A Three Degrees of Freedom Parallel Mechanism with Arc Moving Pair

A technology of degrees of freedom and moving pairs, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as accompanying actions in the operation process, complex mechanism structure, and difficulty in controlling control accuracy, achieving high flexibility, simple motion forms, Guaranteed precision and quality results

Active Publication Date: 2019-12-24
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The above-mentioned mechanisms generally have defects such as complex structures and accompanying actions in the operation process, which make it difficult to control the control accuracy.

Method used

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  • A Three Degrees of Freedom Parallel Mechanism with Arc Moving Pair
  • A Three Degrees of Freedom Parallel Mechanism with Arc Moving Pair
  • A Three Degrees of Freedom Parallel Mechanism with Arc Moving Pair

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Embodiment Construction

[0023] Please refer to figure 1 and figure 2 , the three-degree-of-freedom parallel mechanism with arc-shaped moving pairs in the present invention includes a base 6, a moving platform 1, a constraint rod 9 and three identical kinematic branch chains (not shown).

[0024] The restraining rod 9 connects the moving platform 1 and the base 6 , and the restraining rod 9 and the base 6 are fixedly arranged. The moving platform 1 has three degrees of freedom in rotation directions relative to the restraining rod 9 . Specifically, the restraining rod 9 is in the shape of a strip, the bottom end of which is fixed on the base 6 and its extension direction is perpendicular to the base plane of the base 6 , and the top end is connected with the moving platform 1 by a ball joint 11 .

[0025] The three kinematic branch chains are arranged symmetrically with the constraint rod 9 as the center. The meaning of central symmetry is: the distance between the fixed point of each kinematic bra...

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Abstract

The invention discloses a three-degree-of-freedom parallel mechanism provided with arc-shaped sliding pairs. The three-degree-of-freedom parallel mechanism provided with the arc-shaped sliding pairs comprises a base, a movable platform, a restraining rod and three identical moving branched chains. The movable platform and the base are connected through the restraining rod. The movable platform has freedom degrees in three rotation directions relative to the restraining rod. The three moving branched chains are arranged symmetrically with the restraining rod as the center. Each moving branched chain comprises a lead screw assembly and one arc-shaped sliding pair. The lead screw assemblies are arranged on the base, and the arc-shaped sliding pairs are hinged to the movable platform. Each arc-shaped sliding pair comprises a lower arc-shaped connecting rod and an upper arc-shaped connecting rod, wherein the lower arc-shaped connecting rod and the upper arc-shaped connecting rod are connected in a nested mode, the lower arc-shaped connecting rod is driven by the corresponding lead screw assembly to move linearly in the axis direction of the lead screw assembly and to rotate around the axis of the lead screw assembly, the upper arc-shaped connecting rod is made to move along the arc-shaped track of the lower arc-shaped connecting rod accordingly, and one end of the upper arc-shaped connecting rod is hinged to the movable platform.

Description

technical field [0001] The invention relates to the technical field of robot design and manufacture, in particular to a three-degree-of-freedom parallel mechanism with an arc-shaped moving pair. Background technique [0002] The parallel mechanism is usually composed of a moving platform and a fixed platform connected by multiple branch chains. Since the parallel robot was first proposed in 1938, because of its large rigidity, strong carrying capacity, small error, high precision, and small self-weight-to-load ratio , good power performance, easy control and other characteristics, widely used in various fields of society. At present, there are 2 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, and 6 degrees of freedom parallel robots. Among them, the parallel mechanism with symmetrical distribution of 3-degree-of-freedom symmetrical branches is the most researched, and its application is in the fields of machining rotary platforms, rehabilitation equipment, s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/003B25J9/08
Inventor 赵国如王永奉刘更谦范顺成
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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