Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation

A degree of freedom and parallel technology, applied in the direction of manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve problems such as uncontrollable degrees of freedom, loss of control of parallel machine tools, and inability to balance the load force of dynamic platforms, etc., to improve mechanical properties, Effects that are not easy to interfere and have a simple structure

Inactive Publication Date: 2005-03-02
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

In order to expand the working space of parallel machine tools, structural constraints can be improved by adopting new structural forms, structural layouts and changing structural parameters; The platform has redundant and uncontrollable degrees of freedom. At this time, the resultant force of each branch chain cannot balance the load force on the dynamic platform, and the parallel machine tool is out of control.

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  • Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation
  • Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation

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Embodiment Construction

[0015] figure 1 Middle, 1 frame; 2 columns; 3, 6, 15, 17 sliders; 4, 18 rotating pairs; 5, 7, 13, 16 connecting rods; 8 moving platforms; 9 workpieces; 10 working tables; 11 cutting tools; 1214 Ball hinge. As shown in the figure, the figure is a vertical structure that realizes the single-degree-of-freedom motion input of each branch chain in the form of a slide rail slider. In the figure, the column 2 is equipped with slide rails, and the sliders 3, 6, 15, and 17 can slide on the column 2 respectively for motion input. The two ends of the branch chain 5 are respectively connected to the slider 3 and the moving platform 8 through parallel rotating pairs 4 and 18 . Both ends of the branch chains 7, 13, 16 are spherical hinges to connect the moving platform 8 and the corresponding slider. The moving platform can realize two-dimensional translation and one-dimensional rotation. In the figure, a worktable 9 with one-dimensional rotation and one-dimensional translation is attac...

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Abstract

The three-freedom redundant parallel mechanism with two rotations and one translation may be used as parallel machine tool structure. The parallel mechanism consists of static platform, dynamic platform and four single-freedom branches. Of the four single-freedom branches, three have their ends connected via ball joint to the dynamic platform and the platform, and the other has two ends connected two the two platforms separately via rotation pair. The mechanism has four input motions, three output motions, dynamic platform capable of realizing 2D translation and 1D rotation, and no unexpected output motion. The redundant driving can raise the precision and rigidity of the parallel mechanism, eliminate mechanism fantasticism, expand the posture space and improve mechanism performance. The mechanism has the advantages of simple structure, easy control, etc. and is suitable for use as the main structure of parallel machine tool with high precision and great posture angle.

Description

technical field [0001] The invention relates to the field of mechanical manufacturing, and is a main structure that can be used as a parallel machine tool. Background technique [0002] Parallel machine tool is a new type of numerical control processing equipment, which is a machine tool with parallel mechanism as the main body. The parallel mechanism was first proposed in the middle of the last century, and was later used in flight simulators, coordinate measuring machines, etc. The machine tool with parallel mechanism as the main body appeared at the end of last century and caused a sensation. Most of the early parallel machine tools used the Stewart mechanism with six degrees of freedom as the main body. Later, some parallel machine tools with less degrees of freedom gradually gained attention due to their advantages of simple structure and easy control, such as the Linapod three-degree-of-freedom machine tool of the University of Stuttgart in Germany, and the Neos Robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/48B23Q41/04B25J9/08
CPCB23Q1/5462B25J17/0266B25J9/0072
Inventor 韩先国白志富陈五一
Owner BEIHANG UNIV
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