A Parallel Mechanism with Three Degrees of Freedom

A technology of degrees of freedom and corner stage, applied in the field of robotics, to achieve the effects of high accuracy, high bearing stiffness, and strong dexterity

Active Publication Date: 2021-10-22
西安德普赛科计量设备有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a three-degree-of-freedom angle platform parallel mechanism, which solves the installation and arrangement problems of the existing parallel mechanism to a certain extent by using the virtual rotation center, and has the characteristics of high load-bearing rigidity, high precision and strong dexterity

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  • A Parallel Mechanism with Three Degrees of Freedom

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Embodiment Construction

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] A kind of angular platform parallel mechanism with three degrees of freedom of the present invention, such as figure 1 As shown, it includes a moving platform and a fixed platform in the shape of a cube corner platform. The moving platform is connected to the fixed platform through three branch chains. The structure and size of the three branch chains are exactly the same. The quadrilateral four-bar mechanism and the flat quadrilateral four-bar mechanism are also connected in turn with a revolving pair R15, a revolving pair R16 and a revolving pair R17, and the revolving pair R17 is connected with the moving platform.

[0016] The moving platform includes B1, B2 and B3. B1, B2 and B3 are respectively located on three axes that are perpendicular to each other and intersect at one point. This point is the apex of the corner platform, and...

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Abstract

A corner platform parallel mechanism with three degrees of freedom disclosed by the present invention comprises a moving platform and a fixed platform in the shape of a cube corner platform, the moving platform is connected to the fixed platform through three branch chains respectively, and the structure and size of the three branch chains It is exactly the same, each branch chain includes a parallelogram four-bar mechanism connected with the fixed platform, and the planar quadrilateral four-bar mechanism is also connected with the rotating pair R15, rotating pair R16 and rotating pair R17 in turn, and the rotating pair R17 is connected with the moving platform. The axes of pair R15, rotating pair R16 and rotating pair R17 are perpendicular to each other. The invention discloses a three-degree-of-freedom angle platform parallel mechanism, which has three degrees of freedom in rotation, and the rotation center of the moving platform is the intersection point of the rotating shaft connected to the moving platform. The parallel mechanism of the present invention has three branch chains, and the load-carrying rigidity of the moving platform is large, and equipment such as motion simulation and motion rehabilitation can be designed based on the mechanism.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a three-degree-of-freedom angle platform parallel mechanism. 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 more degrees of freedom, the higher the cost of manufacturing and control, and It is not easy to control, and the manufacturing and installation process is complicated. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
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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