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A kinematic bifurcation three-degree-of-freedom parallel mechanism

A technology of motion bifurcation and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor applicability, and achieve the effect of large working space, high flexibility, and excellent kinematics and dynamics performance

Active Publication Date: 2022-08-02
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Three-degree-of-freedom parallel mechanisms have been widely studied in industrial production and other fields, such as two-rotation-one-movement, two-movement-one-rotation parallel mechanisms, etc., but they are only fixed-degree-of-freedom parallel mechanisms, which are less applicable in multi-tasking environments

Method used

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  • A kinematic bifurcation three-degree-of-freedom parallel mechanism
  • A kinematic bifurcation three-degree-of-freedom parallel mechanism
  • A kinematic bifurcation three-degree-of-freedom parallel mechanism

Examples

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Embodiment 1

[0027] like Figure 1-Figure 3 As shown: this embodiment provides a motion bifurcation three-degree-of-freedom parallel mechanism 100, including a fixed platform 1 and a moving platform 2, and two first branch chains 3, a first Two branches 4 and a third branch 5, the two first branches 3 are arranged oppositely, the second branch 4 and the third branch 5 are arranged oppositely, and a first branch 3 includes a first driving pair and a second branch The driving pair, the third branch chain 5 includes a third driving pair and a fourth driving pair, and the motion bifurcation three-degree-of-freedom parallel mechanism 100 is realized through the first driving pair, the second driving pair, the third driving pair and the fourth driving pair Switching between the two-rotation-one-movement working mode and the two-movement-one-rotation working mode. In the initial configuration, when the movable platform 2 is parallel to the fixed platform 4 and the fourth driving pair is parallel...

Embodiment 2

[0042] The difference between this embodiment and the first embodiment is that: in this embodiment, the first cylindrical pair 12 is the first driving pair, the third rotating pair 9 is the third driving pair, and the fourth moving pair 23 is the fourth driving pair.

[0043] like figure 2 As shown, when the third rotating pair 9 (the third driving pair) is locked, the first cylindrical pair 12 (the first driving pair), the second cylindrical pair 7 (the second driving pair), and the fourth moving pair 23 ( When the fourth driving pair), the third branch 5 is subjected to a binding couple, and the moving platform 2 is subjected to a rotation along the second axis of the Hook hinge 15 and perpendicular to the first axis of the Hook hinge 15 and parallel to the first rotation. The binding force of the axis of the pair 17, a binding force couple perpendicular to the first axis of the Hook hinge 15, the second axis of the Hook hinge 15 and the axis of the first rotating pair 17, ...

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Abstract

The invention discloses a motion bifurcation three-degree-of-freedom parallel mechanism, which relates to the field of mechanics and robot technology. chain and a third branch chain, the two first branch chains are arranged oppositely, the second branch chain and the third branch chain are arranged oppositely, a first branch chain includes a first driving pair and a second driving pair, and the third branch includes The third driving pair and the fourth driving pair, through the first driving pair, the second driving pair, the third driving pair and the fourth driving pair, realize the two-rotation-one-movement working mode and the two-movement-one-movement mode of the motion bifurcation three-degree-of-freedom parallel mechanism Rotate the switch of the working mode. The working space of the invention is large, the continuity is good, the kinematics and dynamics are excellent, and it has the characteristics of high rigidity and high flexibility. Switch between them smoothly, and the mechanism does not need to be reassembled.

Description

technical field [0001] The invention relates to the field of mechanics and robotics, in particular to a motion bifurcation three-degree-of-freedom parallel mechanism. Background technique [0002] The field of mechanism research has traditionally focused on parallel mechanisms with fixed degrees of freedom characteristics. With the development of science and technology, multi-function, multi-operation modes, and reconfigurable motion modes that can change according to the working environment have attracted the attention of scholars. Reconfigurable motion modes include motion bifurcation, metamorphosis, etc. There are fewer reconfigurable models, among which the motion bifurcation mechanism is the least. [0003] Three-degree-of-freedom parallel mechanisms have been widely studied in industrial production and other fields, such as two-rotation-one-movement, two-movement-one-rotation parallel mechanisms, etc., but they are only fixed-degree-of-freedom parallel mechanisms, whi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 李永泉郑天宇江洪生景涵张立杰
Owner YANSHAN UNIV