A Three-translation Parallel Device with Zero Coupling Degree and Analytical Position Positive Solution
An analytical, zero-coupling technology, used in manufacturing tools, program-controlled manipulators, manipulators, etc., and can solve the problem of not many three-translation parallel mechanisms.
Active Publication Date: 2022-05-17
CHANGZHOU UNIV
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[0003] However, there are not many three-translation parallel mechanisms with analytic positive position solutions
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[0008] The technology of the present invention will be further described below by means of accompanying drawings and examples.
[0009] figure 1 The parallel mechanism shown can be an embodiment of the present invention, and its technical solution is as follows: a three-translation parallel device with zero coupling degree and positive analytical position solution, including two mixed branch chains, a moving platform 1 and a static platform 0 , the hybrid branch-I contains a mobile pair-P 2 Parallelogram-R with 4 revolving pairs a1 -R b1 -R c1 -R d1 consists of a branch, which in turn is related to the mobile subdivision P 1 And two parallel axis revolving pair-R 11 , rotating pair 2 R 12 The formed branches are connected in series to form a planar mechanism, and the translation output rod 2 of the planar mechanism is connected in series with two parallel axis rotating pairs three R perpendicular to the translation output rod 2 1 and revolving pair four R 2 ; while th...
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A three-translation parallel device with zero coupling degree and analytical position positive solution, which includes two mixed branch chains, and the mixed branch chain one (I) contains the moving pair one (P 2 ) and a parallelogram with 4 revolving pairs (R a1 -R b1 -R c1 -R d1 ) consists of a branch, and this branch is connected with the mobile deputy second (P 1 ) and a rotating pair with two parallel axes (R 11 ), rotating pair 2 (R 12 ) constitutes a planar mechanism in series, and the translation output rod (2) of the planar mechanism is connected in series with two parallel axis rotation pairs three (R 1 ) and revolving pair four (R 2 ); while the mixed branched chain II (II) contains a parallelogram II (R a2 -R b2 -R c2 -R d2 ), and on its two short side bars, two revolving pairs five (R 4 ) and rotating pair six (R 3 ), and the mobile deputy third (P 3 ) and rotating joint five (R 4 ) is connected in series; the two ends of the moving platform (1) are respectively connected with the rotating pair four (R) on the hybrid branch chain one (I) 2 ), the revolving pair six (R 3 ) connection, and the rotating pair four (R 2 ) and rotating pair six (R 3 ) axes are perpendicular to each other.
Description
technical field [0001] The invention relates to a parallel device, which provides a new three-translation parallel device with analytic position positive solutions for the field of parallel robots and the like. Background technique [0002] The manipulator of the three-translation parallel structure has been applied in industry. Clavel invented the famous three-dimensional translation Delta mechanism. Afterwards, many scholars studied the derivative mechanism of the Delta mechanism. Tsai et al. proposed a moving pair drive, branch chain containing 4R parallelogram The three-degree-of-freedom mobile parallel mechanism of the mechanism; Kong et al. proposed a three-degree-of-freedom 3-CRR mechanism; Li Shihua et al. proposed a new 3-RRUR three-translation parallel platform mechanism; 1 Lu Jing et al. proposed a 3-RRRP(4R) three-translation mechanism; Zeng et al. designed a three-translation Tri-pyramid parallel mechanism; Mazare et al. proposed a three-degree-of-freedom 3-[P2(...
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平吉昊邓嘉鸣
Owner CHANGZHOU UNIV