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A parallel mechanism with three degrees of freedom in space

A degree of freedom and parallel technology, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., to achieve the effects of simple branch chain structure, high rotation angle range, and guaranteed force balance characteristics

Active Publication Date: 2019-01-04
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are relatively few such parallel spindle head structures with a small number of motion pairs, a simple structure, and easy control.

Method used

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  • A parallel mechanism with three degrees of freedom in space
  • A parallel mechanism with three degrees of freedom in space

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the following embodiments.

[0026] Such as figure 1 As shown, the present invention can be used in the schematic diagram of the spatial two-rotation-translational parallel mechanism of the five-axis linkage hybrid CNC machine tool, including the fixed frame 10, the moving platform 201 and the movement vertically arranged between the fixed frame 10 and the moving platform 201 according to the space Branch I101, kinematic branch II102 and kinematic branch III103. Each motion branch chain has a set of the same linear feed system, which includes a driving device 14, a linear guide rail 11 and a ball screw 12, wherein the driving device 14 and the linear guide rail 11 are fixedly arranged on the fixed frame 10, and the driving device 14 Drive ball screw 12 to rotate.

[0027] In the motion branch chain I101, the slider 13 is conn...

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Abstract

The invention discloses a parallel mechanism with three spatial degrees of freedom, comprising three moving branch chains vertically arranged and a moving platform disposed in space enclosed by the three moving branch chains; each moving branch chain includes a linear feeding system, the linear feeding systems drive the moving platform to vertically move; the three moving branch chains include respectively, a moving branch chain I, a moving branch chain II and a moving branch chain III; the moving branch chain I is connected with the moving platform through a Y-shaped connector; the moving branch chain II is connected with the moving platform through a connecting rod A; the moving branch chain III is connected with the moving platform through a connecting rod B. The parallel mechanism with two spatial rotational degrees of freedom and one spatial translational degree of freedom, the branch chains are simple in structure, and high dynamic characteristic and force balance characteristic of the mechanism are effectively guaranteed; X-directional and Y-directional rotational degrees of freedom of the mechanism are decoupled, and the tail moving platform thereby obtains large turning angle range and good output precision, which is an outstanding advantage of this mechanism.

Description

technical field [0001] The invention relates to a parallel mechanism with three degrees of freedom, in particular to a parallel mechanism with three degrees of freedom in space, and belongs to the field of mechanical manufacturing. Background technique [0002] The parallel mechanism has compact structure, good modular performance, high stiffness-to-mass ratio, and is easy to realize high-speed movement. The parallel mechanism is a closed-loop system composed of multiple branch chains and dynamic and static platforms, and its degrees of freedom are at most six. A parallel mechanism with less than six degrees of freedom is called a parallel mechanism with few degrees of freedom. Among them, the three-degree-of-freedom parallel mechanism is an important parallel mechanism with few degrees of freedom. In recent years, some hybrid manufacturing equipment based on three-degree-of-freedom parallel mechanisms have been successfully applied in industry, such as the five-axis hybri...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/25B25J9/08B25J9/00
CPCB23Q1/25B25J9/003B25J9/08
Inventor 关立文王立平许华旸
Owner TSINGHUA UNIV
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