Platform-type parallel mechanism and its position solution method
A body-shaped, parallel technology, applied in the field of robotics, can solve problems such as useless complex roots, root addition, and the inability to achieve mathematical mechanized solutions.
Active Publication Date: 2018-06-26
NANJING FORESTRY UNIV
View PDF4 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0007] To sum up, the existing position positive solution method cannot realize the full analysis of the pose of the platform-type parallel mechanism dynamic platform, and the calculation process often introduces useless complex roots and augmented roots, which requires human judgment and screening. Unable to achieve mathematical mechanized solution
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0130] The structure of 12-6 fully decoupled parallel mechanisms in this embodiment is as follows figure 1 As shown, it includes a moving platform 1, a static platform 2 and 12 branch chains, the moving platform 1 is a solid cube, the static platform 2 is a hollow cube, and the moving platform 1 and 12 branch chains are arranged in the accommodation chamber of the static platform 2 In the initial state, the geometric center of the static platform 2 coincides with the geometric center of the dynamic platform 1. The 12 branch chains have the same structure, and are composed of a lower ball hinge 3, an inner rod 4, an outer rod 5 and a shared ball hinge 6 connected in series in sequence. The lower ball hinge 3 and the shared ball hinge 6 are all spherical. The inner rod 4 is a solid cylinder, the outer rod 5 is a hollow cylinder, and the inner diameter of the outer rod 5 is the same as the outer diameter of the inner rod 4, the inner rod 4 is set in the outer rod 5, and the two i...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a platform parallel mechanism. The platform parallel mechanism comprises a movable platform, a static platform and 12 branch chains, wherein the movable platform and the 12 branch chains are arranged in an accommodating cavity of the static platform; every two branch chains in the 12 branch chains constitute one group and is arranged at a middle point of each of 6 edges of the movable platform with an included angle; the 6 edges are divided into three groups, and each group comprises two edges located in different planes and parallel with each other; each branch chain is formed by connecting a movable pair and two spherical pairs in series. The platform parallel mechanism has the advantages that definite continuous movement of the movable platform can be realized through stretching and retraction of driving rods, the mechanical structure is simple, easy to machine and easy to assemble, the mechanism has 12 branch chains and definite working space, the coupling degree is zero, so that direct position analysis of the platform parallel mechanism is concise and is in a full analytical form, the kinematic operation efficiency is high, extraneous root and lost root are avoided, mathematical mechanization solution can be realized, and theoretical guarantee is provided for practical application of robots.
Description
technical field [0001] The invention relates to a platform-type parallel mechanism and a method for solving positive position solutions thereof, belonging to the technical field of robots. Background technique [0002] Parallel mechanisms first appeared in the 1930s. In 1931, Gwinnett proposed an entertainment device based on a spherical parallel mechanism; in 1934, Pollard designed a car painting robot based on a parallel mechanism; in 1947, Gough invented a six-degree-of-freedom tire detection device based on a parallel mechanism ; In 1965, Stewart conducted theoretical research on the parallel mechanism invented by Gough for the first time, proposed a six-degree-of-freedom parallel mechanism, and designed a motion generating device for a flight simulator; in 1978, Hunttichu first proposed the six-degree-of-freedom Stewart parallel mechanism as robot manipulator. The research and development of parallel mechanisms has become a research hotspot in the international instit...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00G06F17/12
CPCB25J9/0054G06F17/12
Inventor 尤晶晶左飞尧严飞王进王立杰严鹏飞
Owner NANJING FORESTRY UNIV