Novel parallel mechanism having reconfigurable characteristic

A parallel and characteristic technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as single motion performance indicators, inability to adapt to flexible task working environments, etc., to achieve the effect of improving flexibility

Inactive Publication Date: 2016-03-30
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Typical three-degree-of-freedom parallel mechanisms include Delta mechanisms, spherical mechanisms, etc. Since these traditional

Method used

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  • Novel parallel mechanism having reconfigurable characteristic
  • Novel parallel mechanism having reconfigurable characteristic
  • Novel parallel mechanism having reconfigurable characteristic

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Embodiment Construction

[0033] The present invention will be further described in conjunction with the accompanying drawings.

[0034]A parallel mechanism with reconfigurable properties, such as figure 1 , 19 , 20, the parallel mechanism includes: base assembly 1, first to third branch chain assemblies 2-1, 2-2, 2-3, first to third branch chain lower shafts 8-1, 8- 2. 8-3, the first to third branch chain intermediate shafts 14-1, 14-2, 14-3, the middle platform assembly 3, and the end platform assembly 4.

[0035] like figure 2 , 3 As shown, the first branch chain lower rear end bearing seat 5-1 of the first branch chain assembly 2-1 passes through the first branch chain lower shaft 8-1 and the first base slider on the base assembly 1 The bearing housings 6-1 are connected to form a rotating pair, wherein the inner rings of the first to second branch chain lower bearings 9-1, 9-2 cooperate with the first branch chain lower shaft 8-1, and the outer rings cooperate with the first branch chain lowe...

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Abstract

The invention discloses a parallel mechanism having a reconfigurable characteristic. The parallel mechanism comprises a base component, first, second and third branch chain components, lower shafts of the first, second and third branch chains, middle shafts of the first, second and third branch chains, a middle platform component and a tail end platform component, wherein a bearing seat at the rear end of the lower part of the first branch chain is connected with a first base slider bearing seat on the base component through the lower shaft of the first branch chain; the bearing seat at the front end of the lower part of the first branch chain is connected with a first middle platform bearing seat of the middle platform component through the middle shaft of the first branch chain; an end cover of the upper part of a first spherical hinge of the first branch chain component is connected with a first tail end platform connecting part of the tail end platform component; the second and third branch chain components are totally the same as the first branch chain component; a bevel gear of a base rotates to drive a wing plate screw to rotate so that a rectilinearly-moving slider of the base performs rectilinear motion along linear guide rails of the base; a screw motor rotates to drive a middle rectilinearly-moving screw to rotate, so that a middle rectilinearly-moving slider can move along middle rectilinearly-moving guide rails.

Description

technical field [0001] The invention relates to the field of robots and mechanisms, in particular to a novel parallel mechanism with reconfigurable characteristics. Background technique [0002] Traditional mechanism studies generally focus on mechanisms with fixed base dimensions. With the development of science and technology, in the field of industrial production and application, it is necessary to apply some integrated equipment with various motion performance indicators. their widespread attention. [0003] Parallel mechanisms with three degrees of freedom have received extensive attention in industrial production and scientific research, such as three-degree-of-freedom moving parallel mechanisms, two-rotation-one-movement, two-movement-one-rotation and three-rotation spherical mechanisms and other parallel mechanisms. Typical three-degree-of-freedom parallel mechanisms include Delta mechanisms, spherical mechanisms, etc. Since these traditional parallel mechanisms on...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 黄冠宇郭盛曲海波赵福群李典
Owner BEIJING JIAOTONG UNIV
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