parallel robot mechanisms is very strong, which is not conducive to the practical application of parallel mechanisms

Method used

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  • Motion-decoupling parallel mechanism with two rotation freedom degrees and one movement freedom degree
  • Motion-decoupling parallel mechanism with two rotation freedom degrees and one movement freedom degree

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Embodiment Construction

[0010] An embodiment with a two-rotation-one-movement three-degree-of-freedom motion decoupling parallel mechanism, such as Figure 1-2 As shown, the mechanism includes a dynamic platform 101, a static platform 102 and two branch kinematic chains connecting the dynamic platform 101 and the static platform 102, the dynamic platform and the static platform are cuboid structures; one of the two branch kinematic chains One is a single open chain 103, and the other is a mixed chain 104.

[0011] The single open chain 103 is connected in series in sequence from the static platform to the first cylinder pair C1, the second cylinder pair C2, and the third Hooke hinge U3. Two connecting rods 2 are connected; the axis of the second cylinder pair C2 is perpendicular to the axis of the first cylinder pair C1, and the rotation axis adjacent to the second cylinder pair C2 in the third Hooke hinge U3 is parallel to the axis of the first cylinder pair C1. In addition, in this embodiment, it ...

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Abstract

The invention relates to the technical field of robot spatial mechanisms, in particular to a motion-decoupling parallel mechanism with two rotation freedom degrees and one movement freedom degree. The motion-decoupling parallel mechanism with the two rotation freedom degrees and the one movement freedom degree comprises a movable platform, a fixed platform and two branch kinematic chains connected between the movable platform and the fixed platform. One branch kinematic chain is a single opened chain, and the other branch kinematic chain is a mixed chain. The mixed chain is formed by connecting a closed-loop structure with a revolute pair in series. The closed-loop structure is composed of a first sub-branch and a second sub-branch. The axis of a first cylindrical pair of the single opened chain and the axis of a sixth revolute pair of the mixed chain are parallel to each other and are both perpendicular to the centerline of a fourth moving pair of the mixed chain. Input motion of an active joint and output motion of the movable platform are in a one-to-one control relationship. The motion-decoupling parallel mechanism has excellent kinematic decoupling performance.

Description

technical field [0001] The invention relates to the technical field of robot space mechanisms, in particular to a decoupling parallel mechanism with three degrees of freedom of two rotations and one movement. Background technique [0002] The parallel mechanism is a mechanism composed of a moving platform and a static platform connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is a closed-loop mechanism driven in parallel. Because of its high rigidity, large bearing capacity, small cumulative error, and compact structure, it has broad application prospects in parallel machine tools, industrial robots, and medical robots. [0003] Compared with the six-degree-of-freedom parallel robot, the less-DOF parallel robot has a simpler structure and relatively lower manufacturing and control costs. Therefore, the less-DOF parallel robot has its unique advantages when meeting its work requirements. At present, Chinese scholars ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 张彦斌丁丁李聚波王增辉李跃松吴鑫薛玉君赵浥夫
Owner HENAN UNIV OF SCI & TECH
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