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Parallel Mechanism with Two Movement Modes 2r1t and 2t1r

A motion mode, 2T1R technology, applied in the field of robotics, can solve the problem of less parallel mechanisms, and achieve the effect of high accuracy, strong dexterity and high rigidity

Active Publication Date: 2020-08-25
西安德普赛科计量设备有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, at present, there are few parallel mechanisms that realize the transition between two rotations and one movement and two movements and one rotation.

Method used

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  • Parallel Mechanism with Two Movement Modes 2r1t and 2t1r

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Embodiment Construction

[0022] The specific implementation method of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0023] The present invention has the parallel mechanism of two motion modes of 2R1T and 2T1R, such as figure 1 As shown, it includes a rectangular moving platform 8 and a fixed platform 9. The moving platform 8 is connected to the fixed platform 9 through the first branch chain, the second branch chain and the third branch chain respectively. for A 1 , the connection between the second branch chain and the moving platform 8 is denoted as A 2 , the connection between the third branch chain and the moving platform 8 is denoted as A 3 , the connection between the first branch chain and the fixed platform 9 is denoted as B 1 , the connection between the second branch chain and the fixed platform 9 is denoted as B 2 , the connection between the third branch chain and the fixed platform 9 is denoted as B 3 .

[0024] The first br...

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Abstract

The invention discloses a parallel mechanism with two motion modes (2R1T and 2T1R). The parallel mechanism with the two motion modes (2R1T and 2T1R) comprises a rectangular movable platform and a fixed platform. The movable platform is connected with the fixed platform through a first branch chain, a second branch chain and a third branch chain, so that the transformation from the motion mode withtwo rotating and one moving to the motion mode with two moving and one rotating is realized, and the transformation of the motion modes can be realized without the need for re-assembling. The parallel mechanism with the two motion modes (2R1T and 2T1R) further has the characteristics of high rigidity, high accuracy and high flexibility.

Description

technical field [0001] The invention belongs to the field of robots and relates to a parallel mechanism with two motion modes of 2R1T and 2T1R. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the reduction of degrees of freedom in parallel mechanisms will make the mechanism structure simpler, manufacturing and control The cost is relatively low, so in the case of meeting the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 刘伟刘宏昭曹亚斌
Owner 西安德普赛科计量设备有限责任公司
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