Gear type multi-level coupling parallel mechanism

A gear-type, parallel technology, applied in the field of robotics, can solve problems such as the difficulty of kinematics positive and negative solutions, reduce the dynamic characteristics of the mechanism, and increase the volume of the upper-level drive, so as to reduce the number of drives, reduce the number, and increase the expansion ratio. Effect

CN107932485APending Publication Date: 2018-04-20YANSHAN UNIV
0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-04-20

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

A gear type multi-level coupling parallel mechanism comprises a fixed platform, coupling platforms, a movable platform and three movement branched chains with the same structures, wherein the fixed platform, the coupling platforms and the movable platform are connected by the three movement branched chains with the same structures; three opening grooves which are distributed uniformly are formed in each of the fixed platform, the coupling platforms and the movable platform; two ends of a driving rod in each movement branched chain are separately connected with one end of the fixed platform andone end of a driven rod; the other end of each driven rod is rotatably connected with a first straight-tooth cylindrical gear; each second straight-tooth cylindrical gear is rotatably connected withone end of another driving rod; a first gear is externally engaged with a second gear; the other end of the driving rod is connected with one end of another driven rod; and the other end of the drivenrod is connected with the movable platform. The working space is large, the number of driving units is greatly reduced, forward and inverse kinematics becomes quite easy, and control work in engineering practice is greatly facilitated.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique

[0002] Although the parallel mechanism has the advantages of high rigidity, high precision, and good dynamic performance, due to the interference of kinematic pairs and branch chains, and the influence of space singularity, the common shortcoming of the small working space of the parallel mechanism restricts the application level of the parallel mechanism. Many scholars try to adopt the method of simple series connection between multiple parallel mechanisms through a shared platform, that is, the method of hybrid connection, which aims to solve the problem of not only retaining the advantages of parallel mechanisms, but also making up for the lack of working space. In theory, this method does have a significant effect on improving the working space of the parallel mechanism. However, since this connection method requires the installation of power...

Examples

Embodiment 1

[0026] exist figure 1 , figure 2 and image 3 In the schematic diagram of the gear-type multi-stage coupling parallel mechanism shown, there are three evenly distributed opening slots on the fixed platform 1, the coupling platform 2 and the moving platform 3, and these three platforms are connected by three kinematic branch chains with the same structure. One end of the active rod 4 in the motion branch chain is connected with the fixed platform through the rotating pair arranged on the opening groove of the fixed platform, and the other end of the active rod is provided with a ball bowl 5 connected through the rotating pair, and is connected with the driven wheel through the spherical pair. One end of the rod 6 is connected, and the other end of the driven rod is rotationally connected with the first spur gear 7 through a rotating pair arranged on the lower surface of the coupling platform, and the second spur gear 8 is rotated through the rotating pair arranged on the uppe...

Embodiment 2

[0029] Such as Figure 4 , Figure 5 and Figure 6 As shown, there are three evenly distributed opening slots on the fixed platform 1, the coupling platform 2 and the moving platform 3, and among the three kinematic branch chains connecting the three platforms, two kinematic branch chains have the same structure. The components and connection method are the same as those in Embodiment 1. One end of the active rod 4 in the other branch chain is connected with the fixed platform through the rotating pair arranged on the opening groove of the fixed platform, and the other end of the active rod is connected with the driven rod through the rotating pair. 6, the other end of the driven rod is connected to the first spur gear 7 through a rotating pair on the lower surface of the coupling platform, and the second spur gear 8 is connected through the rotating pair on the upper surface of the coupling platform. Rotately connected with one end of another driving rod 9, the meshing mode...