Four-degree-of-freedom parallel mechanism
A degree of freedom and parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that are difficult to apply to high-speed occasions, the number of branch chains is too many, and it is difficult to control, so as to achieve easy control, large working space, and mechanism simple effect
Active Publication Date: 2017-02-22
GUANGDONG UNIV OF TECH
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Problems solved by technology
The above-mentioned mechanism can rotate in three directions and move in one direction in space, but the number of branch chains and their kinematic pairs are too many, the structure is complicated, it is difficult to control, and it is difficult to apply in high-speed occasions
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[0021] The present invention provides a four-degree-of-freedom parallel mechanism, which can effectively simplify the parallel mechanism, and can also achieve the expected motion effect of rotation in three directions and movement in one direction in space, with few branches and good dynamic performance, and can be applied in high-speed occasions .
[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0023] Please refer to Figure 5 , Figure 5 It is a structural schematic diagram of Embodiment 1 of a four-d...
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The invention discloses a four-degree-of-freedom parallel mechanism. The four-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, three motion branched chains with the same structures, and a transmission branched chain; the motion branched chains consist of first rotating pairs first connecting rods, second connecting rods and spherical hinges; the fixed platform and the movable platform are connected through the motion branched chains to form a parallel mechanism; and the transmission branched chain consists of a rotating pair, a first transmission connecting rod, a hooke joint, a mobile pair, a hooke joint, a transmission chain second connecting rod and a rotating pair. Through the settings, the four-degree-of-freedom parallel mechanism can effectively realize three-direction movement and one-direction movement in space, has independent and continuously rotating degrees of freedom, and is simple in structure, easy to control, high in mechanism rigidity and large in movable platform working space.
Description
technical field [0001] The invention relates to the field of robot and machine manufacturing, and more specifically relates to a four-degree-of-freedom parallel mechanism. Background technique [0002] The parallel mechanism is usually formed by connecting the moving platform and the fixed platform with multiple branch chains. Compared with the series mechanism, it has the advantages of compact and stable structure, high rigidity, small error accumulation, good dynamic performance, and easy kinematic inverse solution. High-speed parallel robots are widely used in the fields of handling, testing, and assembly automation. However, with the continuous expansion of the scope of industrial applications, the requirements for parallel robots have also increased. For example, some assembly processes require that the robot not only has high-speed characteristics, but also can achieve large-angle rotation, so that it can quickly and widely change the posture of objects. and location....
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IPC IPC(8): B25J9/00
Inventor 张国英廖亚军刘冠峰管贻生
Owner GUANGDONG UNIV OF TECH