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

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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, a

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

Experimental program
Comparison scheme
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Example Embodiment

[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;

[00...

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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Abstract

A slider-type multi-stage coupling parallel mechanism, which includes a fixed platform, a moving platform, a coupling platform, and three branch chains that are evenly distributed along the circumference and are respectively connected to the fixed platform, the coupling platform, and the moving platform, wherein the connection between the fixed platform and the coupling platform The first active rod in the three branch chains is connected with the fixed platform and one end of the first driven rod, the other end of the first driven rod is connected with the lower surface of the coupling platform, and the first connecting rod is connected with the first driven rod. The middle part is connected with the lower surface of the slide block on the coupling platform; the second active rod in the three branch chains connecting the coupling platform and the moving platform is connected with the upper surface of the coupling platform and one end of the second driven rod, and the second driven rod The other end of the rod is connected with the lower surface of the moving platform, and the second connecting rod is connected with the middle part of the second active rod and the upper surface of the slider. The invention increases the stretching ratio of the single or multi-stage coupled parallel mechanism, increases the working space, reduces the number of drive units, facilitates the control during work, and improves the rigidity of the mechanism.

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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