Three-translation redundant drive parallel mechanism comprising closed-loop units

A three-translation, redundant technology, applied in the field of robotics, can solve problems such as low rigidity, poor carrying capacity, and single drive

Inactive Publication Date: 2021-09-14
YANSHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, the existing three-translation parallel mechanism has fewer drive pairs, mostly...

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  • Three-translation redundant drive parallel mechanism comprising closed-loop units

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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 three-translation redundant drive parallel mechanism with closed-loop unit, which has a compact structure, realizes redundant drive, improves the bearing capacity, drive stability and overall rigidity of the mechanism, and is easy to control.

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

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Abstract

The invention discloses a three-translation redundant drive parallel mechanism comprising closed loop units, and relates to the technical field of robots. The three-translation redundant drive parallel mechanism comprises a fixed platform, a movable platform, two first branch chains and two second branch chains, wherein two first horizontal slide rails, two second horizontal slide rails, two first vertical slide rails and two second vertical slide rails are arranged on the fixed platform, the movable platform is located above the fixed platform, the two first branch chains are symmetrically arranged on the two sides of the movable platform, and the two second branch chains are symmetrically arranged on the other two sides of the movable platform. The first branch chains and the second branch chains each comprise the closed loop unit, so that the structure is compact, the rigidity is high, eight moving pairs are arranged in the two first branch chains and the two second branch chains in total, the moving pairs are all driving pairs, and the eight driving pairs drive the movable platform to achieve translational motion in three spatial directions relative to the fixed platform, so that redundant drive is achieved, the bearing capacity, driving stability and overall rigidity of the mechanism are improved, and control is convenient.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a triple-translation redundant drive parallel mechanism with a closed-loop unit. Background technique [0002] Robots can also complete boring and repetitive work in dangerous and harsh environments, and the quality of work is reliable and stable. Parallel robots are widely used in CNC lathes, ships, aerospace, bionics, medicine and other fields. However, the existing three-translation parallel mechanism has fewer drive pairs, and most of them are single drive, resulting in low stiffness, poor bearing capacity, and difficult control. Contents of the invention [0003] In order to solve the above technical problems, the present invention provides a three-translation redundant drive parallel mechanism with closed-loop unit, which has a compact structure, realizes redundant drive, improves the bearing capacity, drive stability and overall rigidity of the mechanism, and is easy to c...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0033
Inventor 李永泉江洪生郑天宇景涵西克龙张立杰
Owner YANSHAN UNIV
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