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Parallel mechanism achieving three-dimensional translation, one-dimensional rotation and four degrees of freedom

A degree of freedom, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex kinematics, dynamic solution problems, complex parallel mechanisms, etc., to achieve high-speed and high-acceleration dynamic response characteristics, space Fast, quality-reducing effects

Inactive Publication Date: 2018-10-16
SHANGHAI UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

As we all know, more degrees of freedom endow the parallel mechanism with more functions, however, it also makes the parallel mechanism more complicated, and its kinematics and dynamics solution problems are also further complicated

Method used

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  • Parallel mechanism achieving three-dimensional translation, one-dimensional rotation and four degrees of freedom
  • Parallel mechanism achieving three-dimensional translation, one-dimensional rotation and four degrees of freedom

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Embodiment Construction

[0011] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0012] Such as figure 1 As shown, a three-level one-rotation four-degree-of-freedom parallel mechanism consists of a static platform 101, a dynamic platform 102, and a first active branch chain 103, a second active branch chain 104, and a third active branch chain 105 connecting the two platforms. and the fourth active branch chain 106, and the four active branch chains are symmetrically distributed in a 90-degree space between two pairs.

[0013] Such as figure 2 As shown, the structures of the first active branch chain 103, the second active branch chain 104, the third active branch chain 105 and the fourth active branch chain 106 are the same, and each active branch chain is a parallelogram connecting rod sliding block mechanism, which is composed of ...

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Abstract

The invention relates to a parallel mechanism achieving three-dimensional translation, one-dimensional rotation and four degrees of freedom. The parallel mechanism comprises a stationary platform, a movable platform, a first driving branch chain, a second driving branch chain, a third driving branch chain and a fourth driving branch chain, wherein the first driving branch chain, the second drivingbranch chain, the third driving branch chain and the fourth driving branch chain are connected with the two platforms. Every two adjacent driving branch chains are distributed in a 90-degree spatialsymmetry mode, and each driving branch chain is a parallelogram-shaped connecting rod and sliding block mechanism. The parallel mechanism has the advantages of being simple and compact in structure and specific in mode of movement. The four driving branch chains have the same mechanical structures, the kinematic performance and the dynamic performance also have the symmetry, the movement capacities of the driving branch chains are limited with each other, and the three-dimensional translational movement with the high space velocity and the one-dimensional rotational movement with the large rotational range can be achieved. In addition, the movable platform of the parallel mechanism adopts the structural style of a single platform, the mass of moving parts can be reduced, and the high-speedand high-acceleration dynamic response characteristic can be achieved advantageously.

Description

technical field [0001] The invention relates to the fields of mechanics and robotics, in particular to a three-flat, one-turn, four-degree-of-freedom parallel mechanism. Background technique [0002] The parallel mechanism is usually composed of a static platform and a dynamic platform connected by multiple movable branch chains. Compared with the traditional series mechanism, it has many advantages such as large rigidity, stable structure, large bearing capacity, high micro-motion precision, and small motion load. Therefore, It has been valued by various fields and has been further developed. Multi-degree-of-freedom parallel mechanisms play a huge role in many fields, such as medicine and industry. However, there are still many problems to be solved urgently in the further development of multi-degree-of-freedom parallel mechanisms. As we all know, more degrees of freedom endow the parallel mechanism with more functions, however, it also makes the parallel mechanism more c...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0033
Inventor 杨毅陈伟罗均李小毛彭艳
Owner SHANGHAI UNIV
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