Partially decoupled PRP parallel mechanism

A partial solution and parallel technology, applied in the field of robots, can solve problems such as difficult kinematic analysis and dynamic analysis, and achieve the effects of simple and stable structure, easy control and simple mechanism

Active Publication Date: 2018-11-30
西安德普赛科计量设备有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a partially decoupled RPR parallel mechanism, which solves the problem that the existing parallel mechanism has kinematic coupling and is difficult to carry out kinematic analysis and dynamic analysis, so as to facilitate the control of the mechanism

Method used

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  • Partially decoupled PRP parallel mechanism

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Embodiment Construction

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

[0015] A partially decoupled RPR parallel mechanism of the present invention includes a fixed platform 12 and a moving platform 11, and the fixed platform 12 is connected to the moving platform 11 through three branch chains respectively.

[0016] The fixed platform 12 is composed of A1, A2 located in the X axis direction, and a general position A3, and the axes of the movable platform 11 where B1, B2 and B3 are located are located in the Z, X and Y axis directions respectively.

[0017] The first branch chain includes a rotating pair R11 connected to the A1 point in the fixed platform 12, the rotating pair R11 is connected with one end of the connecting rod a1, the other end of the connecting rod a1 is connected with one end of the moving pair P12, and the other end of the moving pair P12 is connected with the connecting rod One end of the rod...

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Abstract

The invention discloses a partially decoupled PRP parallel mechanism. The partially decoupled PRP parallel mechanism comprises a fixed platform and a movable platform, wherein the fixed platform is connected with the movable platform through three branch chains respectively; the fixed platform is composed of A1 and A1 located in the X-axis direction and A3 located at a common position respectively; axes of B1, B2 and B3 of the movable platform are located in the Z-axis, X-axis and Y-axis directions. According to the partially decoupled PRP parallel mechanism disclosed by the invention, problems of motion decoupling, kinematics, dynamics, path planning and the like are relatively strongly coupled; the parallel mechanism is simple and easy to control and the structure is simple and stable.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a partially decoupled RPR parallel mechanism. Background technique [0002] The parallel robot mechanism is in the form of a space multi-degree-of-freedom multi-loop closed chain. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-operating consoles, motion simulators and multi-dimensional force sensors due to their high stiffness, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. And other industries have been widely used. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on the parallel mechanism with 6 degrees of freedom is more comprehensive and in-depth, but the reduction of the degree of freedom of the parallel mechanism will make the mechanism structure simpler, manufacturing and control. The cost is relatively low, so in the case of meeting the expect...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0072B25J9/08
Inventor 刘伟
Owner 西安德普赛科计量设备有限责任公司
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