A parallel mechanism with a rotatable axis mechanical arm and its motion method
A technology of a manipulator and a rotating axis is applied in the field of a parallel mechanism of a manipulator with a rotatable axis, which can solve the problems of poor environmental adaptability and limited application scope, and achieves a large working space, good environmental adaptability, and convenient processing and manufacturing. Effect
Active Publication Date: 2022-03-29
XIAN UNIV OF SCI & TECH
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Problems solved by technology
Due to the poor environmental adaptability of the above-mentioned mechanisms, the scope of application is limited.
Method used
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[0039] The invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it is not used as a basis for any limitation on the invention.
[0040] Such as figure 1 As shown, a parallel mechanism with a rotatable axis mechanical arm includes a static platform 1, a moving platform 2, a rotatable axis mechanical arm 3, a flexible cable 4, a return seat 5, a locking device 6 and a connection between the static platform 1 and the Three branch chains 7 of moving platform 2.
[0041] Among them, the three branches have the same structure, the upper end of the upper link 7-1 in each branch is connected with the moving platform 2 through the spherical pair 7-2, and the lower end of the lower link 7-3 is connected with the static platform through the rotating pair 7-4. The platforms 1 are connected, and the upper connecting rod 7-1 and the lower connecting rod 7-3 are mutually socketed.
[0042] A rotatable axis mechanical arm 3, ...
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The invention relates to a parallel mechanism with a rotatable axis mechanical arm and a movement method, including a static platform, a dynamic platform, and three branch chains connecting the static platform and the dynamic platform; the three branch chains are connecting rods with two sections interlocking with each other , the drive parts are set at the bottom of the three branch chains; it also includes the rotatable axis mechanical arm on the moving platform, and the locking device on the rotatable axis mechanical arm; through the push-out and retraction of the driving parts at the bottom of the three branch chains, the moving platform Rising or swinging, drives the rotatable axis mechanical arm to rotate around its axis or swing to a specified position. The invention combines the rotatable axis mechanical arm, the flexible cable and the return seat with the traditional 3‑RPS parallel mechanism to form a six-working-condition metamorphic parallel mechanism. Compared with the general parallel mechanism, the working space is larger and the environmental adaptability is better. Strong, can be used in high explosion-proof requirements such as underground coal mines, aerospace equipment.
Description
technical field [0001] The invention belongs to a rotating mechanism of a mechanical arm, and in particular relates to a parallel mechanism and a movement method of a mechanical arm with a rotatable axis, which can realize two rotations and one movement, and the rotation of an end mechanical arm. Background technique [0002] Parallel mechanism has been widely used in the fields of CNC machine tools, industrial vibrating screens, spraying robots and satellite antennas due to its advantages of high motion precision, fast response speed and large carrying capacity. In practical applications, there are a considerable number of operating tasks that require less than 6 degrees of freedom. At this time, using a suitable parallel robot with fewer degrees of freedom can effectively save the cost of system design, manufacturing, control and maintenance. Since 1983, Hunt proposed the 3-RPS parallel mechanism for the first time, which has attracted widespread attention. However, this ...
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IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/003B25J9/08
Inventor 田海波王城宇张敏飞孟林
Owner XIAN UNIV OF SCI & TECH