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Adjustable 3,4,5-SPS type parallel mechanism experiment bench

An experimental platform, 5-SPS technology, applied in manipulators, large-scale fixed members, program-controlled manipulators, etc., can solve problems such as unfavorable motion characteristics of parallel mechanisms with multiple configurations, unadjustable kinematic pairs, and single motion characteristics.

Inactive Publication Date: 2006-11-15
YANSHAN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

These parallel mechanisms with few degrees of freedom have their own characteristics, but the motion sub-poses cannot be adjusted, so the kinematic characteristics of each kind of parallel mechanisms with few degrees of freedom are single, which is not conducive to the synthesis of mechanism experiments and the kinematic characteristics of parallel mechanisms with multiple configurations. Experimental Study
The existing theory of parallel mechanisms cannot explain the redundant self-motion phenomenon of some parallel mechanisms with few degrees of freedom, and further theoretical and experimental research is needed

Method used

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  • Adjustable 3,4,5-SPS type parallel mechanism experiment bench
  • Adjustable 3,4,5-SPS type parallel mechanism experiment bench
  • Adjustable 3,4,5-SPS type parallel mechanism experiment bench

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Experimental program
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Embodiment 1

[0008] figure 1 It is the first embodiment disclosed by the present invention. The three SPS linear drive branch kinematic chains have the same structure, and are symmetrically distributed in an equilateral triangle on the upper platform 1 and the base 2. Each linear drive branch 3 has a ball pair at both ends, and a ball pair in the middle. A linear drive mechanism and a stepping motor 4, the axis of which coincides with the center of the ball pair, is driven by the stepping motor 4 to realize the telescopic movement of the linear drive branch 3. The ball pair is composed of three rotating pairs whose axes are orthogonal; the horizontal pin 8 and the vertical pin 9 are used to limit the rotation of the two rotating pairs in the ball pair, and the three ball pairs connected to the moving platform 1 are turned into rotating pairs to form a An experimental platform for a 3-SPR parallel mechanism with 3 degrees of freedom.

Embodiment 2

[0010] figure 2 It is the second embodiment disclosed by the present invention. The difference from the first embodiment is that there are 4 SPS type linear drive branches, which are distributed symmetrically in a regular quadrilateral on the upper platform 1 and the base 2; 9. Limit the rotation of the two rotating pairs in the ball pair, and turn the two adjacent ball pairs connected to the moving platform 1 into rotating pairs to form a 2-SPS / 2-SPR parallel mechanism experiment platform. The degree of freedom of the mechanism for 4.

[0011] The adjustable 3, 4, 5-SPS type parallel mechanism two experimental platforms, in addition to the characteristics of high rigidity and high load capacity of the parallel mechanism, also has the characteristics of relatively simple mechanism, symmetrical structure, high motion precision and good adjustability. They can be used in the experimental research of mechanism synthesis and motion analysis of various parallel mechanisms with fe...

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Abstract

An adjustable experimental platform with 3,4,5-SPS type parallel mechanism for robot, machine-tool, or sensing element is disclosed. 3,4 or 5 linear drive branches are distributed between upper platform and base in polygonaly symmetrical mode. One of 4 or 5 linear drive braches is arranged in the center of platform and base. The both ends of each branch have a ball set consisting of the rotation set A formed by connecting one end of said branch with ring frame, the rotation set B formed by connecting ring frame with supporter, and the rotation set C formed by connecting supporter with axle sleeve. The vertical and transverse pins are used to change the freedom of ball set.

Description

technical field [0001] The present invention relates to the field of robots and machinery manufacturing. Background technique [0002] For the convenience of explanation, use (n, n=1, 2, 3, 4, 6) to represent the number of branches, and use (S, U, P, R) to represent the (ball pair, universal joint, moving pair, revolving pair), and their combination represents a branched kinematic chain structure. [0003] Parallel robots have the characteristics of high structural rigidity, strong carrying capacity, light end mass, small inertia, and no accumulation of position errors. They are complementary to serial robots in application. The parallel robot mechanism with less than 6 degrees of freedom has relatively simple structure and easy control, and has become a research hotspot in the field of robotics and manufacturing. In recent years, Tsai's three-moving 3-UPU mechanism has won US Patent No. 5656905; Huang Zhen's 4-DOF 3-URU / SPS parallel mechanism and 5-DOF decoupling parallel...

Claims

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Application Information

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IPC IPC(8): B25J9/08B23Q1/46B23Q1/48
Inventor 路懿
Owner YANSHAN UNIV
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