A 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 effect of fast operation, reduced singular configuration, and easy production and processing

Active Publication Date: 2022-07-19
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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  • A two-rotation and two-movement parallel mechanism with coupling branches
  • A 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] like figure 1 , figure 2 The shown two-rotation and two-movement 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; 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] The first branch and the second branch are both RPU branches, wherein R represents a rotating pair, P represents a moving pair, and U represents a Hooke hinge; the third branch is an SPS branch, where S represents a ball pair; the fourth The branch is the RPR branch. Specifically, one end of the first branch is a first rotating pair connected to the base, a first moving pair P1 is arranged in the middle of the f...

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Abstract

The present invention relates to a parallel mechanism. The technical scheme is: a two-rotation and two-movement parallel mechanism with coupling branches, comprising a base, a moving platform, and a first branch, a second branch and a third branch connected in parallel between the base and the moving platform respectively; its features are: In that: the parallel mechanism further includes a fourth branch connected between the first branch and the second branch; the first branch includes a first rotating pair and a first moving pair sequentially connected between the base and the moving platform and a first Hooke hinge; the second branch includes a second rotating pair, a second moving pair and a second Hooke hinge connected between the base and the moving platform in sequence; the third branch includes a sequential connection a first ball pair, a third moving pair and a second ball pair between the base and the moving platform; the fourth branch includes a third rotating pair sequentially connected between the first moving pair and the second moving pair , the fourth moving pair and the fourth 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 stiffness, high load capacity, and fast operation speed, it has been successfully applied in sorting, motion simulation and other fields. 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 add coupling branches between the branches of the parallel mechanism, and put forward the concept of generalized parallel mechanism. Compared with the traditional parallel mechanism, the generalized parallel mechanism with ...

Claims

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Application Information

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