15 results about "Parallel manipulator" patented technology

A medical device is disclosed. The medical device includes a parallel manipulator. The parallel manipulator has an end platform coupled to a surgical tool and a base platform coupled to a machine module. The machine module is coupled to the surgical tool by a transmission shaft disposed between the end platform and the base platform. The transmission shaft has a transmission yoke, a slider, a first link connected to the transmission yoke, a second link connected to the slider, and a universal joint connected between the first link and the second link.

The invention relates to a Tripteron-type parallel manipulator configured to provide three purely translational degrees of freedom by means of three orthogonal linear actuators and their respective parallelogram-shaped kinematic chains. The system incorporates an auxiliary active support arranged on the Z-axis, intended to apply an upward vertical force to the moving platform (11) in order to reduce the load borne by the kinematic chain and the main Z-axis actuator. This support can be implemented using electric or pneumatic actuators, elastic elements, or cable-driven mechanisms, allowing for active, passive, or semi-active operating modes.The integration of the auxiliary support increases the manipulator's load capacity, improves its dynamic stability, and reduces the mechanical demands on the vertical actuator, while maintaining the purely translational kinematics and structural characteristics of the original Tripteron unchanged.

The utility model discloses a kind of graphite box automatic sand blasting cleaning machines, belong to graphite box cleaning technical field, including rack, sand blasting chamber and the roller conveyor belt being set to be penetrated sand blasting chamber are set on the rack, sand blasting machine is fixedly installed on the rack outer side, parallel manipulator is fixedly installed on the rack and located in sand blasting chamber, visual positioning module is fixedly set on the parallel manipulator, sand blasting head and purge gas head are fixedly connected with sand blasting machine respectively by hose, sand blasting head and purge gas head are fixedly connected on parallel manipulator, sand collecting hopper is fixedly arranged on the rack and located below sand blasting chamber, sand blasting machine is connected with sand collecting hopper by sand return pipe.The utility model entire cleaning process does not need manual intervention, greatly reduce the labor intensity of operator, while avoiding that operator contacts dust generated in sand blasting process, protects the health of operator.

The application discloses a hybrid serial-parallel manipulator and a trajectory planning method thereof, and belongs to the field of production line equipment.The technical scheme of the application is as follows: a hybrid serial-parallel manipulator comprises a connecting frame, a sliding swing lever mechanism and two first linear driving mechanisms are installed on the connecting frame, the first linear driving mechanisms jointly drive the sliding swing lever mechanism to move, a connecting rod mechanism is installed at a swing end of the sliding swing lever mechanism, the connecting rod mechanism comprises at least two rod bodies connected in series through rotary pairs and / or moving pairs, one end of the connecting rod mechanism is hinged to the swing end of the sliding swing lever mechanism, and a material taking executor is installed at the other end of the connecting rod mechanism.The application has the beneficial effects that: through the combination of the parallel module and the serial module, the stability of the overall installation end of the manipulator is ensured, the carrying capacity of the overall manipulator is improved, the operation range of the manipulator is improved, the overall manipulator has multiple redundant degrees of freedom, the movement is more flexible, the trajectory of the manipulator is optimized, and the manipulator can operate more efficiently.

This invention provides a dynamic optimization method for a spatial parallel mechanism with lubrication gaps, considering interval parameters, relating to the field of industrial robot optimization. The method includes the following steps: S1: Establishing a spherical pair model with lubrication gaps; S2: Obtaining a three-degree-of-freedom spatial parallel mechanism dynamic model with lubrication gaps based on the constraints of the spatial parallel mechanism with lubrication gaps; S3: Setting the objective function, design variables, and upper and lower bounds of the design variables in the dynamic optimization process; S4: Introducing the variables set in S3 into the interval uncertainty optimization method to establish a dynamic optimization model considering interval uncertain parameters; S5: Solving the dynamic optimization model using the particle swarm optimization algorithm to obtain the optimal design variable x. This invention establishes a dynamic optimization model for a spatial parallel mechanism with lubrication gaps, considering interval uncertain parameters, reducing the impact of interval uncertain parameters on the dynamic characteristics of the mechanism, and improving the accuracy of the mechanism's dynamic response.

