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Multi-degree-of-freedom parallel mechanism

A degree of freedom and parallel technology, applied in the field of robotics, can solve the problems of small operating space, difficult to arrange multiple robots at the same time, large size of robots, etc., and achieve the effect of high space utilization

Pending Publication Date: 2019-04-12
SUZHOU MAILAN MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in applications such as surgical robots or machine tools, it is necessary to control the tool to have two degrees of freedom in translation and two rotations, or three degrees of freedom in three translations and two rotations. The above-mentioned parallel mechanism that provides three translations and one rotation cannot meet such applications. need
[0004] In addition, most of the existing parallel robots adopt a completely symmetrical design, resulting in a large overall robot size, which cannot better adapt to a small operating space, or it is difficult to arrange multiple robots simultaneously in a limited space

Method used

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no. 1 approach

[0050] refer to Figure 1 to Figure 3 First, the first embodiment of the five-degree-of-freedom parallel mechanism of the present invention is introduced.

[0051] refer to figure 1 and figure 2 , the five-degree-of-freedom parallel mechanism according to the first embodiment of the present invention includes a first platform 10 , a second platform 20 and a connecting member 30 . The first platform 10 is supported and guided by the first support assembly 41 and the second support assembly 42 and has translational degrees of freedom in the three directions of x, y and z. The second platform 20 is supported by the third support assembly 43, The support and guidance of the fourth support assembly 44 and auxiliary positioning assembly 50 have translational degrees of freedom in the three directions of x, y and z. The connecting member 30 is respectively connected to the first platform 10 and the second platform 20, and during the movement of the first platform 10 and / or the se...

no. 2 approach

[0074] Figure 4 A five-degree-of-freedom parallel mechanism according to a second embodiment of the present invention is shown. The second embodiment is a modification of the first embodiment, and the same or similar reference numerals are assigned to the same or similar components as those of the first embodiment, and detailed descriptions of these components are omitted.

[0075] In this embodiment, the movement mode of the fifth movable member 65 connected with the auxiliary positioning assembly 50 relative to the base 70 is translational movement. The base 70 includes an auxiliary guide 71 extending along the z direction, and the fifth movable part 65 can reciprocate along the auxiliary guide 71 to change the displacement of the fifth movable part 65 relative to the base 70 in the z direction.

[0076] It should be understood that the auxiliary guide 71 may not extend along the z direction, and the auxiliary guide 71 only needs to have an extension component in the z dir...

no. 3 approach

[0078] Figure 5 A five-degree-of-freedom parallel mechanism according to a third embodiment of the present invention is shown. The third embodiment shows another modification of the auxiliary positioning assembly 50 and the movable member.

[0079] In this embodiment, the auxiliary positioning assembly 50 does not have a parallelogram mechanism, and is mainly composed of a rod-shaped support rod 51 and adapters 511 connected to both ends of the support rod 51 . The auxiliary positioning assembly 50 can omit the parallelogram mechanism because the third support assembly 43 and the fourth support assembly 44 with the parallelogram mechanism can already determine the attitude of the second platform 20 parallel to the xoy plane, and the role of the auxiliary positioning assembly 50 The main purpose is to determine the position of the second platform 20 in the z direction.

[0080] The support rod 51 is a telescopic rod with adjustable length, and the distance between the second...

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Abstract

The invention provides a multi-degree-of-freedom parallel mechanism. The parallel mechanism comprises a first platform, a second platform, a connecting piece and a base; the first platform is rotationally connected with a first supporting component and a second supporting component; the second platform is rotationally connected with a third supporting component and a fourth supporting component; each of the first supporting component, the second supporting component, the third supporting component and the fourth supporting component comprises a planar four-rod mechanism; connecting lines of four rotating connecting points of each planar four-rod mechanism form a parallelogram; the first platform and the second platform are rotationally connected with the connecting piece, so that the connecting piece has at least two degrees of freedom of rotation relative to the first platform and has at least two degrees of freedom of rotation relative to the second platform. According to the multi-degree-of-freedom parallel mechanism, at least three degrees of freedom of translation and at least two degrees of freedom of rotation can be provided for the connecting piece; and moving components ofthe parallel mechanism can be arranged asymmetrically, so that the space utilization rate is high.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-freedom parallel mechanism of a parallel robot. Background technique [0002] From the mechanical point of view, robots can be divided into two categories: serial robots and parallel robots. Compared with serial robots, parallel robots have the advantages of high rigidity, strong carrying capacity, high precision and small end piece inertia. [0003] Chinese patent CN105729450B discloses a four-degree-of-freedom parallel mechanism, which can realize three translational and one rotational degrees of freedom of the moving platform, but cannot realize the rotation of the moving platform around the y-axis or around the x-axis. However, in applications such as surgical robots or machine tools, it is necessary to control the tool to have two degrees of freedom in translation and two rotations, or three degrees of freedom in three translations and two rotations. The above-mentioned paralle...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0048
Inventor 周啸波蓝青周润
Owner SUZHOU MAILAN MEDICAL TECH CO LTD
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