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Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics

A technology of motion bifurcation and characteristics, applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., to achieve large load capacity, improve system stiffness, and good dynamic performance

Active Publication Date: 2021-04-27
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Adapt to the needs of different tasks, overcome the fixed degrees of freedom and single motion mode of traditional parallel robots

Method used

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  • Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics
  • Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics
  • Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] like Figures 1 to 3 As shown, the present invention provides a parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics, including a fixed platform 1, a moving platform 9 and two first branch chains arranged between the fixed platform 1 and the moving platform 9 , a second branch chain and a third branch chain; the two sides of the fixed platform 1 are respectively connected with the bottom end of a described first branch chain, and the...

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Abstract

The invention discloses a parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics, and relates to the technical field of mechanisms and robots. The parallel mechanism comprises a fixed platform, a movable platform, two first branch chains, a second branch chain and a third branch chain. The two sides of the fixed platform are connected with the bottom ends of the first branch chains correspondingly, and the two sides of the movable platform are connected with the top ends of the first branch chains correspondingly. One end of the fixed platform is connected with the bottom end of the second branch chain, and one end of the movable platform is connected with the top end of the second branch chain. The other end of the fixed platform is connected with the bottom end of the third branch chain, and the other end of the movable platform is connected with the top end of the third branch chain. The parallel mechanism has two different motion modes, and has the advantages of being large in rotation angle, large in bearing capacity, high in rigidity, large in working space, good in dynamic performance, simple in structure, easy to control and the like; and different operation task requirements are met, and the fixed freedom degree and the single motion mode of a traditional parallel robot are overcome.

Description

technical field [0001] The invention relates to the field of mechanism and robot technology, in particular to a parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics. Background technique [0002] The field of mechanism research has traditionally focused on parallel mechanisms with fixed degrees of freedom. It has the characteristics of high rigidity, large bearing capacity, high fretting precision, and small motion load. At present, parallel robots are widely used in industrial robots, motion simulators, attitude controllers, medical robots, virtual axis machine tools, 3D printing, etc. [0003] However, with the development of science and technology, the characteristics of multi-mode reconfigurable mechanisms have gradually emerged. Its movement mode conversion time is short, which avoids the time loss in reassembly and other aspects. Secondly, there are fewer auxiliary drives in the process of movement mode conversion. Does not rely on special joints ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 李永泉郑天宇西克龙张立杰
Owner YANSHAN UNIV
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