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Large rotation angle, coupling degree, translation and two rotation parallel platform of fully hinged two-constrained branch chain

A technology with large rotation angle and coupling degree is applied in the field of large rotation angle-coupling degree-translational two-rotation parallel platform, which can solve problems such as low coupling degree and achieve the effect of easy manufacturing

Active Publication Date: 2022-07-05
CHANGZHOU UNIV
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Problems solved by technology

[0003] However, there are not many one-translation and two-rotation parallel mechanisms with low coupling degree and easy kinematics / dynamics solution, so it is necessary to propose a new one-translation and two-rotation mechanism with one coupling degree, easy kinematics / dynamics solution, and motion decoupling parallel platform mechanism

Method used

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  • Large rotation angle, coupling degree, translation and two rotation parallel platform of fully hinged two-constrained branch chain

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Embodiment 1

[0019] like figure 1 As shown, a large rotation angle, coupling degree, translation and two rotation parallel platforms of full hinge and two restraint branches include a moving platform 1 and a static platform 0, and a mixed branch chain is arranged between the moving platform 1 and the static platform 0. I and mixed branch II II;

[0020] The space sub-parallel mechanism included in the hybrid branch-I is formed by the parallel connection of a three-rotation pair series group I and a three-rotation pair series group II. 11 , turn the secondary R 12 And turn the vice three R 13 Composed of three rotating pairs in series group two consists of rotating pairs four R 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 21 All are set on the static platform 0, and turn the pair one R 11 The axis and rotation of vice four R 21 The axes are perpendicular to e...

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Abstract

The invention relates to the technical field of parallel robot mechanisms, in particular to a large-angle-coupling-translation-two-rotation parallel platform with fully hinged two-constrained branch chains. The space sub-parallel is composed of three-rotating pair series group 1 and three-rotating pair series group 2 connected in parallel; then on the output rod 1 of the space sub-parallel mechanism, the rotating pair 7 and the rotating pair 8 whose axes are perpendicular to each other are connected in series. The direction of the axis of the auxiliary seven is parallel and coplanar with the axis of the rotating pair six, and the rotating pair eight is connected with one end of the moving platform; It is composed of rotating vice nine. The one-translation-two-rotation parallel platform has a coupling degree of 1, has a positive numerical position solution, and the decoupling of the input-output motion part, and is easy to process and manufacture.

Description

technical field [0001] The invention relates to the technical field of parallel robot mechanisms, in particular to a parallel platform with large rotation angle, coupling degree, translation, and two rotations of full hinge and two restrained branch chains. Background technique [0002] Parallel operators with few degrees of freedom have been applied in industry, for example: three-translation Delta operators, and H4, I4, Par4, Cross-IV three-translation-one-rotation operators, etc., have been used in high-speed pick-and-place, positioning assembly, 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. Domestic and foreign scholars have done a lot of research on the two-translation-one-rotation parallel mechanism. For example, Li et al. stu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平顾晓阳李菊
Owner CHANGZHOU UNIV