A Symmetrical Coupling Mechanism with One Degree of Freedom of Movement

A technology of coupling mechanism and degree of freedom, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of lack of systematic research on multi-ring coupling mechanisms, and achieve the effect of simple structure, large working space and strong bearing capacity

Inactive Publication Date: 2017-11-07
BEIJING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

Existing theories mainly focus on series, parallel mechanisms and relatively simple hybrid mechanisms, and there is a lack of systematic research on multi-ring coupling mechanisms

Method used

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  • A Symmetrical Coupling Mechanism with One Degree of Freedom of Movement
  • A Symmetrical Coupling Mechanism with One Degree of Freedom of Movement

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Experimental program
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Embodiment Construction

[0019] Such as figure 1 As shown, the symmetrical coupling mechanism synthesized based on the truncated cube structure includes a moving platform (P), a frame (M), a parallel branch, and a coupling branch. The moving platform and the frame pass through four parallel branches and four The coupled branches are connected and are completely symmetrical.

[0020] The first parallel branch includes the first revolving pair (R11), the second revolving pair (R12), the third revolving pair (R13), and the fourth revolving pair (R14), and the axes of the four revolving pairs are parallel to each other; the second branch The organization, the third branch and the fourth branch have the same composition as the first branch;

[0021] The first coupling chain is composed of the first coupling chain rotation pair (RO1), the second coupling chain rotation pair (RO2), and the third coupling chain rotation pair (RO3), and their axes are parallel to each other;

[0022] The second revolving pai...

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Abstract

A symmetric coupling mechanism with one moving freedom degree comprises a movable platform, a machine frame, parallel connection branch mechanisms and coupling branch mechanisms, wherein the movable platform and the machine frame are connected through the four same parallel connection branch mechanisms and the four same coupling branch mechanisms and are in full symmetry. Four revolute pairs with the axes parallel of the first parallel connection branch mechanism are connected to the machine frame and the movable platform; a coupling chain is connected to a third revolute pair of the second parallel connection branch mechanism through an intermediate connecting rod, and the axis of a revolute pair of the coupling chain is perpendicular to the axis of the third revolute pair; the axes of the revolute pairs of the first parallel connection branch mechanism are perpendicular to the axes of revolute pairs of the second parallel connection branch mechanism. The symmetric coupling mechanism is high in rigidity, accuracy and bearing capacity, large in work space, good in stability, easy to machine and assemble and good in application prospect.

Description

technical field [0001] The invention relates to a symmetrical coupling mechanism synthesized based on a truncated cube structure, and belongs to the technical field of mechanism application. Background technique [0002] In the decades since the birth of robots, robots have developed rapidly. While the series-parallel robot is developing rapidly, people have proposed the concept of a robot with a spatially coupled mechanism. Compared with series-parallel robots, coupled-mechanism robots are compatible with the advantages of parallel mechanisms, such as high precision, high load-carrying capacity, high stability, small cumulative error, easy real-time control, large working space and flexible control of serial mechanisms, and have good application prospect. [0003] In recent years, multi-loop coupling mechanisms have gradually become one of the new research hotspots. The reason is that in practical applications, a single series or parallel mechanism often cannot meet the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 刘婧芳张海晓李向军高慧芳
Owner BEIJING UNIV OF TECH
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