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Slide block type multistage coupling parallel mechanism

A slider-type, parallel technology, applied in the field of robotics, can solve the problems of multi-stage hybrid mechanism, insufficient working space, and difficult actual control, etc., to improve stiffness, reduce quantity, and increase local degrees of freedom Effect

Pending Publication Date: 2018-04-20
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The problem to be solved is that the working space of the parallel mechanism is insufficient, the drive of the latter mechanism in the hybrid mechanism becomes the load driven by the previous mechanism, which causes the bulky shortcomings, and the multi-stage hybrid mechanism is limited by the kinematics and the forward and reverse solution is difficult Due to the difficult problem of actual control, the present invention provides a slider-type multi-stage coupling parallel mechanism

Method used

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  • Slide block type multistage coupling parallel mechanism
  • Slide block type multistage coupling parallel mechanism
  • Slide block type multistage coupling parallel mechanism

Examples

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Effect test

Embodiment 1

[0024] exist figure 1 , figure 2 , image 3 In the schematic diagram of the slider-type multi-stage coupling parallel mechanism shown, one end of the first active rod 4 in the three branch chains with the same structure connecting the fixed platform 1 and the coupling platform 2 is connected to the fixed platform through a rotating pair. The other end of the rod is provided with a first ball bowl 5 connected by a rotating pair, and is connected with one end of the first driven rod 6 through a spherical pair, and the other end of the first driven rod is connected to the lower surface of the coupling platform through a rotating pair connection, three evenly distributed chutes are arranged on the coupling platform, and slide blocks 8 are arranged in the chute, and one end of the first connecting rod 7 is connected with the middle part of the first driven rod through a rotating pair, and the first connecting rod The other end is connected with the lower surface of the slider th...

Embodiment 2

[0029] Such as Figure 4 , Figure 5 and Figure 6 As shown, in the three branch chains connecting the fixed platform 1, the coupling platform 2 and the moving platform 3, two of them have the same structure, and their components and connection methods are the same as those of the branch chains in Example 1. The other branch chains One end of the first active rod 4 is connected with the fixed platform through the rotating pair, and its other end is connected with one end of the first driven rod 6 through the rotating pair, and the other end of the first driven rod is connected with the lower surface of the coupling platform through the rotating pair Connected, one end of the first connecting rod 7 is connected with the middle part of the first driven rod through a rotating pair, and the other end of the first connecting rod is connected with the lower surface of the slider 8 provided in the chute through a rotating pair; the second active One end of the rod 9 is connected wi...

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Abstract

The invention discloses a slide block type multistage coupling parallel mechanism. The slide block type multistage coupling parallel mechanism comprises a fixed platform, a movable platform, a coupling platform, and three branched chains respectively connected with the fixed platform, the coupling platform and the movable platform and uniformly distributed along the periphery, wherein a first driving rod in the three branched chains for connecting the fixed platform with the coupling platform is connected with the fixed platform and one end of a first driven rod; the other end of the first driven rod is connected with the lower surface of the coupling platform; a first connecting rod is connected with the middle part of the first driven rod and the lower surface of a slide block arranged on the coupling platform; a second driving rod in the three branched chains for connecting the coupling platform with the movable platform is connected with the upper surface of the coupling platform and one end of a second driven rod; the other end of the second driven rod is connected with the lower surface of the movable platform; and a second connecting rod is connected with the middle part ofthe second driving rod and the upper surface of the slide block. The slide block type multistage coupling parallel mechanism increases an extension ratio of a single or multistage coupling parallel mechanism, enlarges working space, reduces the number of driving units, facilitates control during working, and improves rigidity thereof.

Description

technical field [0001] The invention belongs to the technical 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 installatio...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 周玉林周琳史树阳刘扬杨磊光梅友恩
Owner YANSHAN UNIV
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