A Weakly Symmetric One-Translation Two-Rotation Spherical Coordinate Zero-Coupling Parallel Mechanism
A spherical coordinate and zero-coupling technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that the positive solution of the position cannot be obtained analytically, the process is complicated, the structure is complicated, etc., and achieve the effect that is conducive to real-time control
Active Publication Date: 2021-08-06
TIANJIN UNIV
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Problems solved by technology
However, the coupling degree of the parallel main structure is high, the structure is complex, and the number of mechanism hinges and components is too large, resulting in high manufacturing costs and complicated processes.
The TriVariant-A hybrid robot invented by patent CN100446940C simplifies the overall structure of the parallel mechanism, but its positive position solution cannot be analyzed
The Trimule developed by the patent CN104985596B realizes the reduction of the coupling degree of the mechanism, and the performance of the whole machine is better, but the structure shows that there is only one branch chain on one side and three branch chains on the other side (one-to-three distribution), which will inevitably affect the overall mechanism offset of center of gravity
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[0018] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:
[0019] as attached Figure 1 to Figure 3 As shown, a weakly symmetric one-translation two-rotation (1T2R) spherical coordinate zero-coupling parallel mechanism includes a static platform 0, a dynamic platform 1, and two complex branch chains connecting the static platform 0 and the dynamic platform 1 I and complex branch chain II, the structure of the complex branch chain I and the complex branch chain II is similar, and the overall structure has weak symmetry.
[0020] The complex branched chain I includes sub-chain I, sub-chain III and rotation pair VR 13 . The sub-chain I and the sub-chain III have the same structure; the sub-chain I and the sub-chain III are coplanar and connected in parallel between the static platform 0 and the moving...
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The invention discloses a weakly symmetrical one-translation two-rotation spherical coordinate type zero-coupling parallel mechanism, which includes complex branch chains I and II connecting the static / dynamic platform; the complex branch chain I is connected in parallel by sub-chains I and III and then in series with the revolving pair V; The sub-chains I and III respectively include revolving pair I and moving pair I, revolving pair III and moving pair III, the ends of which are hinged with the moving platform; revolving pairs I and III rotate around the axis of revolving pair V at the same time; complex branch chain II consists of sub-chain II , IV are connected in parallel and then connected in series with rotating pair VI; sub-chain II includes rotating pair II and moving pair II, the end of which is hinged to the moving platform; sub-chain IV includes rotating pair IV and moving pair IV, and the end is fixedly connected to the moving platform; rotating pair II, IV rotates around the axis of rotating pair VI at the same time; moving pairs I, II, and III are active inputs, and the moving platform produces vertical movement of the static platform and rotation around the axes of rotating pairs I and V. The base of the invention has a quadrilateral structure and the coupling degree is zero, which is beneficial to the kinematics positive solution analysis of the mechanism and the real-time control of the operating position of the mechanism.
Description
technical field [0001] The invention relates to a parallel mechanism, in particular to a weak symmetry-translation and two-rotation spherical coordinate zero-coupling parallel mechanism, which provides a new weak symmetry-translation and two-rotation configuration for robot actuators and mechanism types. Background technique [0002] In recent years, spherical coordinate parallel mechanisms with 1T2R (one translation, two rotations) output have been widely used. Patent US4732525 proposes a widely used Tricept hybrid robot. The hybrid robot is composed of a 1T2R parallel mechanism with two rotations in series, and has the characteristics of good static / dynamic performance, large working space / base volume ratio, and reconfigurability. However, the coupling degree of the parallel main structure is high, the structure is complex, and the number of mechanism hinges and components is too large, resulting in high manufacturing costs and complicated processes. The TriVariant-A hybr...
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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor刘海涛许可黄田肖聚亮梅江平
OwnerTIANJIN UNIV