A Four Degrees of Freedom Parallel Mechanism Containing Closed Loop Branches
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: 2022-02-11
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 with a closed-loop branch chain, including a main platform, a secondary platform, and a fixed platform; the secondary platform is connected to the main platform through a rotating pair; The third drive branch chain is connected, and the main platform and the fixed platform are connected through the second drive branch chain and the fourth drive branch chain; the linkage between the second drive branch chain and the fourth drive branch chain can drive the main platform to flip forward and backward; the first The linkage of the driving branch chain and the third driving branch chain can drive the main platform to turn left and right; the linkage of the first driving branch chain, the second driving branch chain, the third driving branch chain and the fourth driving branch chain can drive the main platform to move up and down or Pan left and right horizontally. The mechanism has the characteristics of large rigidity in one direction, high precision of the mechanism, and can realize the pose transformation of two rotations and two movements, which can well solve the problems existing in the current tape laying of composite materials and complete the pose adjustment requirements in the tape 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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IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 房海蓉刘鹏飞姜丙山朱通
Owner BEIJING JIAOTONG UNIV