6-pss parallel mechanism
A 6-PSS, parallel technology, applied in the field of robots, can solve problems such as limiting the movement space of parallel robots, and achieve the effect of improving the flexibility of movement
Active Publication Date: 2021-06-11
XIDIAN UNIV
View PDF6 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0049] 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.
[0050] 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.
[0051] The application principle of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0052] like 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, upp...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention belongs to the technical field of robots, and discloses a 6-PSS parallel mechanism and a position positive and negative solution method, which is provided with a circular track, on which there are six sliding modules that actively move precisely along the track; each sliding module passes through a spherical hinge It is connected with the lower end of the fixed-length connecting rod, and the upper end of each connecting rod is connected with the motion platform through a spherical joint. The invention can realize the six-degree-of-freedom motion of the motion platform, and its remarkable feature is that the motion platform can rotate at any angle around the vertical axis, which improves the flexibility of the movement of the mechanism and expands the working space for attitude adjustment; it can be applied to light radar antenna bases, Radio telescope feed support platform, motion simulator and other occasions. The invention is easy to operate, and effectively improves the problem of limited working space of the traditional six-degree-of-freedom parallel robot of the Stewart platform type; the motion of the motion platform is realized by driving six parallel sliding modules, and the motion speed of the motion platform is improved.
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
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(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