Parallel mechanism with three-dimensional translation and one-dimensional rotation

A three-dimensional translation and parallel technology, applied in the field of robots, can solve the problems of increasing the weight of the moving platform, which is not conducive to improving the efficiency of the mechanism, and achieves the effect of compact structure, improved rigidity, simplicity and compactness

Inactive Publication Date: 2011-05-25
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The limitation of the above mechanism is that it can only realize the rotation around the axis perpendicular to the moving platform and the amplification mechanism increases the weight of the moving platform, which is not conducive to improving the efficiency of the mechanism

Method used

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  • Parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Parallel mechanism with three-dimensional translation and one-dimensional rotation

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Embodiment Construction

[0009] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0010] see figure 1 , a parallel mechanism with three-dimensional translation and one-dimensional rotation, including a fixed frame 1, a servo motor 2, a reducer 3, a moving platform 7, and four identical structures arranged symmetrically between the fixed frame 1 and the moving platform 7 The branch chain is formed; each branch chain is composed of a near frame rod 4, an upper connecting shaft 5, two mutually parallel and equal-length far frame rods 6a and a far frame rod 6b. One end of the near frame rod 4 is affixed to the output end of the reducer 3 fixed on the fixed frame 1, the other end of the reducer is affixed to the servo motor 2, and the other end of the near frame rod 4 is connected to the upper connecting shaft 5 fixed connecti...

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Abstract

The invention discloses a parallel mechanism with three-dimensional translation and one-dimensional rotation, which comprises a fixed mount, a moving platform and four branched chains which are symmetrically arranged between the fixed mount and the moving platform and have same structures, wherein the moving platform comprises a main platform and a secondary platform which are horizontally arranged on the same centre line; the main platform is a closed structure; the secondary platform is embedded into the main platform; the main platform and the secondary platform are connected through a rotating mechanism; the rotating mechanism comprises a nut which is fixedly connected with the secondary platform and a screw which is rotatablely connected with the main platform through a bearing; the nut and the screw form a screw pair; the centre line of the screw is coincident with the vertical axis of the moving platform; the main platform is fixedly connected with a guide rod; and the secondary platform is glidingly connected with the guide rod. The parallel mechanism has a compact structure and high rigidity and stability; a guide mechanism and the rotating mechanism are designed light, thereby, the motion quality is reduced, high-speed capture is easy to realize and the requirements of the complicated capture and release operations are met.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] According to patents US20090019960A1 and EP1084802B1, it is known that the existing parallel mechanism capable of three-dimensional translation and one-dimensional rotation includes four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be paral...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 黄田汪满新刘松涛赵学满梅江平宋轶民王辉
Owner TIANJIN UNIV
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