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Two-branched chain with characteristic chain, large rotation angle, zero coupling degree, translation and rotation platform

A technology of rotating platform and moving platform, applied in the direction of program control manipulator, manufacturing tool, manipulator, etc., can solve many problems and achieve the effect of easy manufacturing

Active Publication Date: 2022-07-05
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] But there are not many one-translation-rotation parallel mechanisms with symbolic position positive solution and motion decoupling

Method used

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  • Two-branched chain with characteristic chain, large rotation angle, zero coupling degree, translation and rotation platform
  • Two-branched chain with characteristic chain, large rotation angle, zero coupling degree, translation and rotation platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0024] like figure 1 As shown, a kind of two branch chains with characteristic chain has large rotation angle zero coupling degree-translation-rotation platform, including moving platform 1 and static platform 0, and between the moving platform 1 and static platform 0, there is a mixed characteristic branch 1 and simple branch II;

[0025] Described hybrid characteristic branch chain I comprises the space sub-parallel mechanism formed by the parallel connection of three-rotation pair series group 1 and three-rotation pair series group 2, and three-rotation pair series group 1 consists of rotation pair-R whose axes are parallel to each other and are connected in series in turn. 11 , turn the secondary R 12 And turn the vice three R 13 The two series of three rotating pairs consist of four rotating pairs whose axes are parallel to each other and are connected in series. 21 , Rotate vice five R 22 , turn the vice six R 23 composition, turn vice-a-R 11 and turn vice four R ...

Embodiment 2

[0032] like figure 2 As shown, a kind of two branch chains with characteristic chain has large rotation angle zero coupling degree-translation-rotation platform, including moving platform 1 and static platform 0, and between the moving platform 1 and static platform 0, there is a mixed characteristic branch 1 and simple branch II;

[0033] Described hybrid characteristic branch chain I comprises the space sub-parallel mechanism formed by the parallel connection of three-rotation pair series group 1 and three-rotation pair series group 2, and three-rotation pair series group 1 consists of rotation pair-R whose axes are parallel to each other and are connected in series in turn. 11 , turn the secondary R 12 And turn the vice three R 13 The two series of three rotating pairs consist of four rotating pairs whose axes are parallel to each other and are connected in series. 21 , Rotate vice five R 22 , turn the vice six R 23 composition, turn vice-a-R 11 and turn vice four R ...

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Abstract

The invention relates to the technical field of parallel robot mechanisms with few degrees of freedom, in particular to a two-branch chain with a characteristic chain, a large-angle zero coupling degree-translation-rotation platform, which is composed of a mixed characteristic branch and a simple branch. The chain consists of three-rotation pair series group one, which is connected in parallel with the three-rotation pair series group two to form a space sub-parallel mechanism; the output rod of the space sub-parallel mechanism is connected to one end of the moving platform through the rotating pair seven, and the axis of the rotating pair seven is connected. The direction coincides with the axis of the rotating pair 3; the simple branch chain uses the ball pair 1 to connect the other end of the moving platform, and the rotating pair 8 connects the static platform, and the orientation of the rotating pair 8 on the static platform can be arranged arbitrarily. The one-translation-rotation parallel platform mechanism has zero coupling degree, positive symbolic position solution, and motion decoupling of input-output parts, and is easy to process and manufacture.

Description

technical field [0001] The invention relates to the technical field of parallel robot mechanisms with few degrees of freedom, in particular to a two-branch chain with a characteristic chain, a large rotation angle, zero coupling degree, a translation and a rotation platform. Background technique [0002] Parallel operators with few degrees of freedom have been applied in industry, for example: Delta operators with three translations, H4, I4, Par4, Cross-IV, and other operators with three translations and one rotation. It has played a good role in handling, sorting, loading and unloading and other processes; and patents 201210435375.1, 201510564382.5, 201510567133.1, 201510564195.7, 201510566039.4, 201510566840.9, etc., also disclosed a batch of new models of three-translation-one-rotation parallel robots. [0003] Scholars at home and abroad have done a lot of research on the two-translation-one-rotation parallel mechanism. For example, Li et al. studied the 2T1R space mecha...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平王达孟庆梅
Owner CHANGZHOU UNIV