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Two-translation-one-rotation parallel platform with large rotation angle and zero coupling degree of fully hinged two-constrained branch chain

A large-angle, zero-coupling technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problem that there are not many parallel mechanisms with two translations and one rotation.

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

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Problems solved by technology

[0004] However, there are not many two-translation-rotation parallel mechanisms with symbolic positive position solution and motion decoupling.

Method used

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  • Two-translation-one-rotation parallel platform with large rotation angle and zero coupling degree of fully hinged two-constrained branch chain

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Experimental program
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Embodiment 1

[0020] like figure 1 As shown, a large rotation angle, zero coupling degree, two translation and one rotation parallel platform with full hinge and two restrained branches include a moving platform 1 and a static platform 0, and a hybrid branch-chain is arranged between the moving platform 1 and the static platform 0 I and mixed branch II II;

[0021] The sub-parallel mechanism included in the hybrid branch-I is formed by the parallel connection of a three-rotating pair series group I and a three-rotating 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...

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Abstract

The invention relates to the technical field of parallel robot platforms with few degrees of freedom, in particular to a large-angle, zero-coupling, two-translation-one-rotation parallel platform with fully hinged two-constrained branch chains, comprising a mixed branch one, a mixed branch two, and a mixed branch one. It includes a sub-parallel mechanism composed of three-rotation pair series group 1 and three-rotation pair series group 2 in parallel; and then on the middle output rod 1 of the sub-parallel mechanism, the series axis is parallel to the rotating pair seven and the rotating pair eight; the rotating pair eight and the One end of the moving platform is connected; the hybrid branch includes a rotating pair 9 whose axis is perpendicular to the motion plane of the planar five-bar mechanism connected in series on the output rod two of the plane five-bar mechanism, and the rotating pair 9 is connected to the other side of the moving platform. One end is connected; the motion plane of the plane five-bar mechanism and the axis of the first rotating pair are perpendicular to each other. This two-translation-one-rotation parallel platform has zero coupling degree, positive symbolic position solution, and is easy to process and manufacture.

Description

technical field [0001] The invention relates to the technical field of parallel robot platforms with few degrees of freedom, in particular to a two-translation-one-rotation parallel platform with large rotation angle and zero coupling degree with full hinge and two restraint branch chains. Background technique [0002] Parallel manipulators with few degrees of freedom have been applied in industry, for example: Delta manipulator with three translations, and manipulators with three translations and one rotation, such as H4, I4, Par4, Cross-IV, etc., have been used in high-speed pick and place, positioning Assembly, handling, sorting, loading and unloading and other processes have played a very good role; 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 tw...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072Y02E10/50
Inventor 沈惠平何红波李涛
Owner CHANGZHOU UNIV