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Symmetrical two-rotation and one-movement parallel mechanism with continuous rotation function

A symmetrical and parallel technology, applied in the field of robotics, can solve problems such as asymmetry and fewer continuous shafts, and achieve the effect of completely symmetrical structure, good isotropy, and low manufacturing cost

Inactive Publication Date: 2016-11-16
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 asymmetric structures, and there are accompanying motions.

Method used

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  • Symmetrical two-rotation and one-movement parallel mechanism with continuous rotation function
  • Symmetrical two-rotation and one-movement parallel mechanism with continuous rotation function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0012] exist figure 1 In the schematic diagram of the symmetrical two-rotation-one-shift parallel mechanism with continuous rotation shown, the present invention includes a fixed platform, a moving platform and three identically structured motion branches connecting the two platforms. The three motion branches are all composed of the fixed platform revolving pair R1, the lower side revolving pair R2, the middle revolving pair R3, the upper side revolving pair R4, the moving platform revolving pair R5 and the connecting rods connecting them together. Among them, the rotating pair R1 of the fixed platform is connected with the fixed platform 1, and is arranged obliquely with the fixed platform; the lower rotating pair R2 is connected with the rotating pair R1 of the fixed platform through the first connecting rod 2, and the axes of the two rotating pairs are in different planes; the middle rotating pair R3 It is connected with the lower rotating pair R2 through the second connec...

Embodiment 2

[0014] Such as figure 2 As shown, the present invention includes a fixed platform, a moving platform and three motion branches with identical structures connecting the two platforms. The three motion branches are all composed of the fixed platform revolving pair R1, the lower revolving pair R2, the middle revolving pair R3, the upper revolving pair R4, the moving platform revolving pair R5 and the connecting rods connecting them. Among them, the rotating pair R1 of the fixed platform is connected with the fixed platform 1 and arranged obliquely with the fixed platform; the lower rotating pair R2 and the rotating pair R1 of the fixed platform are connected through the first connecting rod 2, and the axes of the two rotating pairs are in different planes; the middle rotating pair R3 and The lower rotating pair R2 is connected by the second connecting rod 3, and the axes of the two rotating pairs are in different planes; the upper rotating pair R4 and the middle rotating pair R3...

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PUM

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Abstract

The invention discloses a symmetrical two-rotation and one-movement parallel mechanism with a continuous rotation function. The symmetrical two-rotation and one-movement parallel mechanism with the continuous rotation function comprises a stationary platform, a movable platform and a three moving branches which are identical in structure and are used for connecting the two platforms; each moving branch consists of a stationary platform rotation pair, a lower side rotation pair, a middle rotation pair, an upper side rotation pair, a movable platform rotation pair and connection rods connecting the above rotation pairs; the axis of each movable platform rotation pair intersects with the axis of the corresponding stationary platform rotation pair at one spatial point, and serves as a branch central point; a middle plane is formed by the branch central points of the three moving branches and is a centrally-symmetrical plane; the above stationary platform and the above movable platform are congruent triangles and are symmetrical about the central plane; and the upper side rotation pair and the lower side rotation pair of each branch are also symmetrical about the central plane. The symmetrical two-rotation and one-movement parallel mechanism is completely symmetrical in structure; continuous rotation can be realized around any straight line or any point of the centrally-symmetrical plane; and associated movement is avoided, so that movement control for the mechanism is more simple and convenient.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. technical background [0002] Compared with serial robots, parallel robots have the advantages of high rigidity, fast movement speed and high precision, and are widely used in the field of machinery industry. With the progress of relevant research, the parallel mechanism has developed rapidly. Among them, the parallel mechanism with two rotation degrees of freedom and one movement degree of freedom is widely used in the field of machinery industry. However, most parallel mechanisms cannot rotate continuously around the same axis, which makes the trajectory planning, speed control and mechanism calibration of parallel mechanisms very complicated. Therefore, inventing a parallel mechanism that can realize continuous rotational motion is a problem of great practical significance and will have a good application prospect. Many scholars have conducted special research on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 李仕华田志立韩雪艳李富娟王俊奇
Owner YANSHAN UNIV