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3-RPaRR-3-RRPaR mechanism capable of translating in a three-dimensional mode

A three-dimensional translation and platform technology, applied in the field of robots, can solve the problems of large structure size and small working space of parallel mechanisms, and achieve the effects of small motion inertia, small cumulative error and high motion speed.

Active Publication Date: 2019-05-10
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because of its closed-loop structure, parallel mechanisms generally have the defect that the structure size is too large and the working space is small

Method used

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  • 3-RPaRR-3-RRPaR mechanism capable of translating in a three-dimensional mode
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  • 3-RPaRR-3-RRPaR mechanism capable of translating in a three-dimensional mode

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Embodiment Construction

[0023] The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.

[0024] One, at first introduce the specific structure of the present invention.

[0025] Overall structure of the present invention is as Figure 1 to Figure 6 As shown, a 3-RPaRR-3-RRPaR mechanism capable of three-dimensional translation includes two 3-RRPaR mechanisms, including an upper platform 1, a middle platform 6, a lower platform 8 and three branch chains. Each branch chain is composed of two parts with the same upper and lower structures. Each part includes a bearing seat 401, a driving arm 5 and a driven arm 3. The middle part of the driving arm 5 is installed on the intermediate platform 6 through a rotating pair. A driven arm 3 is hingedly connected with the upper platform 1, and the other end is hingedly connected with the lower platform 8 through another driven arm 3. A driving arm 5 an...

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Abstract

The invention discloses a 3-RPaRR-3-RRPaR mechanism capable of translating in a three-dimensional mode. The 3-RPaRR-3-RRPaR mechanism comprises an upper platform, a middle platform, a lower platform,three driving arms and three driving modules, wherein the middle of the driving arms is installed on the middle platform through a rotating pair, one ends of the driving arms are hinged to the upper platform through a driven arm, the other ends of the driving arms are hinged to the lower platform through the other driven arm, the driving arms and the driven arms at the two ends of the driving armsform a branch chain, and the upper platform, the middle platform and the lower platform are connected through three branched chains, so that the upper platform, the middle platform and the lower platform can be relatively translational, the three branched chains are distributed in a triangular mode on the middle platform, and the driving arms of each branch chain are driven to rotate around a rotating pair of the corresponding driving module through a corresponding driving module. The 3-RPaRR-3-RRPaR mechanism can realize the three-dimensional translation of the lower platform relative to theupper platform, and is high in working space, high in precision, high in operation efficiency and high in bearing capacity.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a 3-RRPaR mechanism, in particular to a 3-RPaRR-3-RRPaR mechanism capable of three-dimensional translation. Background technique [0002] The 3-RRPaR mechanism has three uniformly arranged and identical branch chains. The motor drives the rotary joint to rotate. The joint is connected to a connecting rod, and an R joint parallel to the driving rotary joint is placed at the end of the connecting rod. Then connect a parallelogram P a , and another R joint is connected to the other end of the parallelogram, which is connected to the end effector. The 3-RRPaR mechanism can realize three-degree-of-freedom translation. The structure of the mechanism is precise and compact, and it has the characteristics of strong bearing capacity, high rigidity, and good dynamic performance. Because of its closed-loop structure, parallel mechanisms generally have the defect that the structure size is too...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 王伟姚言章田继胤何芷航阮华平张晓丹李小龙陈雅琴
Owner WUHAN UNIV