A Symmetrical Parallel Mechanism with Three Rotational Degrees of Freedom

A three-rotation, degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of large rotation space, and achieve the effect of fast space speed, simple structure and easy installation.

Active Publication Date: 2021-08-10
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The above applications all require the structure of the three-rotation parallel mechanism to have symmetry, fast speed and large rotation space

Method used

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  • A Symmetrical Parallel Mechanism with Three Rotational Degrees of Freedom
  • A Symmetrical Parallel Mechanism with Three Rotational Degrees of Freedom

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Embodiment Construction

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

[0012] like figure 1 As shown, a symmetrical parallel mechanism with three rotational degrees of freedom consists of a static platform 101, a moving platform 102, and a first active branch 103, a second active branch 104 and a third active branch 105 connecting the two platforms. The three active branch chains are distributed symmetrically in a 120-degree space.

[0013] like figure 2 As shown, the structures of the first active branch 103, the second active branch 104 and the third active branch 105 are the same, and each active branch is a parallelogram link-slider mechanism, which consists of three Connecting rod, two sliding rods and two sliding blocks; wherein, the first connecting rod 201, the first sliding rod 202, the second connecting rod 203, and...

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Abstract

The invention relates to a symmetrical three-rotational parallel mechanism, which is composed of a static platform, a dynamic platform, and a first active branch chain, a second active branch chain and a third active branch chain connecting the two platforms. The three active branch chains are symmetrically distributed in a 120-degree space. Among them, each active branch chain is a parallelogram connecting rod slider mechanism, which is composed of 3 connecting rods, 2 sliding rods and 2 sliders. Platform connection. The present invention provides a symmetrical three-rotation-degree-of-freedom parallel mechanism. Each active branch chain has the same mechanical structure, and its kinematics and dynamic performance are also symmetrical. The internal rotation centers of each active branch chain coincide with each other, and the movement Capabilities are limited to each other, and three-dimensional rotation with fast space speed and large rotation range can be realized. It is suitable for satellite tracking and positioning, robot shoulder / wrist joint attitude adjustment and other occasions.

Description

technical field [0001] The invention relates to the fields of mechanics and robotics, in particular to a symmetrical three-rotation-degree-of-freedom parallel mechanism. Background technique [0002] The parallel mechanism is a closed-loop motion system composed of multiple parallel branch chains, that is, one end of the multiple parallel branch chains is connected to an end effector (moving platform) at the same time. Compared with the traditional series mechanism, the parallel mechanism has greater rigidity, load and higher precision. In a sense, the parallel mechanism has the advantages of high stiffness, high precision and high speed of CNC machine tools and the advantages of low cost, flexibility and easy integration of industrial robots. Among them, the parallel mechanism with three rotational degrees of freedom has broad application prospects in the industrial field, and can be used in positioning and tracking devices for inter-satellite link satellites, robotic shou...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/003
Inventor 杨毅陈伟罗均李小毛彭艳
Owner SHANGHAI UNIV
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