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High-rigidity three-translation redundant drive parallel mechanism

A three-translation, high-rigidity technology, applied in the field of robotics, can solve problems such as difficult control, poor bearing capacity, and few driving pairs

Inactive Publication Date: 2021-09-10
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The existing three-translation parallel mechanism has fewer drive pairs, mostly a single drive, resulting in low rigidity, poor bearing capacity, and difficult control

Method used

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  • High-rigidity three-translation redundant drive parallel mechanism

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Embodiment Construction

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0021] The purpose of the present invention is to provide a high-rigidity triple-translation redundant drive parallel mechanism to solve the above-mentioned problems in the prior art and improve the rigidity and bearing capacity of the triple-translation parallel mechanism.

[0022] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunct...

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Abstract

The invention discloses a high-rigidity three-translation redundant drive parallel mechanism which comprises a fixed platform, a movable platform and four branch chain units. Each branch chain unit comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the bottom end of each first connecting rod and the bottom end of each second connecting rod are hinged to the fixed platform; each third connecting rod is in sliding fit with the corresponding first connecting rod; each fourth connecting rod is in sliding fit with the corresponding second connecting rod; the top end of each fourth connecting rod is hinged to the middle of the corresponding third connecting rod; the two non-adjacent side edges of the movable platform are each provided with a middle connecting rod in a hinged mode; the other two non-adjacent side edges of the movable platform are each fixedly provided with a fixing rod; each fixing rod is provided with a sliding block in a sliding mode; the two branch chain units are hinged to the two sliding blocks correspondingly; and the other two branch chain units are rotationally connected with the two middle connecting rods correspondingly. According to the high-rigidity three-translation redundant drive parallel mechanism provided by the invention, the rigidity and the bearing capacity of the three-translation parallel mechanism are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a high-rigidity three-translation redundant drive parallel mechanism. Background technique [0002] Compared with the series mechanism, the parallel mechanism has the advantages of small inertia, high load capacity, high stiffness, and good dynamic performance. It is widely used in various fields such as processing and manufacturing, medicine, various motion simulators, and micro-positioning robots. However, in many practical situations, it is not necessary to use a six-degree-of-freedom mechanism, and the parallel mechanism with fewer degrees of freedom has the advantages of simple structure, low cost, and easy control, especially the three-degree-of-freedom parallel mechanism, which is more and more widely used in actual production . The existing three-translation parallel mechanism has fewer drive pairs, and most of them are single drive, resulting in low rigidity, poor bearin...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 李永泉江洪生郑天宇西克龙景涵张立杰
Owner YANSHAN UNIV
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