Four-degree-of-freedom parallel mechanism

A degree of freedom and parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of reduced speed of mechanism operation, difficulties in positive and negative solutions, and increased costs, so as to achieve increased speed, high feasibility and controllability The effect of sex and complexity reduction

Active Publication Date: 2016-04-27
CHENXING (TIANJIN) AUTOMATION EQUIP CO LTD
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Problems solved by technology

[0003] At present, the existing four-degree-of-freedom parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, in order to realize the rotation of the end effector around the axis of the platform, is supplemented by an amplifying mechanism to expand the range of rotation angle. , it will increase the weight of the moving platform, reduce the running speed of the mechanism, and the movement is complicated, and the positive and negative solutions of the movement are very difficult, which increases the cost of development and application

Method used

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Embodiment Construction

[0012] The specific implementation manner of the present invention will be described in detail below in conjunction with accompanying drawing and preferred embodiment, as figure 1 shown, refer to figure 1 , the present invention is a four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation, including a fixed frame 1, a moving platform 8, and four branch chains with the same structure symmetrically arranged between the fixed frame 1 and the moving platform 8 Constituent; each branch chain is made up of nearly frame bar 3, far frame bar 6 and 7 and the upper connecting shaft 5 that connects described near frame bar 3 and far frame bar 6 and 7. One end of the near frame rod 3 is affixed to the drive shaft 2 of the fixed frame 1, and its other end is affixed to the upper connecting shaft 5; the far frame rods 6 and 7 are arranged in parallel, and one end thereof is respectively connected to the The upper connecting shaft 3 is ball-...

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Abstract

The invention relates to the technical field of automobile parts, in particular to a four-degree-of-freedom parallel mechanism. The four-degree-of-freedom parallel mechanism comprises a fixed frame, a movable platform and four branch chains. The branch chains are symmetrically arranged between the fixed frame and the movable platform and of the same structure. The movable platform is mainly composed of a main platform and a vice platform. The vice platform is connected with the main platform in a sleeving mode through a bevel gear pair. The axis of a big bevel gear of the bevel gear pair and the axis center of the main platform are coaxial, and the big bevel gear is fixed to one side of the vice platform. A small bevel gear of the bevel gear pair is installed on the main platform. The axis of the big bevel gear is perpendicular to the axis of the small bevel gear. An end effector is installed on the lower portion of the small bevel gear. The four-degree-of-freedom parallel mechanism is simple in structure and clear in motion mode. A large rotation angle range is obtained due to the large transmission ratio of the bevel gear pair, so that a magnification mechanism does not need to be used, and the motion speed is greatly increased.

Description

technical field [0001] The invention relates to the technical field of parallel manipulators, in particular to a four-degree-of-freedom parallel mechanism. Background technique [0002] Since the parallel manipulator was proposed and put into application in the 1880s, the parallel mechanism itself has many advantages compared with the series mechanism, such as high rigidity, stable structure, large bearing capacity, high micro-motion precision, and small motion load, and has been favored by various fields. attention and further development. Multi-degree-of-freedom parallel mechanisms play a huge role in many fields, such as medicine and industry. However, there are still many problems to be solved urgently in the further development of multi-degree-of-freedom parallel mechanisms. As we all know, more degrees of freedom endow the parallel mechanism with more functions, however, it also makes the parallel mechanism more complicated, and its kinematics and dynamics solution p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 刘松涛
Owner CHENXING (TIANJIN) AUTOMATION EQUIP CO LTD
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