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Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom

A rotation center, parallel technology, applied in the field of robots, can solve the problems of high processing and maintenance costs, inconvenient mechanism motion control, etc., and achieve the effect of avoiding accompanying motion, low maintenance cost, and easy manufacturing and assembly.

Active Publication Date: 2016-06-29
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the branches of these mechanisms are not exactly the same, and the processing and maintenance costs of the mechanism are relatively high; and the moving platform of the mechanism can only realize the rotation around a certain point, which brings great inconvenience to the motion control of the mechanism

Method used

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  • Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom
  • Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom
  • Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom

Examples

Experimental program
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Effect test

Embodiment 1

[0014] exist figure 1 In the three-dimensional schematic diagram of the two-turn-one-shift parallel mechanism of the multi-rotation center shown, three movable branches with identical structures are connected to the fixed platform 1 and the movable platform 2, and one end of the first connecting rod 3 in the movable branch is connected to the fixed platform through the moving pair P1. 1 connection, the other end of the first connecting rod 3 is connected with one end of the second connecting rod 4 through the rotating pair R1, and the other end of the second connecting rod 4 is connected with one end of the third connecting rod 5 through the rotating pair R2, the The other end of the third connecting rod 5 is connected with one end of the fourth connecting rod 6 through the rotating pair R3, and the other end of the fourth connecting rod 6 is connected with the moving platform 2 through R4; wherein, the moving pair P1 and the rotating pair R4 are respectively connected with Th...

Embodiment 2

[0016] Such as figure 2 As shown, three movable branches with the same structure are connected to the fixed platform 1 and the movable platform 2, one end of the first connecting rod 3 in the movable branch is connected to the fixed platform 1 through the moving pair P1, and the other end of the first connecting rod 3 is connected to the fixed platform 1 through the The universal hinge U1 is connected with one end of the third connecting rod 5, and the other end of the third connecting rod 5 is connected with the moving platform 2 through the universal hinge U2; The directional hinge U2 is composed of two revolving pairs whose axes are vertically intersecting; the axis of the revolving pair connected with the first connecting rod 3 in the universal hinge U1 is parallel to the axis of the moving pair P1, and the axis of the rotating pair connected with the third connecting rod 5 in the universal hinge U2 The axis of the connected revolving pair is parallel to the axis of the r...

Embodiment 3

[0018] Such as image 3 As shown, three movable branches with the same structure are connected to the fixed platform 1 and the movable platform 2, one end of the second connecting rod 4 in the movable branch is connected to the fixed platform 1 through the cylinder pair C1, and the other end of the second connecting rod 4 is connected to the fixed platform 1 through the The rotating pair R2 is connected to one end of the third connecting rod 5, and the other end of the third connecting rod 5 is connected to the moving platform 2 through the universal hinge U2; the universal hinge U2 is composed of two rotating pairs whose axes perpendicularly intersect; the rotating pair The axis of R2 and the axis of the cylinder pair C1 are perpendicular to each other, and the axis of the rotating pair connected with the third connecting rod 5 in the universal hinge U2 is parallel to the axis of the rotating pair R2; 2 connected to the fixed platform 1 and the moving platform 2 are arranged ...

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PUM

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Abstract

The invention discloses a parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom. The parallel mechanism comprises a fixed platform, a moving platform and three movable branches which have completely the same structure and connect the two platforms, wherein each movable branch is formed through sequentially connecting a moving pair P1, a rotating pair R1, a rotating pair R2, a rotating pair R3 and a rotating pair R4; the axis of each rotating pair R1 is mutually parallel to the axis of the corresponding moving pair P1; the axis of each rotating pair R2 is mutually vertical to the axis of the corresponding rotating pair R1; the axis of each rotating pair R3 is mutually parallel to the axis of the corresponding rotating pair R2; the axis of each rotating pair R4 is mutually vertical to the axis of the corresponding rotating pair R3; the moving pairs P1 and the rotating pairs R4 are obliquely connected with the fixed platform and the moving platform respectively, and the inclination angles are equal; and the axis of each rotating pair R1 and the axis of the corresponding rotating pair R4 interact at one point in the space. The parallel mechanism has two rotational degrees of freedom and one moving degree of freedom, can continuously rotate around an arbitrary point in certain range in the space, and has wide application prospect.

Description

technical field [0001] The invention relates to the field of robots, in particular to a parallel mechanism. Background technique [0002] Parallel mechanisms with two rotation degrees of freedom and one movement degree of freedom are widely used in the mechanical industry. [0003] In the traditional two-rotation-one-movement parallel mechanism, the moving platform of the mechanism has no freedom of movement in the horizontal direction, but the center point of the moving platform can move in the horizontal direction. Scholars call this movement in the non-degree-of-freedom direction "accompanied motion". The existence of accompanying motion will bring inconvenience to the trajectory calibration and trajectory planning of the mechanism, and increase the complexity of the control. Therefore, reducing or eliminating the accompanying motion of the mechanism through reasonable design is a problem that needs to be solved when designing the mechanism. [0004] Many scholars have...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 陈子明张扬成栋良黄坤刘晓檬
Owner YANSHAN UNIV