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A parallel mechanism containing a binding and composite driver chain

A technology of driving branch chains and parallel connections, which is applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools. Isotropic performance, improved motion stability, and increased load-carrying capacity

Active Publication Date: 2022-08-05
CIVIL AVIATION UNIV OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the compound drive branch chains used in parallel mechanisms mostly use telescopic rods or revolving pairs as direct drives, but only using telescopic rods will reduce the radial stiffness, and the control of direct drive revolving pairs is difficult, which will affect the performance of compound drive branch chains

Method used

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  • A parallel mechanism containing a binding and composite driver chain
  • A parallel mechanism containing a binding and composite driver chain
  • A parallel mechanism containing a binding and composite driver chain

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Embodiment Construction

[0025] The parallel mechanism provided by the present invention with just-constrained and compound drive branches will be described in detail below with reference to the accompanying drawings.

[0026] like figure 1 — Figure 7 As shown, the parallel mechanism provided by the present invention containing just constraint and compound drive branches includes a fixed platform 1, a movable platform 2, a first branch I, a second branch II and a third branch III;

[0027] Wherein, the fixed platform 1 includes a base 101 fixed on the ground and a frame 102 vertically fixed on the base 101;

[0028] A second Hooke hinge support 142 and two spherical hinge supports 11 are fixed on one end surface of the moving platform 2;

[0029] The first branch chain I and the second branch chain II are both composite drive branch chains, and each composite drive branch chain includes a first moving component 3 , a first connecting rod 7 , a second connecting rod 9 , a first driving component 30 ...

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Abstract

A parallel mechanism with just-constrained and compound actuated branches. It includes a fixed platform, a moving platform, a first branch chain, a second branch chain and a third branch chain, and has three degrees of freedom of translation and two rotations. Advantages of the present invention: First, the composite drive of the branched chain is realized through two sets of driving components, which reduces the number of branched chains, reduces interference, and increases the working space of the mechanism. Compared with conventional composite driving methods such as direct driving of rotating pairs, the control Secondly, the combination of the just-constrained active branch chain and the composite drive branch chain makes the mechanism as a whole in plane symmetry, which can effectively reduce the uncontrollable error of the moving platform, obtain plane-symmetric kinematics and dynamic performance, and improve the Compared with the conventional telescopic rod, the radial rigidity of the branch chain can be strengthened, the bearing capacity of the mechanism can be increased, and the motion stability can be improved.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, and in particular relates to a five-degree-of-freedom parallel mechanism comprising a precisely constrained and compound driving branch chain. Background technique [0002] In the modern equipment manufacturing industry, free-form surface parts have been widely used in many important fields, such as automobile casings, turbine blades, and aircraft skins. The mechanism that realizes such complex surface processing should have high flexibility, requiring at least five degrees of freedom of movement. Compared with the multi-axis serial machining mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, strong bearing capacity and fast response speed. [0003] The configuration of the composite drive branch chain is applied to the parallel mechanism, which has the advantages of simplifying the structure, reducing interference and increasing the working spa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072Y02E10/50
Inventor 吴孟丽张悦吕东洋陈莫王旭浩
Owner CIVIL AVIATION UNIV OF CHINA
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