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Three-rotation and one-movement parallel mechanism

A parallel and unified technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that cannot meet the needs of medical and surgical robots, and achieve the effect of easy control and implementation, easy control, and large working space

Pending Publication Date: 2018-10-16
CHINA JILIANG UNIV
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Problems solved by technology

It effectively solves the problem that the existing parallel mechanism cannot meet the needs of medical and surgical robots, and provides at least the advantages described later

Method used

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  • Three-rotation and one-movement parallel mechanism
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  • Three-rotation and one-movement parallel mechanism

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Embodiment Construction

[0019] The technical solutions of the present invention will be described in further detail below through specific embodiments and in conjunction with the accompanying drawings. It should be noted that, on the premise of no conflict, the various embodiments or technical features described below can be combined arbitrarily to form new embodiments.

[0020] see figure 1 , a three-turn-one-shift parallel mechanism, including a moving platform 51 , a fixed platform 52 , an unconstrained branch chain 53 and a constrained branch chain 54 . There are four unconstrained branch chains 53 arranged in a rectangular distribution between the moving platform 51 and the fixed platform 52 , and one constrained branch chain 54 is arranged between the moving platform 51 and the fixed platform 52 . In this embodiment, the connection points of the four unconstrained branch chains 53 and the moving platform 51 are distributed in a square on the same circumference of the moving platform 51, and th...

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Abstract

The invention discloses a three-rotation and one-movement parallel mechanism. The mechanism comprises a movable platform and a fixed platform, and comprises four non-constraint branched chains with the same structure and a constraint branched chain which are connected between the fixed platform and the movable platform; and the constraint branched chain restrains the movement of the movable platform in a X-axis direction and a Y-axis direction. According to the technical scheme, through the arrangement of the constraint branch chain in a six-degree-of-freedom parallel mechanism which is simplyconnected with the non-constraint branch chains, the movement freedom degree in the X-axis direction and the movement freedom degree in the Y-axis direction are restrained, so that the rotation in three directions of the X-axis direction, the Y-axis direction and the Z-axis direction are realized, and movement in the Z-axis direction is realized; in addition, when the three-rotation and one-movement parallel mechanism is applied to an artificial cochlea implanting device, one movement freedom degree in the X-axis direction or the Y-axis direction is achieved by adding the artificial cochlea implanting device on the movable platform, and a three-rotation and two-movement parallel mechanism in a medical operation can be realized; the problem that an existing parallel mechanism cannot meet the requirement of a medical operation robot is effectively solved; and the technical scheme has the advantages of being simple in structure, easy to control, implement is easy, and popularization andapplication are facilitated.

Description

technical field [0001] The invention relates to a parallel robot with few degrees of freedom, in particular to a parallel mechanism with three rotations, one movement and four degrees of freedom. Background technique [0002] Parallel robots have the advantages of high positioning accuracy, strong load capacity, high rigidity, compact structure, and easy control. They are widely used in the fields of simulated motion, docking motion, and bearing motion. [0003] Parallel robots with few degrees of freedom have the advantages of low mechanism complexity, simple kinematics and dynamics models, etc., and can complement the advantages of serial robots to design more flexible mechanical structures. In recent years, the research on parallel robots with few degrees of freedom has become a hot topic. A parallel mechanism with fewer degrees of freedom is a parallel mechanism with less than 6 degrees of freedom, which can be applied to many operations for which parallel mechanisms ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/003
Inventor 黎建军赵凯王斌锐陈迪剑齐强
Owner CHINA JILIANG UNIV
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