Two-translation one-rotation partial decoupling parallel mechanism

A partial decomposition and parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult calibration, high manufacturing cost, and poor motion accuracy, and achieve good motion flexibility, simple and convenient control, and large work space Effect

Active Publication Date: 2019-04-05
YANSHAN UNIV
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Problems solved by technology

[0004] However, most of the existing two-translation-rotation three-degree-of-freedom parallel mechanisms have complex structures, high manufacturing costs, and poor practicability
In addition, most of the drive units of the parallel mechanism are coupled, and the input and output of the parallel mechanism are nonlinear, which leads to difficulties in solving the forward kinematics of the parallel mechanism, complex control, difficult calibration, and poor motion accuracy.

Method used

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  • Two-translation one-rotation partial decoupling parallel mechanism
  • Two-translation one-rotation partial decoupling parallel mechanism

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Embodiment Construction

[0026] Exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0027] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] Please refer to figure 1 and figure 2 ,in figure 1 It is a structural schematic diagram of a partially decoupled parallel mechanism with two translations and one rotation of the present invention, figure 2 It is a schematic diagram of the structure of this embodiment.

[0029] The parallel mechanism includes a moving platform 1 ...

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Abstract

The invention provides a two-translation one-rotation partial decoupling parallel mechanism. The parallel mechanism comprises a movable platform, a fixed platform and a plurality of moving branched chains used for connecting the movable platform and the fixed platform; the plurality of moving branched chains comprise a first moving branched chain, a second moving branched chain and a third movingbranched chain, the first moving branch chain and the third moving branch chain are symmetrically arranged on the two sides of the movable platform and the fixed platform respectively, the second moving branch chain is arranged between the first moving branch chain and the third moving branch chain, the first moving branch chain and the third moving branch chain comprise upper connecting rods, middle connecting rods and lower connecting rods; the second moving branched chain comprises then upper connecting rod and the lower connecting rod. The translation and rotation parallel mechanism has the advantages of being simple in structure, easy to manufacture and assemble, high in transmission precision and low in cost. The mechanism belongs to an asymmetric parallel mechanism and is large in working space and good in motion flexibility compared with a symmetric parallel mechanism.

Description

technical field [0001] The invention relates to the field of parallel mechanisms, in particular to a partially decoupled parallel mechanism with two translations and one rotation. Background technique [0002] The parallel mechanism refers to a closed-loop mechanism that is connected by at least two or more kinematic chains between the moving platform and the fixed platform, the mechanism has two or more degrees of freedom, and is driven in parallel. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, strong bearing capacity, high positioning accuracy, and small cumulative error, and its structure is relatively compact. In recent years, it has been widely used in many technical fields such as flight motion simulators, satellite antennas, new virtual axis machine tools, force sensors, medical equipment, and spacecraft rendezvous and docking in the aerospace field. [0003] Compared with the 6-DOF parallel mechanism, the less-DOF pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 李艳文王森仲崇迪栾英宝梁文龙于龙龙李赫李双
Owner YANSHAN UNIV
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