Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation

A degree of freedom, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of heavy moving platform weight, complex moving platform structure, unfavorable mechanism dynamic response characteristics, etc., to achieve simple and compact structure and improve dynamic response. Features, Effects of Mass Reduction

Active Publication Date: 2016-01-13
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the limitation of the above mechanism is that the structure of the moving platform is complicated, and the weight of the moving platform is relatively large, which is not conducive to improving the dynamic response characteristics of the mechanism.

Method used

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  • Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation
  • Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation
  • Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation

Examples

Experimental program
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Effect test

Embodiment 1

[0037] to combine Figure 1~4, a three-level one-rotation four-degree-of-freedom parallel mechanism, including a fixed frame 1, a moving platform 2, and a first branch chain, a second branch chain, a third branch chain and a fourth branch chain arranged between the fixed frame and the moving platform. Branched chains, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure; each branched chain includes a rotating fork 11, a driving device 12 fixedly arranged on the rotating fork 11, a driving Arm 13, first T-shaped shaft 14, second T-shaped shaft 15, first driven arm 16, second driven arm 17, third T-shaped shaft 18 and fourth T-shaped shaft 19; Rotationally connected on the fixed frame 1, one end of the active arm 13 is rotatably connected in the rotating fork 11, and is fixedly connected with the driving end of the driving device 12, and the two ends of the end of the active arm 13 away from the driv...

Embodiment 2

[0043] combine Figure 5 , on the basis of embodiment 1, the driving device 12 of one of the branch chains in the four branch chains is fixedly connected with the fixed frame 1, and its driving end is fixedly connected with the rotating fork 11, so that the rotating fork 11 and The revolving pair between the fixed frame 1 is the active revolving pair. At this time, there is no restriction on the shape of the moving platform 2, that is, the quadrilateral formed by the hinge midpoint 3 connecting the four branch chains with the moving platform 2 may be non-square or square.

Embodiment 3

[0045] combine Figure 6~8 , a three-level one-rotation four-degree-of-freedom parallel mechanism, including a fixed frame 1, a moving platform 2, and a first branch chain, a second branch chain, a third branch chain and a fourth branch chain arranged between the fixed frame and the moving platform. Branched chains, the first branched chain, the second branched chain, the third branched chain and the fourth branched chain have the same structure; each branched chain includes a rotating fork 11, a driving device 12 fixedly arranged on the rotating fork, a driving arm 13. The first ball joint 141 , the second ball joint 151 , the first follower arm 16 , the second follower arm 17 , the third ball joint 181 and the fourth ball joint 191 . The rotating fork 11 is rotatably connected to the fixed frame 2, and one end of the active arm 13 is rotatably connected in the rotating fork 11, and is fixedly connected to the driving end of the driving device 12, and the active arm 13 is far...

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Abstract

The invention discloses a four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation. The parallel mechanism comprises a fixed frame, a movable platform, and four branch chains which are arranged between the fixed frame and the movable platform and adopt the same structure, wherein each branch chain comprises a rotating fork, an active arm, two parallel slave arms which are equal in lengths, and four T-shaped shafts; the rotating forks are connected with the fixed frame in a rotating manner; each active arm is connected to the inside of the corresponding rotating fork in a rotating manner; one ends of every two corresponding slave arms are connected with the corresponding active arm through two T-shaped shafts, and the other ends of the slave arms are connected with the movable platform through two T-shaped shafts. The movable platform of the parallel mechanism adopts a single-platform structure, and has the characteristics of simple structure, light weight and the like, and the realization of dynamic response characteristics with high speed and high acceleration is facilitated.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel mechanism with three-dimensional translation and one-dimensional rotation in space. Background technique [0002] The three-dimensional translation and one-dimensional rotation parallel mechanism has been widely used in the high-speed and light-load handling operations of automated production lines in the fields of food, medicine, modern logistics, and electronic information because it can meet the handling operations of space objects. [0003] The US patent No. US20090019960A1 discloses a high-speed parallel robot with four degrees of freedom, and the European patent No. EP1084802B1 discloses a four-degree-of-freedom parallel robot. Through the analysis of these two patents, it can be known that the existing A parallel mechanism that realizes three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0051
Inventor 汪满新黄田冯虎田欧屹
Owner NANJING UNIV OF SCI & TECH
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