15 results about "Prismatic joint" patented technology

This invention provides a two-rotation-one-transfer constraint-free parallel mechanism and an end-effector attitude determination method, belonging to the field of robotics. It includes: a moving platform; a base comprising a first static platform and a second static platform, the second static platform being fixed relative to the first static platform and disposed between the moving platform and the first static platform; and three branches, each branch including a driving prismatic joint, a Hooke's joint, a first passive revolute joint, a second passive revolute joint, a first passive prismatic joint, a third passive revolute joint, and a second passive prismatic joint. The beneficial effects of this invention are: in a transverse state, the two-rotation-one-transfer constraint-free parallel mechanism, due to the branches bending towards the first static platform while changing the angle of the moving platform, reduces the distance between the moving platform and the first static platform, thus providing a certain degree of support for the branches and reducing the deformation of the moving platform relative to the first static platform under load, effectively increasing the longitudinal stiffness of the two-rotation-one-transfer constraint-free parallel mechanism.

A robot, comprising: a base (110) comprising a prismatic joint; and a plurality of arm members (10, 20, 30, 40, 50, 60, 70) connected to the base (110) and arranged in succession. Two adjacent arm parts (40, 50) each comprise an arm body (200) comprising a tubular body having a first opening (215) extending in a first direction parallel to the prismatic joint and a second opening (225) extending in a second direction perpendicular to the first direction, and a first actuator (120) for forming a first rotary joint of the SCARA robot is arranged in the first opening (215) and a second actuator (120) for forming a second rotary joint of the SCARA robot is arranged in the second opening (225). A fixed portion (320) of the first actuator (120) is fixed to one of two adjacent arm members, while a movable portion (310) of the first actuator is fixed to the other arm member.

Implementations of slip linkages are shown and described, including two-part and three-part implementations. Implementations of these linkages provide connections between elements with at least one translation degree of freedom, sometimes referred to as a prismatic joint or slider or telescopic joint. Such implementations may be utilized in connection with covers for roll-off containers or dumpsters, such as retractable container covers.

This invention discloses a method for determining the structural error during kinematic calibration simulation of a parallel mechanism, applicable to the calibration of industrial parallel robots. The method involves establishing structural constraint equations for the parallel mechanism to determine independent variables in the structural parameters; combining the structural constraint equations and independent variable values ​​to calculate the values ​​of non-independent variables in the structural parameters; calculating the motion of each prismatic joint under ideal structural parameter conditions with a given target pose, establishing the correlation between pose parameters and motion; given an initial structural error value, calculating the structural error value conforming to geometric constraints using constraint equations and nonlinear least squares method, and calculating the norm of the residuals. If the residuals meet the requirements, the structural error for kinematic calibration simulation of the parallel mechanism can be generated; if the residual value does not meet the requirements, the generated structural error is used as input, and a new structural error value is generated again using constraint equations and nonlinear least squares method, and the residual calculation is repeated until the residual value meets the requirements, thus generating a structural error that meets the requirements and accurately verifying the structural error identification accuracy of the error model.

An apparatus and method for bending or shaping orthodontic archwires of other medical devices into a complex, patient individual shape is described. The apparatus comprises of two moveable, compact, manipulators with, in total, at least one revolute joint defining at least one rotation axes and at least one prismatic joints defining at least one translation axes; Gripping tools are provided on the manipulators.

This invention relates to the field of mechanical manufacturing. The objective is to provide a parallel machining equipment with dual moving platforms capable of heavy-duty milling. This equipment features high rigidity, high load capacity, and high precision, addressing the problems of insufficient rigidity, load capacity, and precision in traditional machining environments. The technical solution is a parallel machining equipment with dual moving platforms capable of heavy-duty milling; characterized in that: the combined moving platform includes a first moving platform and a second moving platform connected by an adapter; the adapter is a rectangular cylinder with through slots on all four sides, one end of which is horizontally hinged to the first moving platform, and the other end is fixedly connected to the second moving platform; of the four branches: the first and third branches each include a third revolute joint, an RPR prismatic joint, and a first revolute joint sequentially connected between the fixed platform and the first moving platform; the second and fourth branches each include a Hooke's joint, a UPR prismatic joint, and a second revolute joint sequentially connected between the fixed platform and the second moving platform.

Implementations of slip linkages are shown and described, including two-part and three-part implementations. Implementations of these linkages provide connections between elements with at least one translation degree of freedom, sometimes referred to as a prismatic joint or slider or telescopic joint. Such implementations may be utilized in connection with covers for roll-off containers or dumpsters, such as retractable container covers.

This invention provides a wrist joint rehabilitation training robot based on a variable-cell parallel mechanism, including an arm support and fixation device, a palm fixation device, and a variable-cell parallel mechanism. The variable-cell parallel mechanism includes a static platform, a moving platform, and four branch kinematic chains between the two platforms. The first, second, and third branch kinematic chains have the same structure, each including a revolute joint, a linear prismatic joint, a universal joint, and a ring prismatic joint. One end of the linear prismatic joint is connected to the static platform via a revolute joint, and the other end is connected to one rotation axis of the universal joint. The other rotation axis of the universal joint is connected to the moving platform via a ring prismatic joint. The fourth branch kinematic chain includes a universal joint, a linear prismatic joint, and a ball joint. One end of the linear prismatic joint is connected to the static platform via a universal joint, and the other end is connected to the moving platform via a ball joint. The variable-cell parallel mechanism drives the moving platform through the four branch kinematic chains to realize the movements required for wrist joint rehabilitation training.

