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Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision

A high-precision, large-stroke technology, applied in the field of robots, can solve the problems of complex structure, increased cost and difficulty in control, and achieve the effect of large range of motion, low manufacturing cost and simple assembly.

Inactive Publication Date: 2017-01-11
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its structure is complex and requires two sets of drive systems, which increases the cost and difficulty of control

Method used

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  • Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision
  • Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision
  • Spatial six-degree-of-freedom compliant parallel mechanism with large stroke and high precision

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Such as figure 1 , Figure 5 As shown, a large stroke and high precision space compliant parallel mechanism with six degrees of freedom includes a frame 1, a moving platform 2 and six flexible branches connected in parallel between the frame and the moving platform.

[0027] Each flexible branch includes a moving pair 10, a mounting block 11, a first flexible spherical pair 12, a connecting rod 13, and a second flexible spherical pair 14 that are sequentially connected between the frame and the moving platform; the six moving auxiliary axes are in the form of Radially arranged in the same horizontal plane, the angle between the secondary moving axes of two adjacent flexible branches is 60 degrees.

[0028] Described mobile pair is the ball screw mechanism (comprising leading screw, sliding table 15, servomotor 16) fixed with frame, the leading screw axis of ball screw mechanism is horizontally arranged, and the sliding table of ball screw mechanism is fixed with mounti...

Embodiment 2

[0031] Such as figure 2 , Figure 5 As shown, a large stroke and high precision space compliant parallel mechanism with six degrees of freedom includes a frame 1, a moving platform 2 and six flexible branches connected in parallel between the frame and the moving platform.

[0032] Each flexible branch includes a moving pair 10, a mounting block 11, a first flexible spherical pair 12, a connecting rod 13, and a second flexible spherical pair 14 that are sequentially connected between the frame and the moving platform; The secondary axes of movement are set in the same horizontal plane; the secondary axes of movement in the six flexible branches are divided into three groups radially arranged, and the secondary axes of movement in every two flexible branches form a group, and the secondary axes of movement in each group are mutually Parallel, the included angle between two adjacent sets of moving secondary axes is 120 degrees.

[0033] Described mobile pair is the ball screw...

Embodiment 3

[0036] Such as image 3 , Figure 5 As shown, a large stroke and high precision space compliant parallel mechanism with six degrees of freedom includes a frame 1, a moving platform 2 and six flexible branches connected in parallel between the frame and the moving platform.

[0037] Each flexible branch includes a moving pair 10, a mounting block 11, a first flexible spherical pair 12, a connecting rod 13, and a second flexible spherical pair 14 that are sequentially connected between the frame and the moving platform; the six moving auxiliary axes are arranged In the same horizontal plane; the moving sub-groups in the six flexible branches are divided into four groups radially arranged, wherein the mobile sub-groups in the four flexible branches are divided into two large groups arranged axisymmetrically, and the mobile sub-groups in the remaining two flexible branches The sub-movements are divided into two sub-groups arranged axisymmetrically, and the sub-groups are arranged...

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Abstract

The invention relates to a spatial six-degree-of-freedom compliant parallel mechanism with the large stroke and the high precision. The mechanism has the advantages of large motion range, high precision, simple structure and low cost. The technical scheme is as follows: the mechanism comprises a rack, a moving platform and six flexible branches connected between the rack and the moving platform in parallel; the mechanism is characterized in that each flexible branch comprises a moving pair, a mounting block, a first flexible spherical pair, a connecting rod and a second flexible spherical pair which are sequentially connected between the rack and the moving platform; axes of the moving pairs of the six flexible branches are radially arranged on the same plane; and an included angle formed by the axes of the moving pairs of every two adjacent flexible branches is 60 degrees.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a large-stroke and high-precision spatial six-degree-of-freedom compliant parallel mechanism. Background technique [0002] Different from rigid mechanisms, compliant mechanisms refer to novel mechanisms that utilize the deformation of flexible materials to transfer motion or energy. Due to the advantages of integral processing, simple structure, freedom from assembly, and high precision, the compliant mechanism has been widely used. The parallel arrangement can limit the accumulation of flexible hinge errors, increase the overall stiffness, and improve the dynamic performance. Therefore, a parallel-connected compliant mechanism has been developed. Among them, the spatial six-degree-of-freedom compliant parallel mechanism is an important category, which is widely used in micro-manipulation, positioning and other fields. [0003] Most of the existing six-degree-of-freedom compli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0039
Inventor 李秦川叶伟柴馨雪
Owner ZHEJIANG SCI-TECH UNIV
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