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6-PSS parallel mechanism and position forward and inverse solution method

A 6-PSS, parallel technology, applied in the field of robots, can solve problems such as limiting the movement space of parallel robots

Active Publication Date: 2018-06-15
XIDIAN UNIV
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Problems solved by technology

[0003] To sum up, the problems existing in the prior art are: the moving platform of the traditional Stewart parallel robot is difficult to rotate at a large angle around the vertical axis, which limits the movement space of the parallel robot

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[0045] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] Parallel robots have the advantages of high rigidity, high bearing capacity, and easy position inversion, and are widely used in fields such as motion simulators and parallel machine tools that require high stiffness, high precision, or large loads without requiring a large working space.

[0047] The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0048] Such as figure 1 As shown, the 6-PSS parallel mechanism of the embodiment of the present invention includes: circular track 1, sliding module 2, connecting rod 3, motion platform 4, u...

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Abstract

The invention belongs to the technical field of robots and discloses a 6-PSS parallel mechanism and a position forward and inverse solution method. A circular rail is arranged and provided with six sliding modules which move actively and precisely along the rail. The sliding modules are connected with the lower ends of connecting rods of a fixed length through spherical hinges correspondingly. Theupper ends of the connecting rods are connected with a motion platform through spherical hinges correspondingly. According to the 6-PSS parallel mechanism and the position forward and inverse solution method, six-degree-of-freedom motion of the motion platform can be achieved, the mechanism is remarkably characterized in that the motion platform can rotate at any angle around the vertical axis, the motion flexibility of the mechanism is improved, and the posture adjustment work space is expanded; and the mechanism can be applied to multiple occasions including light radar antenna pedestals, radiotelescope feed source supporting platforms, motion simulators and the like. The mechanism and method provided by the invention are easy to operate, and the problem that a Stewart platform traditional six-degree-of-freedom parallel robot is limited in work space is effectively relieved; and the motion platform moves by driving the six parallel sliding modules, and the motion speed of the motionplatform is increased.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a 6-PSS parallel mechanism and a position positive and negative solution method. Background technique [0002] In 1962, Gough invented a six-degree-of-freedom tire detection device based on a parallel mechanism; three years later, Stewart first promoted and applied the six-degree-of-freedom tire detection device based on a parallel mechanism as a motion generator for flight simulators; based on a parallel mechanism The six-degree-of-freedom tire detection device is also the most widely used parallel mechanism, which is called Gough-Stewart mechanism or Stewart mechanism. In 1978, Professor Hunt of Australia proposed to use the Stewart platform as a robot machine. In China, Professor Huang Zhen of Yanshan University developed my country's first six-degree-of-freedom parallel robot prototype in 1991. Many scholars at home and abroad have studied the six-degree-of-freedo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 胡圣鑫段学超徐存存吴小川李炳川
Owner XIDIAN UNIV
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