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Five-freedom-degree parallel mechanism variable in structure parameter and work space

A technology of working space and structural parameters, applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as parallel mechanisms that have not yet appeared, and achieve the effects of easy kinematic inverse solution, large working space, and easy control of switching conditions

Active Publication Date: 2016-08-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Up to now, this kind of parallel mechanism has not yet appeared

Method used

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  • Five-freedom-degree parallel mechanism variable in structure parameter and work space
  • Five-freedom-degree parallel mechanism variable in structure parameter and work space
  • Five-freedom-degree parallel mechanism variable in structure parameter and work space

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specific Embodiment approach 1

[0025] Combine below figure 1 , 2 , 3 Explain this embodiment. The present invention relates to a five-degree-of-freedom parallel mechanism, more specifically, a five-degree-of-freedom parallel mechanism with variable structural parameters and working space. This mechanism can realize two rotations, three movements and three rotations The five degrees of freedom can be switched between the two movements, and the switching conditions are easy to control; in addition to the advantages of ordinary parallel robots such as small error, large bearing capacity, and easy kinematics inverse solution, it also has adjustable structural parameters, variable motion performance, and large working space. The advantages of large size and strong pertinence to working conditions.

[0026] One end of the driving branch mechanism 1 is connected with the static platform 2, and the other end of the driving branch mechanism 1 is connected with the moving platform 3, and the position of the moving p...

specific Embodiment approach 2

[0027] Combine below figure 1 , 2 , 3 illustrate the present embodiment, the present embodiment will further explain the first embodiment, the drive branch mechanism 1 includes the middle drive branch mechanism 1-1 and the surrounding drive branch mechanism 1-2, and one end of the middle drive branch mechanism 1-1 is installed On the static platform 2 and located at the geometric center of the static platform 2, the other end of the middle drive branch mechanism 1-1 is installed on the dynamic platform 3 and located at the geometric center of the dynamic platform 3. There are four surrounding driving branches 1-2, and one end of the surrounding driving branch 1-2 is movably installed on the static platform 2 through a hinge, and the other end of the surrounding driving branch 1-2 is movably installed through the ball pair 1-2-4 On the moving platform 3, the position of the cutter 5 can be adjusted by controlling the expansion and contraction of the intermediate drive branch m...

specific Embodiment approach 3

[0028] Combine below figure 1 , 2 , 3 illustrate this embodiment, this embodiment will further explain Embodiment 2, the intermediate drive branch 1-1 includes two universal joints I1-1-1, two fixing devices 1-1-2 and the middle The telescopic device Ⅰ1-1-3, the two ends of the middle telescopic device Ⅰ1-1-3 are respectively connected to the fixed device 1-1-2 through a universal joint 1-1-1Ⅰ, and the two fixed devices 1-1-2 They are respectively fixed on the static platform 2 and the dynamic platform 3, and the expansion and contraction of the middle telescopic device I1-1-3 makes the length of the middle driving branch mechanism 1-1 change, and it can be adjusted according to needs.

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Abstract

The invention relates to a five-freedom-degree parallel mechanism, in particular to a five-freedom-degree parallel mechanism variable in structure parameter and work space. The five-freedom-degree parallel mechanism comprises five drive branch mechanisms. According to the mechanism, five degrees of freedom of switching a two-rotation three-movement manner and a three-rotation two-movement manner can be achieved, and the switching conditions are easy to control; and the five-freedom-degree parallel mechanism has the beneficial effects of being adjustable in structure parameter, variable in movement performance, large in work space and high in work condition pertinence besides the beneficial effects of small errors, large bearing capacity, easy kinematics inverse solution and the like of a common parallel robot. One end of each drive branch mechanism is connected with a fixed platform, and the other end of each drive branch mechanism is connected with a movable platform.

Description

technical field [0001] The invention relates to a five-degree-of-freedom parallel mechanism, more specifically a five-degree-of-freedom parallel mechanism with variable structural parameters and working space. Background technique [0002] The emergence of the Stewart platform in the 1950s has aroused the attention of all walks of life on parallel mechanisms. Because the parallel mechanism is composed of multiple branched closed loops, it has the advantages of small error, high rigidity, high bearing capacity, easy kinematics inverse solution, fast response speed, etc. It can be widely used in machine tools, sensors, motion simulators, and micro-manipulation robots. , underground mining, medical and biological engineering and other fields. In terms of parallel mechanism processing, due to the advantages of the parallel mechanism itself, the parallel machine tool can realize high-precision and complex surface processing, so the parallel machine tool is regarded as a revoluti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 柳强张旭堂
Owner HARBIN INST OF TECH
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