Parallel mechanism with three spatial freedom degrees
A degree of freedom and parallel technology, applied in the direction of manufacturing tools, metal processing machinery parts, large fixed members, etc., to achieve the effect of high rotation angle range, high dynamic characteristics and force balance characteristics
Active Publication Date: 2016-08-17
TSINGHUA UNIV
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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.
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[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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The invention discloses a parallel mechanism with three spatial freedom degrees. The parallel mechanism comprises three vertically-arranged motion branch chains and a movable platform arranged in the space formed by the three motion branch chains in an enclosed manner, wherein each motion branch chain comprises a linear feeding system, and the linear feeding systems drive the movable platform to move vertically; the motion branch chain I is connected with the movable platform through a connecting rod A, two ends of the connecting rod A are respectively connected with the motion branch chain I and a connecting rod B through rotating pairs, and part of the rod body at the end, close to the connecting rod B, of the connecting rod A is connected with the movable platform through a rotating pair; the motion branch chain II is connected with the other end of the connecting rod B through a rotating pair; the motion branch chain III is connected with the movable platform through a connecting rod C, one end of the connecting rod C is connected with the motion branch chain III through a spherical hinge, and the other end of the connecting rod C is connected with the movable platform through a universal pair with two rotating freedom degrees. The parallel mechanism with two spatial rotating freedom degrees and one translation freedom degree has the advantages that the motion branch chains are simple in structure, and the high dynamic feature and stress balance feature of the mechanism are guaranteed effectively.
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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IPC IPC(8): B23Q1/64
CPCB23Q1/64
Inventor 关立文王立平付萌
Owner TSINGHUA UNIV