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Two-rotating one-moving parallel mechanism provided with symmetric structure and continuous rotating shaft

A technology of symmetrical structure and rotating shaft, applied in the field of robots, can solve the problems of non-isotropic mechanism, few continuous rotating shafts, asymmetry, etc., and achieve the effect of good isotropy, completely symmetrical structure and easy maintenance.

Active Publication Date: 2016-11-09
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Many scholars have conducted special research on this issue and designed related mechanisms, but most of the existing mechanisms have fewer continuous shafts or adopt asymmetric structures. The mechanisms are not isotropic and have accompanying motions.

Method used

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  • Two-rotating one-moving parallel mechanism provided with symmetric structure and continuous rotating shaft
  • Two-rotating one-moving parallel mechanism provided with symmetric structure and continuous rotating shaft

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0012] exist figure 1 In the two-turn-one-shift parallel mechanism with a symmetrical structure and a continuous shaft, three motion branches with the same structure are connected to the fixed platform 1 and the moving platform 6, and the moving pair P1 of the fixed platform in the above three motion branches is connected to the fixed platform. And it is arranged obliquely relative to the fixed platform, the lower rotating pair R2 is connected with the moving pair P1 of the fixed platform through the first connecting rod 2, and the axis of the lower rotating pair R2 is parallel to the axis of the moving pair P1 of the fixed platform, and the middle rotating pair R3 passes through the second The connecting rod 3 is connected with the lower swivel pair R2, the upper swivel pair R4 is connected with the middle swivel pair R3 through the third connecting rod 4, and the axis of the middle swivel pair R3 is neither intersected nor perpendicular to the axes of the upper and lower swiv...

Embodiment 2

[0014] Such as figure 2 As shown, three motion branches with exactly the same structure are connected to the fixed platform 1 and the moving platform 6. Among the three motion branches, the fixed platform cylinder pair C1 is connected to the fixed platform, and the fixed platform cylinder pair C1 is connected to the middle rotating pair through the first connecting rod 2. R2 is connected, and the middle revolving pair R2 is connected with the cylinder pair C3 of the moving platform through the second connecting rod, and the cylinder pair C3 of the moving platform is connected with the moving platform. The axes of the cylinder pair C3 of the moving platform and the cylinder pair C1 of the fixed platform intersect at a point O1 in space, which is the branch center point, and the branch center points O1, O2 and O3 of the three motion branches form an intermediate symmetry plane S; each motion branch Among them, the kinematic pair combination composed of the fixed platform cylind...

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Abstract

A two-rotating one-moving parallel mechanism provided with a symmetric structure and a continuous rotating shaft is composed of a fixed platform, a movable platform and three motion branches of the same structure, wherein the fixed platform and the movable platform are connected through the motion branches. The three branches are each composed of a fixed platform moving pair, a lower rotating pair, a middle rotating pair, an upper rotating pair, a movable platform moving pair and connecting rods through which the fixed platform moving pair, the lower rotating pair, the middle rotating pair, the upper rotating pair and the movable platform moving pair are connected, wherein the movable platform moving pair and the fixed platform moving pair are crossed on one point of space, and the lower rotating pair and the upper rotating pair are crossed on one point of the space; the three branches jointly generate six crossing points, the six crossing points share the same plane, and the plane is the middle symmetric plane of the mechanism; the axis of each middle rotating pair is located in the middle symmetric plane, and the fixed platform and the movable platform are congruent triangles and are symmetric about the plane; and the mechanism is complexly symmetric in structure, the aim that the mechanism can continuously rotate around any one straight line or any point of the middle symmetric plane is achieved, happening of associated movement is avoided, and motion control of the mechanism becomes simple, flexible and reliable.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] Parallel mechanisms are more and more widely used in practice because of their high rigidity, precision and bearing capacity. The rotating shafts of parallel mechanisms include continuous rotating shafts and instantaneous rotating shafts. For a two-rotation-one-moving parallel mechanism, the distribution of the rotating shafts with two degrees of freedom in space is very important for the calibration, trajectory planning and speed control of the mechanism. Continuous rotation capability is one of the important performance indicators for evaluating parallel mechanisms in industrial applications. Most of the rotating shafts existing in the existing parallel mechanism are instantaneous rotating shafts, and the rotation capacity is limited. Therefore, designing a parallel mechanism that can realize continuous rotating motion is of great pract...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 李仕华韩雪艳田志立李富娟王子义
Owner YANSHAN UNIV
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