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A three-degree-of-freedom parallel mechanism that can realize stable pure translational motion

A pure translational motion and degree of freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as not having three-translational motion characteristics, and achieve the effect of stable three-translational motion

Inactive Publication Date: 2017-08-04
南通奥禹科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But these 3-RUU mechanisms do not have three translational motion characteristics

Method used

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  • A three-degree-of-freedom parallel mechanism that can realize stable pure translational motion
  • A three-degree-of-freedom parallel mechanism that can realize stable pure translational motion

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0015] exist figure 1 In the schematic diagram of the three-degree-of-freedom parallel mechanism that can realize stable pure translation, one end of the lower link 6 is connected to the base 1 through the rotation pair R1, and the other end of the lower link is connected to the upper link through the lower universal hinge 7. One end of the rod 8 is connected, and the other end of the upper link is connected with the moving platform 2 through an upper universal hinge 9 . The revolving pair R5 connected with the moving platform in the upper universal hinge and the revolving pair R2 connected with the lower connecting rod in the lower universal hinge are all outer revolving pairs, and the revolving pairs R3, R4 is the inner rotating pair, and in each universal joint, the axis of the outer rotating pair is perpendicular to the axis of the inner rotating pair. The first branch 3 and the third branch 5 are parallel to the axes of the two rotation pairs R1 connected to the base; th...

Embodiment 2

[0017] Such as figure 2 As shown, one end of the lower connecting rod 6 is connected with the base 1 through the lower universal hinge 7, the other end of the lower connecting rod is connected with one end of the upper connecting rod 8 through the rotating pair R3, and the other end of the upper connecting rod is connected through the upper Universal hinge 9 is connected with moving platform 2. The revolving pairs R1 and R5 connected with the base or the moving platform in the upper and lower universal hinges are outer revolving pairs, and the revolving pairs R3 and R4 connected with the lower link or upper link are the inner revolving pairs. The first branch 3 and the third branch 5 are parallel to the axes of the two lower universal hinge outer rotation pairs R1 connected to the base; the first and third branches are parallel to the axes of the two upper universal hinge outer rotation pairs R5 connected to the moving platform. The axis of the outer rotation pair R1 of the ...

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Abstract

A Three-DOF (degrees of freedom) parallel mechanism with achievable stable pure translation comprises a base, a moving platform and three structurally identical branches connecting the base and the moving platform. One end of a lower link in each branch is connected with the base through a revolute pair, the other end of this link is connected with one end of an upper link through a lower universal hinge, and the other end of this upper link is connected with the moving platform through an upper universal hinge. Two revolute pairs, connected with the base, of the first and third branches are axially parallel; two upper universal hinge outer revolute pairs, connected with the moving platform, of the first and third branches are axially parallel, the revolute pair, connected with the base, of the second branch is axially perpendicular to the axes of the revolute pairs, connected with the base, of the first and third branches; the upper universal hinge outer revolute pair, connected with the moving platform, of the second branch is axially perpendicular to the axes of the upper universal joint outer revolute pairs, connected with the moving platform, of the first and third branches. The revolute pairs, on different members, of the branches of the mechanism can be naturally parallel, enabling stable three-DOF translational motion without mechanism evolution during moving.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel mechanism. Background technique [0002] The three-translational mechanism has always been a research hotspot in mechanism science because of its special motion characteristics. Among them there are some famous three translation mechanisms. In 1988, R.Clavel proposed the Delta parallel mechanism, which is a 3-degree-of-freedom pure translation mechanism with fast speed and precise positioning. Tsai proposed a symmetrical 3-UPU translation mechanism in 1996 (Tsai L W. Kinematics of AThree-Dof Platform with Three Extensible Limbs [M] / / Recent Advances in Robot Kinematics. Springer Netherlands, 1996: 401-410). For the 3-RUU parallel mechanism, Tsai proposed a 3-RUU parallel mechanism in US Patent No. 5,656,905. The condition for the proposed 3-RUU mechanism to maintain translation is that the rotating pair connected to the base in each RUU branch and the T...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0051B25J9/0063
Inventor 胡波李博崔鹤
Owner 南通奥禹科技有限公司