The invention relates to a nuclear island pool foreign matter-oriented underwater salvage robot with a series-parallel mechanical arm and the series-parallel mechanical arm, and solves the problems that a mechanical arm of an existing nuclear power underwater salvage robot is relatively simple in structure, relatively single in carried salvage tool, relatively high in salvage efficiency and the like. The fishing success rate is low when the fishing tool is used for fishing foreign matters in pool corner areas and in various forms. The system comprises an underwater robot and a series-parallel mechanical arm, the series-parallel mechanical arm comprises a Delta parallel mechanical arm, a series mechanical arm and a fishing tool, the Delta parallel mechanical arm is provided with a static platform and a movable platform, and the static platform is connected with the underwater robot; the series mechanical arm comprises a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a supporting plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, a tail end platform, a third joint motor module, a driving gear, a driven gear and a quick change device. The device is widely applied to salvage of foreign matters in nuclear island pools.

The invention discloses a parallel manipulator driving device adaptive to a multi-section tunnel. The device comprises a static platform, a movable platform, a six-degree-of-freedom Stewart parallel driving assembly and an intelligent control module, the static platform is fixed to a shield tunneling machine body, and the movable platform is connected with a tunneling cutterhead through a rigid flange. After the control module receives target section parameters, the electro-hydraulic servo cylinders are controlled through a kinematics inverse solution algorithm to drive the branch chains to stretch out and draw back, the cutterhead is driven to achieve three-dimensional space movement, and various tunnel sections such as a circular section, an arch-shaped section and a rectangular section are accurately fitted. The device adopts a parallel mechanism design, the rigidity is improved by 5-10 times compared with a traditional series mechanism, and the problems that a traditional shield tunneling machine is single in section adaptation, complex in conversion and poor in tunneling stability are effectively solved in cooperation with force feedback and position closed-loop control. The tunnel section can be rapidly switched without disassembling equipment, the tunneling precision is smaller than or equal to + / -3mm, the adaptive section size range is 0.8 m-8m, the construction efficiency is remarkably improved, the equipment investment cost is reduced, and the method is suitable for multi-scene tunnel construction of roads, railways and the like.

The present application relates to the technical field of device performance test, and more particularly to a 3D printing test device for teaching based on parallel manipulator and a test method thereof, which comprises a supporting mechanism, a parallel manipulator motion mechanism, a wire feeding mechanism, a printing head and a performance test module, and can meet the needs of printing test of different shapes of printing test pieces. Through the setting of the performance test module, the elastic deformation of the corresponding components of the manipulator motion mechanism and the thermal deformation of the printing head can be obtained. Through the independently set height camera, the actual position of the printing head of the 3D printing test device in the printing process can be obtained, and the motion error of the printing head can be further obtained. Through multiple tests and in combination with data processing methods such as regression analysis, the precision retention of the 3D printing test device under different printing conditions can be obtained. The present application can also be combined with the popular science education of teenagers for 3D printing, and become a test device integrating popular science education of teenagers and 3D printing performance test.

The invention provides a cooperative control system and robot for high-precision heavy disassembly, and relates to the technical field of engineering machinery automation. The cooperative control system comprises a main controller, a parallel mechanical arm linear walking module, a contact type vertical tool setting module and a laser ranging module. The parallel mechanical arm linear walking module drives the cutting execution tail end to conduct high-rigidity linear feeding along a preset path through a space parallel closed-loop connecting rod mechanism, the contact type vertical tool setting module obtains vertical reference data through physical contact, and the laser ranging module monitors distance data in real time. The main controller is configured to calibrate the initial attitude based on the vertical reference data and correct the feed depth in real time according to the distance data. The robot adopts a crawler-type walking chassis and a sunken electrical cabinet, so that the problems of insufficient rigidity and poor environmental adaptability of heavy disassembly are solved.

The invention discloses a super-redundant series-parallel mechanical arm obstacle avoidance and trajectory planning method based on null space, and belongs to the technical field of robot motion planning. The invention aims to solve the problem that the super-redundant series-parallel mechanical arm can effectively avoid obstacles in the operation process in a complex environment. The method comprises the following steps: setting various parameters of a six-degree-of-freedom parallel mechanism module; representing the distance from a certain point to an obstacle in the working environment by adopting a pseudo distance; updating a corresponding Jacobian matrix based on the current actual mechanical arm configuration; constructing a total series Jacobian matrix of the whole mechanism through speed recursion and a vector product method; constructing a criterion function for evaluating the approaching degree of an obstacle and the mechanical arm, and constructing a criterion function for evaluating the approaching stroke limit of a joint; carrying out numerical solution and discretization integration of speed-level inverse kinematics of the whole mechanism so as to update joint variables; and solving and updating a homogeneous transformation matrix and a tail end pose of an upper hinge point coordinate system and a lower hinge point coordinate system of each module in a base coordinate system by using overall mechanism forward kinematics, and carrying out iterative calculation.

