Parallel mechanism with six-dimensional motion
A parallel, rotating pair technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of complex control methods, few motion forms, and many drives, and achieve the effect of simple control methods and many motion forms.
Inactive Publication Date: 2021-06-25
赵越
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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
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[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...
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The invention is suitable for the technical field of parallel mechanisms, and provides a six-dimensional parallel mechanism provided with a first branch chain, a second branch chain, a third branch chain, a fourth branch chain, a fifth branch chain, a movable platform and a fixed platform, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are of the completely same structures and each comprises a first connecting rod and a second connecting rod. The first connecting rods and the fixed platform are connected through first rotating pairs, each first connecting rod and the corresponding second connecting rod are connected through a first ball pair, and the second connecting rods and the movable platform are connected through second ball pairs. The fifth branch chain comprises a third connecting rod, a fourth connecting rod and a fifth connecting rod, the third connecting rod is connected with the fixed platform through a second rotating pair, the third connecting rod is connected with the fourth connecting rod through a third rotating pair, the fourth connecting rod is connected with the fifth connecting rod through a hook joint, and the fifth connecting rod is connected with the movable platform through a fourth rotating pair. The parallel mechanism has an asymmetric structure, needs less drive, is simple in control method and generates more motion forms.
Description
technical field [0001] The invention relates to a parallel mechanism, in particular to a parallel mechanism with six-dimensional motion. 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 directi...
Claims
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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 赵越
Owner 赵越