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Non-coupling two-rotation parallel mechanism

A non-coupling, parallel technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as strong coupling and difficult control, and achieve the effect of solving poor decoupling, reducing mutual influence, and good kinematics characteristics

Pending Publication Date: 2019-03-29
HENAN UNIV OF SCI & TECH
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Problems solved by technology

[0003] The purpose of the present invention is to design a non-coupling two-rotation parallel mechanism to solve the problems of strong coupling and difficult control of the existing two-rotation parallel mechanism

Method used

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Embodiment Construction

[0014] The technical solutions of the present invention will be further described through specific implementation methods below in conjunction with the accompanying drawings.

[0015] As shown in the figure, a non-coupling two-rotation parallel mechanism is composed of a fixed platform 1, a moving platform 2, and a first branch kinematic chain L1 and a second branch kinematic chain L2 connecting the two platforms.

[0016] The first branch kinematic chain L1 is a mixed chain, which is composed of a space closed-loop structure and a second revolving pair R12 connected in series. The space closed-loop structure also includes two sub-branches. The second sub-branch of the revolving pair R11 is a single open chain composed of a first helical pair H1, a third revolving pair R13, a fourth revolving pair R14 and a first universal hinge U1. Among them, the first rotating pair R11, the second rotating pair R12 and one end of the first universal hinge U1 are connected with the three bra...

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Abstract

The invention discloses a non-coupling two-rotation parallel mechanism. The non-coupling two-rotation parallel mechanism comprises a fixed platform, a movable platform, a first branch movement chain and a second branch movement chain, wherein the first branch movement chain and the second branch movement chain are used for connecting the two platforms; the first branch movement chain is formed byconnecting a space closed-loop structure and a second rotation pair in series, the space closed-loop structure comprises two sub branches, the first sub branch comprises a first rotating pair, the second sub branch is a single open chain which is formed by a first spiral pair, a third rotating pair, a fourth rotating pair and a first universal hinge, and with the first spiral pair being an activepair, one rotation freedom degree of the movable platform is controlled; the second branch chain is composed of a second spiral pair, a fifth rotation pair, a sixth rotation pair and a second universal hinge, and the second spiral pair is used as an active pair and can control the other rotation freedom degree of the movable platform. The speed Jacobi matrix of the mechanism is a diagonal matrix and therefore has good kinematics characteristics; control design is simple, and the problem is solved that a common parallel mechanism is poor in kinematics decoupling performance.

Description

technical field [0001] The invention relates to the field of robot space mechanisms, in particular to a non-coupling two-rotation parallel mechanism. Background technique [0002] Parallel mechanisms are widely used in the fields of CNC machine tools, sensors, micro-manipulation robots, and medical robots. They generally consist of a moving platform, a fixed platform, and 2-6 motion branch chains connecting the two platforms. Compared with the series mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, strong bearing capacity, high precision, and small cumulative error. Parallel mechanisms can be divided into six-degree-of-freedom parallel mechanisms and less-degree-of-freedom parallel mechanisms. Compared with six-degree-of-freedom parallel mechanisms, less-degree-of-freedom parallel mechanisms have the advantages of simple structure, low processing and manufacturing costs, and large working space. development prospects. At present, so...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 张彦斌王科明许泽华李向攀郭冰菁韩建海陈子豪
Owner HENAN UNIV OF SCI & TECH
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