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Multi-rotation center type two-rotation-one-shift parallel mechanism

A multi-rotation center type, parallel technology, applied in the field of robots, can solve the problems of inflexible movement of the mechanism, difficult processing and assembly, etc., to avoid accompanying movements, reduce the difficulty of processing and assembly, and facilitate motion control.

Active Publication Date: 2020-07-28
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a multi-rotation center type two-turn-one-shift parallel mechanism, which is used to solve the problem that the existing symmetrical two-turn-one-shift parallel mechanism can only rotate around the axis in the middle symmetrical plane of the upper and lower platforms, the movement of the mechanism is not flexible enough, and Difficult processing and assembly problems

Method used

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  • Multi-rotation center type two-rotation-one-shift parallel mechanism
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  • Multi-rotation center type two-rotation-one-shift parallel mechanism

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Experimental program
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Effect test

Embodiment 1

[0022] exist figure 1 In the schematic diagram of the multi-rotation center type two-rotation-one-shift parallel mechanism shown in the figure, three movable branches with the same structure are connected to the fixed platform 1 and the movable platform 6, and one end of the three-degree-of-freedom planar sub-chain in each movable branch passes through the fixed The platform revolving pair R1 is connected to the fixed platform, and its other end is connected to the moving platform through the moving platform revolving pair R5. The three-degree-of-freedom planar sub-chain includes the revolving pair R2, the moving pair P3, the revolving pair R4 and the connecting rods connecting them. The axes of the rotating pair R4 and the rotating pair R2 are parallel to each other, and the axes of the moving pair P3 and the rotating pair R2 are perpendicular to each other; wherein, the rotating pair R2 is connected with the fixed platform rotating pair R1 through the connecting rod 2, and th...

Embodiment 2

[0025] Such as image 3 As shown, four movable branches with the same structure are connected to the fixed platform 1 and the movable platform 6, one end of the three-degree-of-freedom planar sub-chain in each movable branch is connected to the fixed platform through the rotating pair R1 of the fixed platform, and the other end is connected to the fixed platform through the movable platform The rotating pair R5 is connected with the moving platform, and the three-degree-of-freedom planar sub-chain includes the moving pair P2, the rotating pair R3 and the rotating pair R4 and the connecting rods connecting them. The axes of the rotating pair R4 and the rotating pair R3 are parallel to each other. The axis of the rotating pair R3 is perpendicular to the moving pair P2; wherein the moving pair is connected with the above-mentioned fixed platform rotating pair R1 through the connecting rod 2, and the fixed platform rotating pair R1 is connected with the above-mentioned moving pair ...

Embodiment 3

[0027] Such as Figure 4 As shown, five movable branches with the same structure are connected to the fixed platform 1 and the movable platform 6, and one end of the three-degree-of-freedom planar sub-chain in each movable branch is connected to the fixed platform through the rotating pair R1 of the fixed platform, and the other end is connected to the fixed platform through the movable platform The revolving pair R5 is connected to the moving platform, and the three-degree-of-freedom plane sub-chain includes three revolving pairs R2, R3, R4 and connecting rods connecting them with three axes parallel to each other; wherein, the revolving pair R2 passes through the connecting rod 2 It is connected with the rotating pair R1 of the fixed platform, the axis of the rotating pair R2 is perpendicular to the axis of the rotating pair R1 of the fixed platform, the rotating pair R2 is connected with the rotating pair R3 through the connecting rod 3, and the rotating pair R3 is connected...

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Abstract

A multi-rotating-center type two-rotation and one-movement parallel mechanism comprises a fixed platform, a moving platform and three to six movable branches for connecting the fixed platform and the moving platform, wherein each movable branch comprises a fixed platform rotating pair, a moving platform rotating pair and a three-degree-of-freedom plane subchain, one end of the three-degree-of-freedom plane subchain is connected with the fixed platform rotating pair, and the other end of the three-degree-of-freedom plane subchain is connected with the moving platform rotating pair; the fixed platform rotating pair and the moving platform rotating pair in the same movable branch are separately obliquely arranged with the fixed platform and the moving platform at the same oblique angle; and the axes of the fixed platform rotating pairs are crossed with the axes of the moving platform rotating pairs at a point in the space. The multi-rotating-center type two-rotation and one-movement parallel mechanism has two rotational degrees of freedom and one moving degree of freedom, can continuously rotate around any point in a certain range of the space, and brings great convenience to the movement control of the mechanism.

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 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 conducted ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0036B25J9/0045B25J9/0048B25J9/08
Inventor 陈子明刘晓檬张扬黄坤成栋良魏雪丹黄真
Owner YANSHAN UNIV