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A decoupled three rotational degrees of freedom parallel mechanism for virtual axis machine tools and robots

A robot and three-rotation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of simple control, good decoupling, and fast motion response

Active Publication Date: 2022-03-29
SHANGHAI UNIV OF ENG SCI
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a decoupling three-rotation-degree-of-freedom parallel mechanism for virtual-axis machine tools and robots in order to overcome the above-mentioned defects in the prior art, so as to reduce the complex structure, inconvenient control, and motion accuracy of the prior art. low defect

Method used

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  • A decoupled three rotational degrees of freedom parallel mechanism for virtual axis machine tools and robots
  • A decoupled three rotational degrees of freedom parallel mechanism for virtual axis machine tools and robots

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Embodiment

[0023] A decoupled three-rotation-degree-of-freedom parallel mechanism for virtual-axis machine tools and robots, whose structure is as follows Figure 1-2 As shown, it includes the first kinematic branch chain, the second kinematic branch chain, the third kinematic branch chain, the moving platform M, and the static platform. The first kinematic branch chain includes sequentially connected first revolving pairs ξ 1,1 , the second revolving pair ξ 2,1 , the third revolving pair ξ 3,1 , and the first connecting rod 1a-1 and the second connecting rod 1a-2 connected in sequence, where motion1 drives the first rotating pair ξ 1,1 . The second kinematic branch chain includes the fourth rotating pair ξ 1,2 , the fifth revolving pair ξ 2,2 , the sixth rotating pair ξ 3,2 , and the third connecting rod 1b-1, the fourth connecting rod 1b-2, and the fifth connecting rod 1b-3 connected in sequence, where motion2 drives the fourth rotating pair ξ 1,2 . The third kinematic branch c...

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Abstract

The invention relates to a decoupling three-rotation-degree-of-freedom parallel mechanism for virtual-axis machine tools and robots, including a static platform, a dynamic platform, and a first kinematic branch chain connected between the static platform and the dynamic platform, and a second kinematic branch chain and the third kinematic branch chain, each kinematic branch chain is composed of a rotating pair and a connecting rod connecting the rotating pair, and the axes of each rotating pair meet at the same point. Compared with the prior art, in the present invention, the first kinematic branch chain and the second kinematic branch chain synthesize a motion participation control braking platform, and the third kinematic branch chain independently participates in the control braking platform, so that the present invention has three partially decoupled The degree of freedom of rotation and the degree of freedom of the moving platform depend on the control of two kinematic chains. Compared with the structure of the three kinematic chains participating in the control of the braking platform, it has a better degree of decoupling, is easier to control, and can achieve better motion accuracy.

Description

technical field [0001] The invention relates to the technical field of application of machine tools and industrial robots, in particular to a three-rotation-degree-of-freedom parallel mechanism for a virtual-axis machine tool and a robot with a virtual-axis numerical control machine tool and a parallel robot. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operation fields. However, the driving units of the parallel mechanism are coupled, that is, the movement of the overall output platform (moving platform) of the parallel mechanism in any direction is the synthesis of the movements of all driving units, and the movement of each driving unit is combined with the overall movement of the parallel mechanism ( That is, the relationship between input and output) is nonlinear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 张帆吴凯宇崔国华张丹孙晶郑民华潘睿俊
Owner SHANGHAI UNIV OF ENG SCI
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