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Three-translation degree of freedom parallel mechanism having asymmetric branch chain

A three-translation, degree-of-freedom technology, used in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of a large number of motion pairs, complex mechanical structure, and large space occupation, and achieve a small number of motion pairs, compact structure, and occupation. small space effect

Inactive Publication Date: 2008-12-31
TIANJIN UNIV
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  • Abstract
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Problems solved by technology

[0004] Although the above-mentioned parallel mechanism with symmetrical driven branch chains has high rigidity, since the active branch chain and the driven branch chain are separated from each other, the mechanical structure is relatively complicated, the number of kinematic pairs is large, and the space occupied is relatively large.

Method used

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  • Three-translation degree of freedom parallel mechanism having asymmetric branch chain
  • Three-translation degree of freedom parallel mechanism having asymmetric branch chain

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Embodiment Construction

[0013] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0014] figure 1 and figure 2 It is a structural schematic diagram of the present invention at two different angles. As can be seen from the figure, the present invention consists of a frame 15, a moving platform 7, and three motion branch chains arranged between the frame 15 and the moving platform 7; chain and a parallel active branch chain, the two telescopic active branch chains are respectively arranged on both sides of the mechanism, and the one parallel active branch chain is arranged at the lower part of the mechanism; the two telescopic active branch chains have the same composition, both Yes: the upper end of the telescopic rod 5 is set on the side of the moving platform 7 through the upper Hooke hinge 8, and a rotating pair is formed between the upper Hooke hinge 8 and the telescopic rod 5, and the lower end of the telescopic rod ...

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Abstract

The invention discloses a three-translational freedom parallel mechanism with nonsymmetrical branched chain, composed of machine frame, moving platform with main shaft and three moving branched chains between the machine frame and the moving platform; the three moving branched chains include two extension driving ones set on two sides of the mechanism, respectively, and a horizontal driving one set at the bottom of the mechanism; the two extension driving ones are both composed of top Hookean hinge, extension rod linked with the top Hookean hinge, electric machine set at the bottom of the extension rod and bottom Hookean hinge set outside the electric machine; the horizontal driving one is a plane hinge mechanism composed of two parallelogram structures interlinked by the bracket; the joint of the three moving branched chains and the machine from is below the mechanism. It combines driving branches chain with driven branched chain into a branched chain, which has function of providing motion and restriction.

Description

technical field [0001] The present invention relates to an industrial robot, and more specifically, the present invention relates to a parallel machine tool mechanism with an asymmetric branch chain. Background technique [0002] The so-called parallel mechanism refers to a kinematic mechanism with a multi-loop closed kinematic chain with 2 to 6 degrees of freedom. Compared with the series mechanism, it has the characteristics of large stiffness / mass ratio and easy modular design, so it has been widely used in industrial robots, CNC machine tools, motion simulators, medical robots, and precision in microelectronics manufacturing. Positioning device and many other aspects. [0003] The existing space parallel mechanisms with few degrees of freedom are generally symmetrical, which usually require the active branch itself or a driven branch to provide certain constraints on the degrees of freedom of the moving platform. For example, the Delta mechanism in Switzerland belongs ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 黄田李占贤李曚张大卫
Owner TIANJIN UNIV
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