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Zero-coupling and motion decoupling spherical parallel mechanism

A zero-coupling and parallel technology, applied in the field of three-degree-of-freedom spherical parallel mechanisms, can solve the problem of not many three-degree-of-freedom spherical parallel mechanisms

Inactive Publication Date: 2018-11-23
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, there are not many three-degree-of-freedom spherical parallel mechanisms with zero coupling and motion decoupling

Method used

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  • Zero-coupling and motion decoupling spherical parallel mechanism

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Embodiment Construction

[0008] The technology of the present invention will be further described below by means of accompanying drawings and examples.

[0009] figure 1 The parallel mechanism shown can be an embodiment of the present invention, and its technical solution is as follows: a spherical parallel mechanism with zero coupling degree and motion decoupling, including a dynamic platform 1, a static platform 0 and a connection between the dynamic platform 1 and the static platform An unconstrained branch S of 0 33 -P 32 -S 31 , a hybrid branch chain containing 6 rotating pairs, the degree of constraint of this hybrid branching chain is zero, it contains a circuit R composed of 5 rotating pairs whose axes intersect at a point o 11 -R 12 -R 23 -R 22 -R 21 , and on the circuit output member 2 in series with a revolving pair R 23 Coaxial rotating pair 2 R 13 ; At the same time, the rotation pair 2 R 13 Connect one end of the moving platform 1, the other end of the moving platform 1 and a b...

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Abstract

The invention discloses a zero-coupling and motion decoupling spherical parallel mechanism, comprising a moving platform (1), a static platform (0), an unconstrained branch S33-P32-S31 connecting themoving platform (1) and the static platform (0) and a mixed branch comprising six rotating pairs, wherein the mixed branch has zero constraint and comprises a loop (R11-R12-R23-R22-R21) consisting offive rotating pairs, the axes of the loop intersect at one point (o), and a loop output member (2) is connected in series with a rotating pair II (R13) coaxial with the rotating pair I (R23); at the same time, the rotating pair II (R13) is connected to one end of the moving platform (1), and the other end of the moving platform (1) is connected to a ball pair (S33) of the unconstrained branch. This topological structure and geometric constraints ensure the zero coupling degree of the mechanism, and the mechanism has a simple structure and easy to manufacture.

Description

technical field [0001] The invention relates to a parallel robot mechanism, which provides a new zero-coupling and motion decoupling three-degree-of-freedom spherical parallel mechanism for spherical robots and the like. Background technique [0002] The manipulators with parallel structure have been applied in industry, for example: Delta manipulators with three translations, and manipulators with three translations and one rotation, such as H4, I4, Par4, Cross-IV, have been used in high-speed pick-and-place, positioning assembly, handling , sorting, loading and unloading and other processes have played a very good role; and patents 201210435375.1, 201510564382.5, 201510567133.1, 201510564195.7, 201510566039.4, 201510566840.9, etc., also disclose a batch of new models of three-translation-rotation parallel robots. [0003] Scholars at home and abroad have done a lot of research on the three-degree-of-freedom spherical parallel robot mechanism. In 1981, Cox proposed a 3-3R ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平王恪邓嘉鸣
Owner CHANGZHOU UNIV