Two-movement and one-rotation parallel mechanism with spherical rotational degrees of freedom

A degree of freedom, parallel technology, applied in the field of robotics, can solve the problem of less parallel mechanisms, and achieve the effect of high accuracy, high rigidity and strong dexterity

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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Problems solved by technology

[0003] At present, there are few parallel mechanisms in the two-movement-rotation motion mode with one spherical rotation degree of freedom

Method used

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  • Two-movement and one-rotation parallel mechanism with spherical rotational degrees of freedom

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Embodiment Construction

[0019] The specific implementation method of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0020] The present invention has a two-movement-rotation parallel mechanism with spherical rotation degrees of freedom, such as figure 1 as shown,

[0021] Including equilateral triangle moving platform 11 and equilateral triangle moving and fixed platform 12, moving platform 11 is respectively connected with fixed platform 12 through the first branch chain, the second branch chain, the third branch chain and the fourth branch chain, the first branch chain, the second branch chain The two ends of the branch chain and the third branch chain are respectively connected to the three corners of the moving platform 11 and the fixed platform 12 and arranged symmetrically to each other, and the two ends of the fourth branch chain are respectively connected to the centers of the moving platform 11 and the fixed platform 12, Establish thr...

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Abstract

The invention discloses a two movement-rotation parallel mechanism having spherical-surface rotational freedom degree. The two movement-rotation parallel mechanism comprises a regular triangle shapedmovable platform and a fixed platform, wherein the movable platform is connected with the fixed platform through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, two ends of the first branched chain, two ends of the second branched chain and two ends of the third branched chain are connected to three corners of the movable platform and the fixedplatform and are mutually symmetrically arranged, and two ends of the fourth branched chain are connected to the central position of the movable platform and the central position of the fixed platformrespectively. The parallel mechanism is simple and stable in structure and has the advantages of high rigidity, high accuracy and strong dexterity.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a two-movement-one-rotation parallel mechanism with spherical rotation degrees of freedom. 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0033
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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