A medical device is disclosed. The medical device includes a shaft motor, a parallel manipulator, a receiving yoke, a slider, and a transmission yoke. The shaft motor is configured to generate a mechanical force for manipulating a surgical tool. The parallel manipulator includes an end platform for supporting the surgical tool, a base platform for supporting the shaft motor, and a plurality of arms coupled between the end platform and the base platform. The plurality of arms are configured to control movement of the end platform. The receiving yoke is coupled to the surgical tool. The slider is slidingly engaged to the shaft motor and is configured to receive the mechanical force. The transmission yoke is coupled to the slider and the receiving yoke and is configured to transmit the mechanical force to the receiving yoke.

A kind of laser powder bed additive-subtractive composite manufacturing process and equipment, including machine tool bed and the sealing cover connected above it, additive powder feeding mechanism, powder recycling mechanism are connected in machine tool bed, sealing cover interior is connected with powder spreading mechanism, screw motor module and parallel manipulator on it, tool magazine and hydraulic locking mechanism, laser light source is connected above sealing cover, additive part consisting of additive powder feeding mechanism, powder recycling mechanism, laser light source and powder spreading mechanism realizes L-PBF process, subtractive part consisting of screw motor module, parallel manipulator, tool magazine and hydraulic locking mechanism realizes subtractive machining;The laser powder bed and parallel manipulator of the present application are combined, improve overall processing efficiency and reduce the manufacturing defects caused by the heat dissipation of additive process, reduce the influence brought by vibration when subtractive machining, and set preheating slow cooling mechanism and elastic sealing mechanism, realize the adjustment of thermal history in ASHM process and the protection of normal operation of motor.

The invention relates to the technical field of robots, in particular to a kinematics inverse solution method for parallel mechanical arms. The method comprises the following steps: acquiring a central point pose of an upper hinge of an ith first offset hinge, and acquiring a central point pose of a lower hinge of an ith second offset hinge; determining the length function of the ith connecting rod assembly between the corresponding first offset hinge and the second offset hinge according to the central point position posture and the central point position posture; according to the length function of each connecting rod assembly and a Newton iteration formula, determining a length optimal solution of each connecting rod assembly; the length optimal solution is the minimum value of the length of the connecting rod assembly. According to the parallel mechanical arm, the supporting strength and the structural stability of the whole mechanical arm are improved, and the optimal solution of the length of each connecting rod assembly can be determined.

The utility model provides a novel parallel manipulator, including static platform, dynamic platform and the manipulator assembly of connecting static platform and dynamic platform, the element between manipulator assembly is connected through first rotary connection mechanism, and the second rotary connection mechanism is connected between manipulator assembly and dynamic platform, first rotary connection mechanism and second rotary connection mechanism drive manipulator assembly and dynamic platform to multi -directional movement, the utility model discloses through setting first rotary connection mechanism and second rotary connection mechanism makes manipulator assembly and dynamic platform can multi -directional movement, greatly increased the motion flexibility and degree of freedom of manipulator, simultaneously, the design in the snatch piece can through the adsorption and release of sucking disc of snatch controller control, improved the precision and stability of workpiece snatch, in the maintenance aspect, because the modular design of each component, makes it more convenient and fast to troubleshoot and repair, reduces maintenance cost and enterprise's use cost.

An integrated vessel with wave compensation capability for transportation of completed offshore wind turbines includes a wind turbine conveyor system, a dynamic positioning propeller system, and a six-degree-of-freedom parallel manipulator system, as well as a foundation monopile of a fixed wind turbine arranged in the hull; the completed offshore wind turbines are fixed on the wind turbine conveyor system by multiple wind turbine stabilizing blocks, and a clamping system is equipped in the six-degree-of-freedom parallel manipulator system. The invention uses the conveyor system to transfer and the clamping system to clamp the completed wind turbine, as well as the six-degree-of-freedom parallel manipulator system to transport, which reduces the difficulty of the operation, improves the automation of the installation process, and reduces the labor cost of the wind turbine installation; the invention reduces the difficulty of the installation process, and improves the efficiency of the wind turbine installation.