A Flexible Parallel Mechanism with Spherical Motion
A spherical motion and flexible technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the complex structure of flexible parallel mechanisms, and achieve the effect of simple structure, low processing and assembly requirements, and avoiding interference
Active Publication Date: 2021-07-09
BEIJING SURGERII TECH CO LTD
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Problems solved by technology
[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a flexible parallel mechanism with spherical motion, which is used to solve the problem of complex structure of the flexible parallel mechanism in the prior art
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[0037] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.
[0038] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper"...
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The invention provides a flexible parallel mechanism for spherical motion, which includes a plurality of flexible motion branch chains, and each flexible motion branch chain is sequentially provided with the first continuum structure link connecting the frame and the branch chain unit, and the inner end of the branch chain unit The second continuum member is connected to the motion platform. During the movement, the motion axis of the first connector member and the second connector member’s motion axis intersect at a point, and the motion platform driven by the flexible parallel mechanism takes this point as The center of the ball moves on a spherical surface. In the flexible parallel mechanism of the present invention, the linear actuator drives the first continuum segment during the bending process, and the first continuum segment drives the second continuum segment to bend passively, ensuring that the entire mechanism realizes spherical motion, and each flexible motion The structure of the branch chain is simple, avoiding the interference between the branch chains, and the requirements for processing and assembly are relatively low.
Description
technical field [0001] The invention belongs to the technical field of flexible parallel robots, and relates to a flexible parallel mechanism for spherical motion. Background technique [0002] The parallel mechanism has the advantages of high micro-motion precision, small motion inertia, and high rigidity, so parallel robots have been widely used in industrial occasions. In many applications, the parallel mechanism only needs some degrees of freedom to realize the function of use. For example, spherical mechanism is a typical parallel mechanism with few degrees of freedom. This mechanism can be used in industrial occasions such as electronic dexterous eyes, numerical control rotary tables and the like. [0003] In 1990, Professor C.M.Gosselin proposed a 3-RRR spherical parallel mechanism Agile Eye. The mechanism includes three branch chains, each branch chain is composed of three arc-shaped connecting rods, the connecting rods are hinged to each other, and the axes inter...
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IPC IPC(8): B25J9/00
CPCB25J9/0054
Inventor 徐凯刘旭陈煜阳吴中昊吴百波王龙飞
Owner BEIJING SURGERII TECH CO LTD