Unlock instant, AI-driven research and patent intelligence for your innovation.

Large corner zero coupling degree two translation and one rotation manipulator with one feature chain and one constrain chain

A zero-coupling, large-angle technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of not many two-translation-one-rotation parallel manipulator mechanisms, etc.

Active Publication Date: 2021-08-31
CHANGZHOU UNIV
View PDF9 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Large corner zero coupling degree two translation and one rotation manipulator with one feature chain and one constrain chain
  • Large corner zero coupling degree two translation and one rotation manipulator with one feature chain and one constrain chain
  • Large corner zero coupling degree two translation and one rotation manipulator with one feature chain and one constrain chain

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 1 As shown, a characteristic chain, a constraint chain, a large rotation angle, zero coupling degree, two translations and a rotation operator include a moving platform 1 and a static platform 0, and a mixed characteristic branch chain A is arranged between the moving platform 1 and the static platform 0. And constraint branch B;

[0031] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by connecting branch chain 1 and branch chain 2 in parallel, and the branch chain 1 consists of sliders 1 P 11 , revolving pair one R 12 , rotating pair 2 R 13 And rotating pair three R 14 Composed in series, slider a P 11 The direction of movement, the rotation pair-R 12 The axis, rotating pair 2 R 13 The axis and rotating pair three R 14 The axes of the chains are parallel to each other, and the branch chain two consists of sliders two P in series in sequence 21 , rotating pair four R 22 and revolving pair 5R 23 Composition...

Embodiment 2

[0037] Such as figure 2 As shown, a characteristic chain, a constraint chain, a large rotation angle, zero coupling degree, two translations and a rotation operator include a moving platform 1 and a static platform 0, and a mixed characteristic branch chain A is arranged between the moving platform 1 and the static platform 0. And constraint branch B;

[0038] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by connecting branch chain 1 and branch chain 2 in parallel, and the branch chain 1 consists of sliders 1 P 11 , revolving pair one R 12 , rotating pair 2 R 13 And rotating pair three R 14 Composed in series, slider a P 11 The direction of movement, the rotation pair-R 12 The axis, rotating pair 2 R 13 The axis and rotating pair three R 14 The axes of the chains are parallel to each other, and the branch chain two consists of sliders two P in series in sequence 21 , rotating pair four R 22 and revolving pair 5R 23 Compositio...

Embodiment 3

[0045] Such as image 3 As shown, a characteristic chain, a constraint chain, a large rotation angle, zero coupling degree, two translations and a rotation operator include a moving platform 1 and a static platform 0, and a mixed characteristic branch chain A is arranged between the moving platform 1 and the static platform 0. And constraint branch B;

[0046] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by connecting branch chain 1 and branch chain 2 in parallel, and the branch chain 1 consists of sliders 1 P 11 , revolving pair one R 12 , rotating pair 2 R 13 And rotating pair three R 14 Composed in series, slider a P 11 The direction of movement, the rotation pair-R 12 The axis, rotating pair 2 R 13 The axis and rotating pair three R 14 The axes of the chains are parallel to each other, and the branch chain two consists of sliders two P in series in sequence 21 , rotating pair four R 22 and revolving pair 5R 23 Composition...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to the technical field of three-degree-of-freedom parallel robot manipulators, in particular to a large corner zero coupling degree two translation and one rotation manipulator with one feature chain and one constrain chain. The manipulator is composed of a mixed feature branch chain and a constraint branch chain. A spatial sub parallel mechanism contained in the mixed feature branch chain is formed by connecting a branch chain I and a branch chain II in parallel; an output rod of the spatial sub parallel mechanism is connected to one end of a movable platform via a rotating pair VI, and the axis of the rotating pair VI is superposed with or parallel to the axis of the rotating pair III; the constraint branch chain is a branch chain III, and a rotating pair X is connected with the other end of the movable platform; a moving direction of a slide block III on a static platform is parallel to moving directions of a slide block I and a slide block II on a same straight line. The coupling degree of two translation and one rotation manipulator is 0, has symbolic forward position kinematics, input-output motion-decoupling performance, and is easy to process and manufacture.

Description

technical field [0001] The invention relates to the technical field of a three-degree-of-freedom parallel robot manipulator, in particular to a characteristic chain-constraint chain, large rotation angle, zero coupling degree, two-translation-rotation manipulator. Background technique [0002] Parallel manipulators with few degrees of freedom have been applied in industry, for example: three-translation Delta manipulators, H4, I4, Par4, Cross-IV and other three-translation and one-rotation manipulators, 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 disclose a batch of new models of three-translation-rotation parallel robots. [0003] Scholars at home and abroad have done a lot of research on the two-translation-rotation parallel mechanism, for exa...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平李菊汤耀
Owner CHANGZHOU UNIV