A Redundant Drive 4upu-r Parallel Mechanism with Variable Workspace
A 4UPU-R, work space technology, applied in the field of variable work space parallel mechanism, can solve the problems of increasing the moment of inertia of the joint, increasing the mass of the driver, increasing the difficulty of control, etc., to reduce the inertia force, easy to assemble, good movement and The effect of dynamic performance
Inactive Publication Date: 2020-04-07
BEIJING JIAOTONG UNIV
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Problems solved by technology
Although the above methods have achieved the purpose of reconfiguring its own structure and realizing the change of the working space, it will also increase the mass of the drive of the mechanism. The use of some compound kinematic pairs and locking joints will significantly increase the moment of inertia of the joints and increase the difficulty of control , reducing the reliability of the actual use
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[0018] exist figure 1 In the 4UPU-R parallel machine tool shown, the first kinematic branch chain, the second kinematic branch chain, the third kinematic branch chain, and the fourth kinematic branch chain respectively pass through the universal pair A 1 、A 2 、A 3 、A 4 Connected with the fixed platform, and through the universal pair B 1 , B 2 , B 3 , B 4 Connected to the motion platform. Among them, the axes of the rotating pairs connecting the opposite-side kinematic branch chain universal pairs with the moving / fixed platform are parallel to each other, and are perpendicular to the line connecting the centers of the respective universal pairs, that is, r 11 ∥r 31 ⊥A 1 A 3 , r 21 ∥r 41 ⊥A 2 A 4 , r 13 ∥r 33 ⊥B 1 B 3 , r 23 ∥r 43 ⊥B 2 B 4 ; The axis of the rotating pair connected by the upper and lower universal joints and the kinematic branch chain is parallel to each other, and perpendicular to the moving pair axis of the kinematic branch chain, that is...
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The invention relates to a variable working space redundant drive 4UPU-R parallel mechanism capable of realizing pure translation working space of a non-singularity area. The mechanism comprises a fixed platform, a motion platform, and four UPU motion branched chains connected with the motion platform and the fixed platform. The motion branched chains consist of an universal pair, a motion pair and an universal pair in sequence from top to bottom. The mechanism is provided with pure translation travels in X, Y and Z directions; and through use of redundant drive branched chains, the purpose ofno singularity in the working space can be achieved. The four motion branched chains are the same in structure, and are arranged in a rectangular peak area. The motion platform and the fixed platformadopt nontraditional rigid structures; and through adding of center rotating pairs, the angles of planes formed by the motion branched chains on opposite sides can be changed. The upper and lower center rotating pairs are the same in driving parameter, that is, the center connecting lines of universal pairs at the upper and lower ends of the motion branched chains on the opposite sides are in parallel. The redundant drive parallel mechanism with variable working space characteristics has the advantages of high flexibility, good singularity and high rigidity, and can be suitable for such multi-task requirement environments as industrial and agricultural production line box sorting and 3D printing.
Description
technical field [0001] The invention relates to a variable working space parallel mechanism, in particular to a non-singular 4UPU-R parallel mechanism with redundant drive branch chains. This mechanism can be used for sorting and transporting various types of boxes in industrial and agricultural production lines, multi-task 3D printing actuators, etc. Background technique [0002] In the traditional research on parallel robots, the mechanism usually has a fixed working mode and working space. However, with the increasing application background of parallel robots, especially in the fields of industrial and agricultural production, the installation position of the mechanism is fixed, and it usually needs to meet the needs of different tasks such as parts installation, fruit box sorting, and transfer transportation. The working space utilization rate of this type of mechanism is generally low. When one or several tasks required are concentrated in a part of the working space o...
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IPC IPC(8): B25J9/00
CPCB25J9/0069
Inventor 李典郭盛
Owner BEIJING JIAOTONG UNIV