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Four-degree-of-freedom parallel mechanism with large-angle-torsion movable platform and composite branched chains

A rotating platform and large-angle technology, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as the limitation of the range of rotational freedom, and achieve the effects of reducing manufacturing and processing difficulty, simple structure, and reducing mutual interference

Active Publication Date: 2021-03-09
CIVIL AVIATION UNIV OF CHINA
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  • Description
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Problems solved by technology

[0003] Compared with the series structure, the main disadvantage of the parallel mechanism is that the working space of the parallel mechanism, especially the range of rotational freedom is limited

Method used

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  • Four-degree-of-freedom parallel mechanism with large-angle-torsion movable platform and composite branched chains

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Embodiment Construction

[0023] The four-degree-of-freedom parallel mechanism provided by the present invention with a large-angle twistable platform and a composite branch chain will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] Such as figure 1 — Image 6 As shown, the four-degree-of-freedom parallel mechanism provided by the present invention has a large-angle twistable rotating platform and a composite branch chain, including a fixed platform 1, a moving platform 2, the first branch chain I, the second branch chain II and the third branch chain III ;

[0025] Wherein, the fixed platform 1 includes a base plate 101 and two second rotating supports 301; the two second rotating supports 301 are respectively fixed in the middle of both sides of the upper surface of the fixed platform 1, and the central axis is perpendicular to the upper surface of the base plate 101 ;

[0026] The moving platform 2 includes a platen 201, two spherical ...

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Abstract

The invention provides a four-degree-of-freedom parallel mechanism with a large-angle-torsion movable platform and composite branched chains. The four-degree-of-freedom parallel mechanism comprises afixed platform, a movable platform, a first branch chain, a second branch chain and a third branch chain, and has two translational of freedom and two rotational degrees of freedom. The four-degree-of-freedom parallel mechanism with the large-angle-torsion movable platform and the composite branched chains has the advantages that firstly, by adopting the configuration mode of a lead screw and an electric push rod composite branched chain, the number of the branched chains of the mechanism is reduced while the degree of freedom required by the mechanism is met, the mutual interference among thebranched chains is reduced, and the working space of the mechanism is increased; secondly, a movable platform structure with a hollow middle part is adopted, double rotating accessories on the movable platform are matched, and under the mutual movement of the branch chains, the large-angle-torsion of the movable platform exceeding 180 degrees can be realized; and finally, the structures of the two branched chains are completely the same, the structure is simple, and the manufacturing cost is saved while the manufacturing and machining difficulty is reduced.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, in particular to a four-degree-of-freedom parallel mechanism with a large-angle torsion rotating platform and a composite branch chain. Background technique [0002] The parallel mechanism is a multi-degree-of-freedom mechanism composed of multiple kinematic branch chains connected in parallel between the moving platform and the fixed platform. Parallel mechanisms have been widely used in CNC machining centers, motion simulators, haptic devices, micro-nano operators and other fields due to their advantages such as high rigidity, strong bearing capacity, less error superposition, high motion precision and simple control. [0003] Compared with the series structure, one of the main disadvantages of the parallel mechanism is that the working space of the parallel mechanism, especially the range of rotational freedom, is limited. The composite branch chain is to arrange two or more drivi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 吴孟丽林玉飞李德祚李明宇王旭浩唐杰张军
Owner CIVIL AVIATION UNIV OF CHINA
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