Four-degree-of-freedom parallel mechanism containing closed loop branched chains
A degree of freedom, closed-loop technology, applied in the field of robotics, can solve the problem that the stiffness and accuracy cannot meet the requirements of the position and attitude adjustment of the aircraft shell laying head, and achieve the effects of low power, structural stability and stiffness improvement, and high precision.
Active Publication Date: 2020-07-14
BEIJING JIAOTONG UNIV
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Problems solved by technology
The first is the mechanism evolution method. Fan Caixia et al. used the planar 6R mechanism to introduce the U pair and added five constraint branches to obtain the 2T2R mechanism; the second method is to add the constraint branch to the six-degree-of-freedom mechanism. A RPU branch was added to the mechanism as a passive restraint branch; Liu Jiankun replaced a six-DOF branch with a CPU branch as an active branch; but after analysis and comparison, the stiffness and accuracy of the current four-DOF parallel mechanism configuration are still Unable to meet the requirements of aircraft shell laying head pose adjustment
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[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention.
[0032] see figure 1 , a four-degree-of-freedom parallel mechanism containing c...
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The invention relates to a four-degree-of-freedom parallel mechanism containing closed loop branched chains. The parallel mechanism comprises a main platform, a sub-platform and a fixed platform, wherein the sub-platform is connected with the main platform through a rotating pair, the sub-platform is connected with the fixed platform through a first driving branched chain and a third driving branched chain, the main platform is connected with the fixed platform through a second driving branched chain and a fourth driving branched chain, the second driving branched chain and the fourth drivingbranched chain can be linked to drive the main platform to turn back and forth, the first driving branched chain and the third driving branched chain can be linked to drive the main platform to turn left and right, and the first driving branched chain, the second driving branched chain, the third driving branched chain, and the fourth driving branched chain can be linked to drive the main platformto move up and down or translate left and right in the horizontal direction. The mechanism has the characteristic of large rigidity in one direction, and the mechanism is high in precision, can realize the pose transformation of two kinds of rotation and two kinds of movement, can well solve the problems existing in the current composite material belt laying, and can complete the pose adjustmentrequirements in the belt laying process.
Description
technical field [0001] The invention relates to the field of robots, and belongs to a four-degree-of-freedom parallel mechanism with large rigidity. Background technique [0002] When the aircraft shell is winding and laying tape, it is required to adjust the pose of the tape laying head accurately. At the same time, due to the heavy equipment of the tape laying head, it is necessary for the pose adjustment device to have two characteristics of high rigidity and high precision. At the same time, the range of pose adjustment is not large, and the parallel mechanism It has the characteristics of large stiffness, high precision, and fast response, and it is widely used in fields such as pose adjustment. For the configuration design of parallel mechanisms with few degrees of freedom, scholars at home and abroad have synthesized the configurations of four-degree-of-freedom mechanisms through methods such as spiral theory, group theory, and mechanism topology. Not practical. [...
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Login to View More IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 房海蓉刘鹏飞姜丙山朱通
Owner BEIJING JIAOTONG UNIV