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A Two-Translation-One-Rotation Robot with Large Rotation Angle and Zero Coupling Degree with Feature Chain

A zero-coupling, large-angle technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of not many parallel mechanisms with two translations and one rotation, 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] However, there are not many two-translation-rotation parallel mechanisms with symbolic positive position solution and motion decoupling.

Method used

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  • A Two-Translation-One-Rotation Robot with Large Rotation Angle and Zero Coupling Degree with Feature Chain
  • A Two-Translation-One-Rotation Robot with Large Rotation Angle and Zero Coupling Degree with Feature Chain
  • A Two-Translation-One-Rotation Robot with Large Rotation Angle and Zero Coupling Degree with Feature Chain

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] like figure 1 As shown, a large-angle zero-coupling two-translation-one-rotation robot with a characteristic chain includes a moving platform 1 and a static platform 0, and a hybrid feature branch A and a constraint branch are arranged between the moving platform 1 and the static platform 0. chain B;

[0033] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by the parallel connection of branch chain one and branch chain two. 11 , turn vice-one R 12 , turn the secondary R 13 And turn the vice three R 14 Composed in series, slider one P 11 direction of movement, turn vice-one R 12 The axis, the rotation pair R 13 The axis and rotation pair three R 14 The axes of the two are parallel to each other, and the branch chain two consists of two sliders P which are connected in series in sequence. 21 , turn the vice four R 22 And turn the vice five R 23 Composition, Slider II P 21 The direction of movement and the rotation of the v...

Embodiment 2

[0041] like figure 2 As shown, a large-angle zero-coupling two-translation-one-rotation robot with a characteristic chain includes a moving platform 1 and a static platform 0, and a hybrid feature branch A and a constraint branch are arranged between the moving platform 1 and the static platform 0. chain B;

[0042] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by the parallel connection of branch chain one and branch chain two. 11 , turn vice-one R 12 , turn the secondary R 13 And turn the vice three R 14 Composed in series, slider one P 11 direction of movement, turn vice-one R 12 The axis, the rotation pair R 13 The axis and rotation pair three R 14 The axes of the two are parallel to each other, and the branch chain two consists of two sliders P which are connected in series in sequence. 21 , turn the vice four R 22 And turn the vice five R 23 Composition, Slider II P 21 The direction of movement and the rotation of the ...

Embodiment 3

[0048] like image 3 As shown, a large-angle zero-coupling two-translation-one-rotation robot with a characteristic chain includes a moving platform 1 and a static platform 0, and a hybrid characteristic branch A and a simple branch are arranged between the moving platform 1 and the static platform 0. chain C;

[0049] The mixed characteristic branch chain A includes a space sub-parallel mechanism formed by the parallel connection of branch chain one and branch chain two. 11 , turn vice-one R 12 , turn the secondary R 13 And turn the vice three R 14 Composed in series, slider one P 11 direction of movement, turn vice-one R 12 The axis, the rotation pair R 13 The axis and rotation pair three R 14 The axes of the two are parallel to each other, and the branch chain two consists of two sliders P which are connected in series in sequence. 21 , turn the vice four R 22 And turn the vice five R 23 Composition, Slider II P 21 The direction of movement and the rotation of th...

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Abstract

The invention relates to the technical field of a three-degree-of-freedom parallel robot, in particular to a large-angle zero-coupling two-translation-one-rotation robot with a characteristic chain, which is composed of a mixed characteristic branch and a constraint branch. The space sub-parallel mechanism is formed by the parallel connection of the first branch chain and the second branch chain; the vertical rod of the output rod of the space sub-parallel mechanism is connected to one end of the moving platform by the rotating pair 6; a short side of the parallelogram in the constraining branch chain is connected with The slider 3 is fixed and is parallel to its moving direction. The other short side and the axis are parallel to each other. The rotating pair seven and the rotating pair eight are connected in series. , The moving directions of the two sliders are parallel, and the large rotation angle zero coupling degree of the present invention containing the characteristic chain of the two translation and one rotation robot has a degree of freedom of 3, a coupling degree of 0, and has a positive symbolic position solution, and an input-output motion solution Coupling, and easy to process and manufacture.

Description

technical field [0001] The invention relates to the technical field of parallel robots with three degrees of freedom, in particular to a large-angle zero-coupling two-translation-one-rotation robot with a characteristic chain. Background technique [0002] Parallel manipulators with few degrees of freedom in parallel have been industrially applied, for example: three-translation Delta manipulators, H4, I4, Par4, Cross-IV and other three-translation-one-rotation manipulators 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. [0003] Domestic and foreign scholars have done a lot of research on the two-translation-one-rotation parallel mechanism. For example, Li et al. stud...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 沈惠平汤耀李云峰
Owner CHANGZHOU UNIV