Four-degree-of-freedom parallel mechanism with continuous rotation capability

A degree of freedom and parallel technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as inability to achieve infinite rotation, and achieve the effect of improving dynamic response quality, stiffness and motion accuracy

Active Publication Date: 2022-03-22
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the interference between the moving platforms, or the dead point of the conversion mechanism, although the speed-up mechanism can be used to expand the rotation range, there is still a limit to the rotation range, and infinite rotation in the clockwise or counterclockwise direction cannot be realized.

Method used

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  • Four-degree-of-freedom parallel mechanism with continuous rotation capability
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  • Four-degree-of-freedom parallel mechanism with continuous rotation capability

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Embodiment Construction

[0016] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0017] The technical scheme that the present invention solves the problems of the technologies described above is:

[0018] A four-degree-of-freedom parallel mechanism with continuous rotation capability proposed by the present invention is characterized in that it includes a fixed platform, a moving platform, and a first branch chain, a second branch chain, a The third branch chain and the fourth branch chain; four driving devices are symmetrically arranged on the fixed platform; the first branch chain, the second branch chain, the third branch chain and the fourth branch chain have the same structure, and all include A driving arm, an upper connecting rod, a left connecting rod, and a right connecting r...

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Abstract

The present invention claims a four-degree-of-freedom parallel mechanism with continuous rotation capability, which is characterized in that it includes: a fixed platform, a moving platform, and four branch chains arranged between the fixed platform and the moving platform; There are four driving devices symmetrically arranged on the platform; the four branch chains have the same structure, and all include a driving arm, an upper connecting rod, a left connecting rod and a right connecting rod; one end of the driving arm and the fixed platform pass through a rotating pair connection, the rotating pair is the active driving pair, and is driven by one of the corresponding driving devices; , Connecting rod C, connecting block D, connecting rod D. The present invention utilizes symmetrically arranged eccentric wheel mechanisms, and by staggering the dead points of each group of eccentric wheel mechanisms, the eccentric wheel shaft can pass through the dead points smoothly, thereby realizing infinite rotation of the end effector in the clockwise or counterclockwise direction.

Description

technical field [0001] The invention belongs to the field of robot mechanism design, in particular to a four-degree-of-freedom space parallel mechanism with continuous rotation capability. Background technique [0002] Parallel mechanisms with three-dimensional translational and one-dimensional rotational degrees of freedom can satisfy the spatial handling of operating objects, so they are widely used in automated production lines in the fields of food and medicine, modern logistics, and electronic information. In this field, the first parallel mechanism to realize the application is the Delta mechanism proposed by Clavel. But the pure Delta mechanism only has three degrees of freedom of spatial translation, and cannot realize the degree of freedom of rotation. To this end, Pierrot et al. proposed four-degree-of-freedom parallel mechanisms with articulated moving platforms such as H4, I4, and Par4. Among them, the articulated moving platform of the Par4 parallel mechanism ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 汪从哲梁志芳张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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