The present invention relates to an apparatus to improve the rigidity of robotic systems by disclosing the introduction of prismatic joints seen on larger scale machines to the kinematic chain of industrial robots, which allows for improved overall rigidity and thus positioning accuracy. The prismatic joints are introduced at the robot base, which have the greatest contribution to TCP error. The invention provides a means to improve positional accuracy passively, thus offering a potential cost reduction, in addition to being compatible with existing methods for a combined effect. Additionally, the invention relates to an apparatus to allow for more compact robotic end-effectors and part access. Specifically with regards to airframe drilling, which requires machine clamp-up and normalization on the part. It introduces a combination of non-contact sensors, rotary asymmetric nosepiece and thin-walled, 3D printed nosetip, which allows for clamp-up on the part, normalization and drilling much closer to vertical objects than the current art, thus enabling the use of automation in areas only currently assisted by traditional manual methods such as drill jigs.

The invention relates to an ankle joint parallel rehabilitation mechanism, which belongs to the technical field of medical rehabilitation instruments and comprises a static platform, a movable platform, a mechanism frame, three RPS branched chains, an SPS branched chain and an RPRR accompanying branched chain. The three RPS accompanying branch chains are distributed in a triangular shape around the center SPS branch chain and connected between the static platform and the movable platform. The RPRR branch chains are connected with the frame and the movable platform. And the movable platform is driven to realize multi-degree-of-freedom movement of three-rotation and one-movement through cooperative extension and retraction of the branched chains. The RPRR branch chains adjust the height of the rotating center through the moving pairs so that the rotating center can coincide with the physiological center of the ankle joint of the human body. The device is compact in structure, stable in movement and capable of meeting the ankle joint core rehabilitation requirement, effectively solves the problem that man-machine movement centers are not matched, and avoids secondary injury in training.

This invention relates to a type of symmetrical two-transfer-one-helical three-degree-of-freedom parallel mechanism, comprising a fixed platform, a moving platform, and a first branch, a second branch, and a third branch connecting the fixed platform and the moving platform. The two ends of the first branch, the second branch, and the third branch are respectively connected to the endpoints of the fixed platform and the moving platform. Each of the first branch, the second branch, and the third branch is a PRR series branch composed of a first prismatic joint, a first revolute joint, a second prismatic joint, a first connecting rod, a second revolute joint, a second connecting rod, and a third revolute joint. This parallel mechanism, without using helical joints, achieves spatially independent two-dimensional translation and one-dimensional independent helical degree of freedom using only prismatic and revolute joints. Furthermore, it can control the independent helical motion at the end via linear drive, which not only improves the dynamic performance and load-bearing capacity of the mechanism but also has advantages such as a large working space, symmetrical structure, wide application range, and strong adaptability.

This invention discloses a two-mode 2R1T multi-mode parallel mixing robot with motion redundancy, comprising a base and a moving platform. A first kinematic chain, a second kinematic chain, and a third kinematic chain are arranged between the base and the moving platform. The first kinematic chain includes a first branch chain, a fourth linkage assembly, an eighteenth prismatic joint P18, a seventh link, and a nineteenth ball joint S19 connected sequentially. The nineteenth ball joint S19 is also connected to the moving platform, and the first branch chain is also connected to the base. A second branch chain is connected to the fourth linkage assembly, which is connected to the base via the second branch chain. This mixing robot has two movement modes, allowing it to be used for material mixing operations in different scenarios by changing the movement mode. It also has high rigidity, making it suitable for mixing materials with high viscosity and high mixing resistance. A driving method for the two-mode 2R1T multi-mode parallel mixing robot with motion redundancy is also disclosed.

A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.

A pedal assembly for a vehicle that includes a foot pad, a pedal base, a flexible hinge that couples the foot pad to a first end of the pedal base, a sensor configured to sense a force exerted on the foot pad, and an electronic processor connected to the sensor. The electronic processor is configured to generate an output signal for controlling the vehicle based on a signal generated by the sensor and a model that defines a mechanical hysteresis effect. Another pedal assembly includes a prismatic joint that couples the foot pad to the pedal base. The prismatic joint enables linear displacement of the foot pad relative to the pedal base when a force is exerted on the foot pad.

Disclosed is a three-degree-of-freedom parallel mechanism, a parallel robot and a machine tool. The parallel mechanism includes a fixed frame and a moving platform, and the fixed frame includes a fixed seat and a cylindrical body fixedly connected to the fixed seat; three identical limbs are uniformly distributed in the cylindrical body in a circumferential direction, and each limb includes a prismatic joint A, a hinge A, a swing arm, a hinge B and a hinge C which are sequentially connected; an axis of the hinge A is perpendicular to an axis of movement of the prismatic joint A; an axis of the hinge B is perpendicular to, but does not intersect with the axis of the hinge A, which rotates around the axis of the hinge A; the hinge C has two rotational degrees of freedom.