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A Three-DOF Parallel Mechanism Based on Electric Cylinder

A technology of electric cylinders and degrees of freedom, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of facilitating manufacturing, avoiding difficult processing, and reducing the number of motion pairs

Active Publication Date: 2021-07-27
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there are relatively few such parallel spindle head structures with a small number of motion pairs, a simple structure, and easy control.

Method used

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  • A Three-DOF Parallel Mechanism Based on Electric Cylinder
  • A Three-DOF Parallel Mechanism Based on Electric Cylinder

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Experimental program
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Embodiment Construction

[0014] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

[0015] Such as figure 1 , figure 2 As shown, the electric cylinder-based three-degree-of-freedom parallel mechanism provided by the present invention includes: a frame 10, which is plate-shaped and arranged horizontally; a first motion branch chain 101, a second motion branch chain 102 and a third motion branch chain 103 , arranged in a triangle and one end of the first kinematic branch chain 101, the second kinematic branch chain 102 and the third kinematic branch chain 103 are flexibly connected with the frame 10; the moving platform 20 is...

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Abstract

The invention relates to a three-degree-of-freedom parallel mechanism based on an electric cylinder, comprising: a frame, which is plate-shaped and arranged horizontally; a motion branch chain, three motion branch chains are arranged in a triangle and one end of which is respectively connected to the frame; a moving platform , set in the space surrounded by the three motion branch chains, and the moving platform is movably connected with the other end of the three motion branch chains; the three motion branch chains all include electric cylinders, rotating pairs and universal joints, and the fixed ends of the electric cylinders pass through The rotating pair is connected to the frame, and the output end of the electric cylinder is connected to the moving platform through a universal joint; the three motion branch chains work together to make the moving platform have two degrees of freedom of rotation around the x-axis and around the y-axis, and one translational motion along the z-axis degrees of freedom. The invention can effectively increase the range of the swing angle of the moving platform, and the reduction in the number of hinges is beneficial to ensure the movement precision of the moving platform. At the same time, the swing and movement in two directions can be independently decoupled, which reduces the difficulty of control.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel mechanism based on an electric cylinder with two rotations and one movement in space, and belongs to the field of mechanical manufacturing. Background technique [0002] The parallel mechanism has compact structure, good modular performance, high stiffness-to-mass ratio, and is easy to realize high-speed movement. The parallel mechanism is a closed-loop system composed of multiple branch chains and dynamic and static platforms, and its degrees of freedom are at most six. A parallel mechanism with less than six degrees of freedom is called a parallel mechanism with few degrees of freedom. Among them, the three-degree-of-freedom parallel mechanism is an important parallel mechanism with few degrees of freedom. In recent years, some hybrid manufacturing equipment based on three-degree-of-freedom parallel mechanism has been successfully applied in industry,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 关立文
Owner TSINGHUA UNIV
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