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Parallel mechanism with two motion modes of 2t1r and 3t

A motion mode and parallel technology, applied in the field of robotics, can solve the problem of fewer parallel mechanisms and achieve the effects of high precision, strong dexterity, and high rigidity

Active Publication Date: 2020-09-22
西安德普赛科计量设备有限责任公司
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] At present, there are few parallel mechanisms that realize the transition between two-movement-one-rotation and three-movement motion modes

Method used

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  • Parallel mechanism with two motion modes of 2t1r and 3t
  • Parallel mechanism with two motion modes of 2t1r and 3t
  • Parallel mechanism with two motion modes of 2t1r and 3t

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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 2T1R and 3T, such as figure 1 As shown, it includes a triangular moving platform 9 and a fixed platform 10, and the moving platform 9 is connected to the fixed platform 10 through the first branch chain, the second branch chain and the third branch chain respectively, and three coordinate axes perpendicular to each other are established, which are respectively x axis, y-axis and z-axis, the x-axis and y-axis are set horizontally, the z-axis is set perpendicular to the horizontal plane, and the connection between the first branch chain and the fixed platform 10 is marked as B 1 , the connection between the second branch chain and the fixed platform 10 is denoted as B 2 , the connection between the third branch chain and the fixed platform 10 is denoted...

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Abstract

The invention discloses a parallel mechanism with 2T1R and 3T two motion modes. The parallel mechanism comprises a rectangular mobile platform and a fixed platform. The mobile platform is connected with the fixed platform through a first branch chain, a second branch chain and a third branch chain, thus 2-transfer 1-rotation and 3-transfer motion modes are switched, the motion modes can be switched without the need for reassembly, and the parallel mechanism further has the characteristics of being high in rigidity, accuracy and flexibility.

Description

technical field [0001] The invention belongs to the field of robots and relates to a parallel mechanism with two motion modes of 2T1R and 3T. 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 e...

Claims

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Application Information

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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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