Two-movement one-rotation three-degree-of-freedom parallel mechanism
A degree of freedom, parallel technology, applied in the field of robots, can solve the problems of single movement mode, many degrees of freedom of parallel mechanism, complex structure, etc., to achieve the effect of strong dexterity, high accuracy and high rigidity
Active Publication Date: 2018-12-18
西安德普赛科计量设备有限责任公司
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Problems solved by technology
[0005] The purpose of the present invention is to provide a three-degree-of-freedom parallel mechanism with two movements and one rotation, which solves the problems of complex structure caused by many degrees of freedom of the parallel mechanism and single motion mode
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[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0023] A three-degree-of-freedom parallel mechanism with two movements and one rotation of the present invention, such as figure 1 As shown, it includes a fixed platform 9 and a moving platform 10, and the fixed platform 9 is connected to the moving platform 10 through the first branch chain, the second branch chain and the third branch chain respectively.
[0024] The first branch chain includes a moving pair P11 connected to the fixed platform 9, and the moving pair P11 is sequentially connected to the third connecting rod 3, moving pair P12, second connecting rod 2, moving pair P13, first connecting rod 1, and rotating pair R14 and the swivel pair R15, the swivel pair R15 is connected on the moving platform 10, and the swivel pair R14 and the swivel pair R15 are connected to form a universal joint.
[0025] The third connecting rod 3 is a...
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The invention discloses a two-movement one-rotation three-degree-of-freedom parallel mechanism which comprises a fixed platform and a movable platform. The fixed platform is connected with the movableplatform through a first branch, a second branch and a third branch, the first branch comprises a moving pair P11 connected to the fixed platform, and the moving pair P11 is sequentially connected with a third connecting rod, a moving pair P12, a second connecting rod, a moving pair P13, a first connecting rod, a rotating pair R14 and a rotating pair R15, the rotating pair R15 is connected to themovable platform, the rotating pair R14 and the rotating pair R15 are connected to form a universal joint, and the moving pair P11 is connected with a motor. The parallel mechanism solves the problemthat a complicated mechanism is caused by too many freedom degrees of the parallel mechanism, and the motion mode is single. The parallel mechanism has three motion modes, and the mechanism has the characteristics of high rigidity, high precision and strong dexterity. The parallel mechanism has certain application prospects in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
Description
technical field [0001] The invention belongs to the technical field of robots and relates to a three-degree-of-freedom parallel mechanism with two movements and one rotation. 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...
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IPC IPC(8): B25J9/00
CPCB25J9/003
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