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Two-rotation and one-movement parallel mechanism and tail end pose determination method and application thereof

A parallel, moving pair technology, applied in the field of robotics, can solve the problems of static platform deformation, poor overall system stiffness, large distance between the moving platform and the static platform, etc., to achieve structural symmetry, improve system stiffness, and improve dynamic performance.

Active Publication Date: 2021-06-18
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the actual manufacture of 3P P In the process of the S parallel robot, due to the long body of the linear drive such as the electric push rod and hydraulic cylinder used to drive the moving pair, the distance between the dynamic platform and the static platform is large, and the dynamic platform is easy to produce damage compared with the static platform under the load. Deformation, the overall stiffness of the system is poor

Method used

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  • Two-rotation and one-movement parallel mechanism and tail end pose determination method and application thereof
  • Two-rotation and one-movement parallel mechanism and tail end pose determination method and application thereof
  • Two-rotation and one-movement parallel mechanism and tail end pose determination method and application thereof

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Embodiment 1

[0035] Embodiment one: if figure 1 As shown, it is a two-rotation-one-shift parallel mechanism disclosed in this embodiment, and the two-rotation-one-shift parallel mechanism is 3P P S parallel mechanism (P is the mobile pair, P is to drive the moving pair, S is the spherical pair), including the moving platform 10, the base 20 and three branch chains 30, the three branch chains 30 are installed on the base 20 and connected with the moving platform 10, through cooperative control of the three branch chains The amount of expansion and contraction of the chain 30 can make the moving platform 10 realize the pose transformation of two rotations and one movement. Specifically, the base 20 includes a static platform 21, a redundant static platform 22 and a plurality of connectors 23, the static platform 21 and the redundant static platform 22 are arranged oppositely, and the redundant static platform 22 is located between the moving platform 10 and the static platform 21 , and the...

Embodiment 2

[0046] Embodiment two: if figure 2 As shown, it is a two-rotation-one-shift parallel mechanism disclosed in this embodiment, including a moving platform 10, a base 20 and three branch chains 30, and the three branch chains 30 are installed on the base 20 and connected with the moving platform 10. Connected, through cooperative control of the expansion and contraction of the three branch chains 30, the movable platform 10 can realize the pose transformation of two rotations and one movement. The difference from Embodiment 1 is that in this embodiment, in each branch chain 30, the second slide rail assembly in each second passive moving pair 33 is arranged on the second end surface of the redundant static platform 22, also That is, the second sliding rail assembly in each second passive moving pair 33 is located between the static platform 21 and the moving platform 10 .

[0047] combine Figure 1~Figure 3 As shown, the present invention also discloses the method for determin...

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Abstract

The invention discloses a two-rotation and one-movement parallel mechanism and a tail end pose determination method and application thereof. The two-rotation and one-movement parallel mechanism comprises a movable platform, a base and three branch chains, the base comprises a static platform, a redundant static platform and a plurality of connecting pieces for connecting the static platform and the redundant static platform, the redundant static platform is located between the movable platform and the static platform, three through holes are formed in the redundant static platform, and the three branch chains are connected between the movable platform and the static platform; and each branch chain comprises a driving moving pair, a first passive moving pair, a second passive moving pair and a spherical pair, wherein one end of each driving moving pair is movably connected with the static platform through the corresponding first passive moving pair, the opposite end penetrates through one through hole of the redundant static platform and then is rotatably connected with the movable platform through the corresponding spherical pair, and each driving moving pair is also movably connected with the redundant static platform through the corresponding second passive moving pair. By means of the two-rotation and one-movement parallel mechanism, the space between the movable platform and the static platform can be reduced, and the system rigidity is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a two-rotation-one-transfer three-degree-of-freedom parallel mechanism and a method for determining its terminal pose. Background technique [0002] Parallel robots and series robots together constitute an important part of industrial robots. Parallel robots have the advantages of high rigidity, fast speed, strong flexibility, and light weight. They are most widely used in light industries such as food, medicine, and electronics. They are used in material handling, packaging, Sorting and other aspects have incomparable advantages. With the increasing application of parallel robots in the market, it has become a new force in the growth of demand for industrial robots. [0003] The parallel robot is different from the serial robot. The parallel robot is a closed-loop system composed of a dynamic platform, a static platform, and two or more independent motion branch chai...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0036B25J9/1602B25J9/1623
Inventor 李华民杨桂林张驰郑天江
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI