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A three-degree-of-freedom translational parallel mechanism

A technology of degrees of freedom and translation, applied in the field of robotics, can solve problems such as poor stiffness and achieve a simple and compact structure

Inactive Publication Date: 2019-03-19
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The limitation of the above mechanism is that the overall rigidity of the mechanism is poor, and it is only suitable for the handling of light and small objects

Method used

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  • A three-degree-of-freedom translational parallel mechanism
  • A three-degree-of-freedom translational parallel mechanism

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Embodiment Construction

[0010] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.

[0011] Such as figure 1 As shown, a three-degree-of-freedom translation parallel mechanism proposed by the present invention includes a fixed frame 13, a moving platform 1, and three branch chains arranged between the fixed frame 13 and the moving platform 1. The three branch chains have the same structure . Each branch chain consists of drive motor 4, near frame shaft 11, motor base 6, pinion 5, two bull gears 7a and 7b, toothed belt 8, two bevel gears 9a and 9b, two nut bevel gears 10a and 10b, two leading screws 3a and 3b, two far frame shafts 12a and 12b and connecting rod 2 constitute.

[0012] In each branch chain, the near frame shaft 11 is arranged on the fixed f...

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Abstract

The invention discloses a novel three-freedom-degree translational motion parallel mechanism. The novel three-freedom-degree translational motion parallel mechanism comprises a fixed frame, a movable platform and three branch chains which are arranged between the fixed frame and the movable platform and are the same in structure; each branch chain comprises a drive motor, a near frame shaft, two far frame shafts, two lead screws and a connecting rod; the output end of each drive motor is fixedly connected with a small gear which is connected with a large gear through a toothed belt, two lead screws are driven through a conical gear and a spiral pair to generate the same motion, in the moving process of the mechanism, the connecting rods in the two branch chains are parallel to the fixing frame all the time, and therefore the movable platform is parallel to the fixed frame all the time; through control over the three drive motors in the three branch chains, the movable platform achieves the three-dimensional translational motion. On the basis of the principle that one conical gear of a conical gear pair is used for achieving the rotation and revolution, the lead screws synchronously stretch out and draw back and meanwhile can swing around the near frame shafts and the far frame shafts, three-dimensional translational motion of the movable platform is achieved, the branch chains only bear tension and compression loads, and the total mass of the mechanism is reduced while the rigidity of the mechanism is improved.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with three-dimensional translation in space. Background technique [0002] According to patents CN101244557A and US4976572 (or WO7703527), the existing parallel mechanism that can realize three-dimensional translation includes three groups of active branch chains and a moving platform, and each group of branch chains includes two parts, the near frame rod and the far frame rod. One end of the proximal rod has only one degree of freedom in rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom in rotation; the other end of the far rod has only two degrees of freedom in rotation The hinge is connected with the moving platform to ensure the three-dimensional translation of the moving platform. The limitation of the above mechanism is that the overall rigidity of the mechanism is relatively ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 赵学满王攀峰李丹
Owner TIANJIN UNIV
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