Six-dimensional parallel mechanism
A parallel and connecting rod technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as more drives, less motion forms, and complex control methods
Inactive Publication Date: 2021-06-22
西安智星语知识产权服务有限公司
View PDF1 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] However, the branch chains of the traditional six-dimensional motion parallel mechanism are mostly symmetrically distributed, and require more drives, complicated control methods, or relatively few motion forms
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0012] The following description provides many different embodiments, or examples, for implementing various features of the invention. The elements and arrangements described in the following specific examples are only used to express the present invention in a concise manner, and are only used as examples rather than limiting the present invention. For example, a description of a first feature on or over a second feature includes direct contact between the first and second features, or another feature disposed between the first and second features such that the second feature The first and second features are not in direct contact.
[0013] Spatially relative terms, such as above or below, are used herein to simply describe the relationship of one element or one feature with respect to another element or feature on the drawings. This includes the device being used or operated in different orientations than those depicted in the figures.
[0014] The shapes, dimensions, thic...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention is suitable for the technical field of parallel mechanisms, and provides a six-dimensional parallel mechanism. The six-dimensional parallel mechanism is provided with a first branch chain, a second branch chain, a third branch chain, a fourth brain chain, a fifth brain chain, a movable platform and a fixed platform, wherein the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are completely the same in structure, and each comprises a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod is connected to the fixed platform through a first rotary pair, the first connecting rod is connected to the second connecting rod through a second rotary pair, the second connecting rod is connected to the third connecting rod through a hooke hinge, the second connecting rod is connected to the third rotary pair through the movable platform; the fifth branch chain comprises a fourth connecting rod and a fifth connecting rod, the fourth connecting rod is connected to the fixed platform through a fourth rotary pair; the fourth connecting rod is connected to the fifth connecting rod through a second hooke hinge; and the fifth connecting rod is connected to the movable platform through a fifth rotary pair. The parallel mechanism is of an asymmetric structure, needs a little drive, is simple in control method, and generates many motion forms.
Description
technical field [0001] The invention relates to a parallel mechanism, in particular to a six-dimensional parallel mechanism. Background technique [0002] The parallel robot mechanism is a multi-degree-of-freedom multi-loop closed chain in space, which has the characteristics of high rigidity, large carrying capacity, small cumulative error, good dynamic performance, and compact structure. It is widely used in the docking device and attitude of submarines and space vehicles in the military field. Controllers, cell manipulation robots in biomedical engineering, microsurgical robots, attitude adjustment devices for large radio telescopes, etc. [0003] Each branch of the parallel mechanism with six-dimensional motion has six independent degrees of freedom, or each branch must be able to generate a six-dimensional displacement group. Therefore, on the basis of the Stewart six-degree-of-freedom parallel mechanism, by changing the type, arrangement order, and direction of the ki...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 不公告发明人
Owner 西安智星语知识产权服务有限公司