Four-branch-chain six-degree-of-freedom series-parallel mechanism

A technology of hybrid mechanism and degree of freedom, applied in the field of robotics, can solve the problems of low carrying capacity, large inertia, and small stiffness, etc., and achieve the effect of strong carrying capacity, few branch chains, and large working space

Active Publication Date: 2019-11-15
YANSHAN UNIV
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  • Abstract
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Problems solved by technology

However, due to the characteristics of its own mechanism, the inertia is large during the movement process, and the bearing capacity is low and the stiffness is small.

Method used

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  • Four-branch-chain six-degree-of-freedom series-parallel mechanism
  • Four-branch-chain six-degree-of-freedom series-parallel mechanism
  • Four-branch-chain six-degree-of-freedom series-parallel mechanism

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Embodiment Construction

[0027] 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.

[0028] Such as Figure 1 to Figure 6 As shown, the four-branched six-degree-of-freedom hybrid mechanism according to the embodiment of the present invention includes a fixed platform 600 and a moving platform 100. The fixed platform and the moving platform are connected by a linear drive branch chain, the fixed platform 600 is located below, and the moving platform 100 is arranged on the upper end of the linear drive branch chains, and is driven by each linear drive branch chains. The linear drive branch 200 includes a second linear drive branch 210 , a first linear drive branch 220 , a...

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Abstract

The invention relates to a four-branch-chain six-degree-of-freedom series-parallel mechanism. The four-branch-chain six-degree-of-freedom series-parallel mechanism comprises a fixed platform, slidingguide rails arranged on the fixed platform, two sliding blocks, a movable platform and four linear driving branch chains connected with the movable platform, the first sliding block and the second sliding block; the movable platform is square, and the first sliding block and the second sliding block are identical in structure and shape and are L-shaped; the first linear driving branch chain and the third linear driving branch chain in the four linear driving branch chains are identical in structure, and the second linear driving branch chain and the fourth linear driving branch chain are identical in structure; and the movable platform can realize six degrees of freedom, the four linear driving branch chains coordinately drive to achieve two movements and two rotational degrees of freedom,and the first sliding block and the second sliding block coordinately drive to achieve the other movement and rotational degrees of freedom. The four-branch-chain six-degree-of-freedom series-parallel mechanism has few branch chains, simple structure, simple kinematic model, high motion decoupling property, large working space, high carrying capacity and high application prospect.

Description

technical field [0001] The invention relates to the field of robots, and more specifically, the invention relates to a four-chain six-degree-of-freedom hybrid mechanism. Background technique [0002] An object has six degrees of freedom in space, including three movements along three Cartesian axes and three rotations about three Cartesian axes, namely (X, Y, Z, α, β, γ). If the six degrees of freedom of the object in space are determined, the position and attitude of the object in space are also determined. [0003] The most common six-degree-of-freedom parallel mechanism is the Stewart platform with six telescopic drive cylinders. Since the platform was invented, because it has six degrees of freedom in space, it can completely determine the arbitrary motion posture of the object in space. Advantages, are widely used in various simulators, such as tank simulators, flight simulators, car driving simulators and ship simulators. However, the classic Stewart platform has lar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072B25J9/0033F16H21/54B23Q1/44F16H21/46B25J5/02
Inventor 许允斗仝少帅马小飞赵泽姚建涛黄志荣赵永生
Owner YANSHAN UNIV
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