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A five-degree-of-freedom parallel mechanism with closed-loop branches

A degree of freedom, closed-loop technology, applied in the field of robotics, to achieve the effect of high stiffness and high precision

Inactive Publication Date: 2018-11-27
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention designs a new five-degree-of-freedom parallel fitting mechanism for the manual fitting method of many large-scale aircraft at present.

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  • A five-degree-of-freedom parallel mechanism with closed-loop branches
  • A five-degree-of-freedom parallel mechanism with closed-loop branches
  • A five-degree-of-freedom parallel mechanism with closed-loop branches

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Embodiment Construction

[0016] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0017] The invention is a five-degree-of-freedom parallel mechanism with two rotations and three movements, which also has a closed-loop branch chain. As shown in the figure, the mechanism consists of active branch chains (branches one to five), passive branch chains (branch six), fixed platform 1, and moving platform 2.

[0018] Branch chain 1 is composed of Hooke hinge U1, revolving pairs R11 and R12, moving pair P1, compound spherical hinge S1 and connecting rods 3 to 6. One rotation axis of the Hooke hinge U1 is connected to the fixed platform 1; the other rotation axis of the Hooke hinge U1 is connected to one end of the rod 3, and the directions of the two are collinear; the other end of the rod 3 is respectively connected to the Rod 4 is...

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Abstract

The invention relates to a five-degree-of-freedom parallel mechanism comprising a closed-loop branch chain. The whole mechanism of the mechanism is as shown in the drawing of the summary. The movableplatform and the fixed platform are connected by five active chains and one passive chain. The active branch chain is a triangular closed-loop structure, which is composed of one moving pair, two rotating pairs, one Hooke hinge and one compound spherical hinge. The passive branch chain is composed of nine Hooke hinges and one movable pair. The kinematic pairs of the two branch chains are connectedwith each other by rigid connecting rods. The connecting point of the movable platform and the active branch chain forms an axisymmetric pentagon, and the connecting point of the movable platform andthe passive branch chain is located in the middle of the platform. The connection point of the fixed platform and the passive branch forms a regular pentagon, and the connection point of the fixed platform and the passive branch is located at the center of the regular pentagon. The mechanism has the characteristics of large rigidity and high precision, and can realize the position and posture transformation of two rotation and three movement. It can solve the problems existing in the manual package, and fulfill the position and posture adjustment and propulsion requirements in the package process.

Description

technical field [0001] The invention relates to the field of robots, and belongs to a five-degree-of-freedom parallel mechanism with large rigidity and high precision. Background technique [0002] The assembly process of the aerospace vehicle shell requires precise adjustment of the device's pose and strong resistance. Therefore, the propulsion mechanism must have the characteristics of high rigidity and high precision. At the same time, the range of pose adjustment is not large, while the parallel mechanism has high With the advantages of high precision and fast response, it is widely used in fields such as pose adjustment and component docking. [0003] For the configuration design of parallel mechanisms with few degrees of freedom, scholars at home and abroad have synthesized the configurations of five-degree-of-freedom mechanisms through methods such as spiral theory, group theory, and mechanism topology. There are too many chain rods and the structure is very complica...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0072B25J9/08
Inventor 房海蓉王立杨会张海强张程煜
Owner BEIJING JIAOTONG UNIV
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