Two-rotation and two-movement parallel mechanism with coupling branches

A coupling branch and parallel technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., to achieve the effects of reducing singular configurations, good rigidity, and easy production and processing

Active Publication Date: 2021-08-31
山东管理学院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, there have been many studies on the generalized parallel mechanism with coupling branches and the 2R2T parallel mechanism alone, but there is no related research on the 2R2T parallel mechanism with coupling branches

Method used

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  • Two-rotation and two-movement parallel mechanism with coupling branches
  • Two-rotation and two-movement parallel mechanism with coupling branches

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Embodiment Construction

[0022] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0023] Such as figure 1 , figure 2 The shown two-rotating-two-moving parallel mechanism with coupling branches includes a base 5, a first branch 1, a second branch 2, a third branch 3, a fourth branch 4 and a moving platform 6; wherein, the first branch, the second branch The second branch and the third branch are connected in parallel between the base and the moving platform, and the fourth branch is connected between the first branch and the second branch as a coupling branch.

[0024] Both the first branch and the second branch are RPU branches, wherein R represents a revolving pair, P represents a moving pair, and U represents a Hooke hinge; the third branch is an SPS branch, wherein S represents a spherical pair; the fourth The branch is an RPR branch. Specifically, one end of the first branch is the first rotating pair connected to the base, the mi...

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Abstract

The invention relates to a parallel mechanism. According to the technical scheme, a two-rotation and two-movement parallel mechanism with coupling branches comprises a base, a movable platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are connected between the base and the movable platform in parallel; the parallel mechanism further comprises a fourth branch connected between the first branch and the second branch; the first branch comprises a first rotating pair, a first movement pair and a first hooke joint which are sequentially connected between the base and the movable platform; the second branch comprises a second rotating pair, a second movement pair and a second hooke joint which are sequentially connected between the base and the movable platform; the third branch comprises a first ball pair, a third movement pair and a second ball pair which are sequentially connected between the base and the movable platform; and the fourth branch comprises a third rotating pair, a fourth movement pair and a fourth rotating pair which are sequentially connected between the first rotating pair and the second rotating pair. The parallel mechanism can reduce the singular configuration in operation.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a two-rotation and two-movement parallel mechanism with coupling branches. Background technique [0002] The moving platform of the traditional parallel mechanism is connected to the base through more than two branches, and has a multi-closed-loop structure. Due to the advantages of its structure, such as good rigidity, high load capacity, and fast operation speed, it has been successfully applied in the fields of sorting and motion simulation. However, in the traditional parallel mechanism, each branch independently supports the moving platform, which is prone to problems such as singular configuration and stiffness degradation. In response to this problem, scholars have added coupling branches between the branches of the parallel mechanism, and proposed the concept of generalized parallel mechanism. Compared with the traditional parallel mechanism, the generalized parallel mechanism wi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 温如风
Owner 山东管理学院
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