A Zero-Coupling Parallel Mechanism with One Translation and Two Rotation Spherical Coordinates
A zero-coupling, spherical coordinate technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to obtain analytical solutions for position positive solutions, high manufacturing costs, and reduced coupling, which is conducive to real-time control and simple structure. , the effect of low manufacturing cost
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.
TriVariant-A (CN100446940C), invented by Professor Huang Tian in 2008, simplifies the overall structure of the parallel mechanism, but its positive position solution cannot be solved analytically
The Trimule (CN104985596B), developed in 2015, reduced the coupling degree of the mechanism, but added a branch chain to the structure, which increased the manufacturing cost
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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] Such as figure 1 with figure 2 As shown, a one-translation and two-rotation spherical coordinates type zero-coupling parallel mechanism includes a static platform 0, a moving platform 1, and complex branch chains and simple branch chains connecting the static platform 0 and the moving platform 1.
[0020] The complex branched chain includes branched chain I, branched chain II and rotating pair IVR 12 . The branch chain I and the branch chain II are coplanar, and can be arranged in parallel or intersecting; the branch chain I and the branch chain II are connected in parallel between the static platform 0 and the dynamic platform 1 ; The revolving pair IVR 12 It is connected in series between the ends of the branch chain I and the b...
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The invention discloses a zero-coupling parallel mechanism of one-translation and two-rotation spherical coordinates, which includes a static platform, a dynamic platform, a complex branch chain connecting the static / dynamic platform and a simple branch chain; Rotating pair IV in series; branch chain I includes rotating pair I and moving pair I, the end of which is hinged to the moving platform; branch chain II includes rotating pair II and moving pair II, and the end is hinged to the moving platform; the axes of rotating pairs I and II are parallel, and At the same time, it rotates around the axis of the rotating pair IV; the simple branch chain includes the Hooke pair and the moving pair III, the ends of which are fixed on the moving platform; the axis of one of the rotating pairs forming the Hooke pair is parallel to the axis of the rotating pair IV; the moving pairs I and II , III are active inputs, and the moving platform produces a movement perpendicular to the static platform and a rotation around the axis of the rotating pair I and rotating pair IV respectively. The invention has simple structure, low manufacturing cost and zero coupling degree, which is beneficial to the kinematics of the mechanism, especially the positive solution analysis of the position, 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 one-translation and two-rotation spherical coordinate zero-coupling parallel mechanism, which provides a new one-translation and two-rotation configuration for robot actuators and mechanism types. Background technique [0002] In recent years, spherical coordinate parallel mechanisms with one translation and two rotation outputs have been widely used, the most successful of which is the Tricept five-DOF hybrid robot invented by Neumann in 1988 (US4732525). The hybrid robot consists of a translational two-rotation parallel mechanism with two revolving pairs in series, which has the characteristics of good static / dynamic performance, large working space / base volume ratio, and reconfigurable configuration. 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 manufactur...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor刘海涛许可黄田肖聚亮梅江平
OwnerTIANJIN UNIV