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
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[0023] Example 1
[0024] in figure 1 , figure 2 , image 3 In the shown schematic diagram of the slide-type multi-stage coupling parallel mechanism, one end of the first active rod 4 in the three branches of 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 bowl 5 connected by a rotating pair, and is connected to one end of the first driven rod 6 through a spherical surface pair. The other end of the first driven rod is connected to the lower surface of the coupling platform through the rotating pair. The coupling platform is provided with three evenly distributed sliding grooves. The sliding grooves are all provided with sliding blocks 8. One end of the first connecting rod 7 is connected to the middle of the first driven rod through a rotating pair. The other end is connected to the lower surface of the slider through a rotating pair;
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Example Embodiment
[0028] Example 2
[0029] Such as Figure 4 , Figure 5 with Image 6 As shown, two of the three branch chains connecting the fixed platform 1, the coupling platform 2 and the moving platform 3 have the same structure, and their components and connection methods are the same as those of the branch chain of Example 1. The other branch chain One end of the first driving rod 4 is connected to the fixed platform through a rotating pair, and the other end is connected to one end of the first driven rod 6 through a rotating pair. The other end of the first driven rod is connected to the lower surface of the coupling platform through a rotating pair. One end of the first connecting rod 7 is connected to the middle of the first driven rod through a rotating pair, and the other end of the first connecting rod is connected to the lower surface of the sliding block 8 provided in the sliding groove through a rotating pair; One end of the rod 9 is connected to the upper surface of the coupli...
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