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Decoupling three-rotation parallel mechanism for imaginary axis lathe and robot

A robot, three-rotation technology, applied in manipulators, program-controlled manipulators, metal processing mechanical parts, etc., can solve the problems of low motion accuracy, inconvenient control, complex structure, etc., and achieve a small moment of inertia, simple control, and motion decoupling. Effect

Inactive Publication Date: 2012-08-08
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a decoupling three-rotation parallel mechanism for virtual-axis machine tools and robots to overcome the defects of complex structure, inconvenient control and low motion accuracy in the prior art

Method used

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  • Decoupling three-rotation parallel mechanism for imaginary axis lathe and robot
  • Decoupling three-rotation parallel mechanism for imaginary axis lathe and robot

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Embodiment Construction

[0019] Below in conjunction with specific embodiment, further illustrate the present invention. The drawings show a preferred embodiment of the present invention, and the technical solution of the present invention is not limited to this embodiment.

[0020] see figure 1 , the present invention is a decoupling three-rotation parallel mechanism for imaginary-axis machine tools and robots, including a static platform 1, a dynamic platform 2, and a first kinematic branch chain 3 connected between the static platform 1 and the dynamic platform 2, a second Kinematic branch 4 and the third kinematic branch 5 .

[0021] The first motion branch chain 3 comprises universal hinge 31, moving pair 32, first rotating pair 33, first connecting rod 34 and second rotating pair 35 that are connected in sequence; Universal hinge 31 is also connected with static platform 1, and second The revolving pair 35 is also connected with the moving platform 2 .

[0022] The second motion branch chain ...

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Abstract

The invention provides a decoupling three-rotation parallel mechanism for an imaginary axis lathe and a robot, which comprises a static platform, a movable platform, a first movement branch chain, a second movement branch chain and a third movement branch chain, wherein the first movement branch chain, the second movement branch chain and the third movement branch chain are connected between the static platform and the movable platform; the first movement branch chain comprises a universal hinge, a movable pair, a first rotating pair, a first connecting rod and a second rotating pair which are sequentially connected; the second movement branch chain comprises a third rotating pair, a fourth rotating pair and a fifth rotating pair which are sequentially connected; and the third movement branch chain comprises a sixth rotating pair, a seventh rotating pair and a second connecting rod which are sequentially connected. The decoupling three-rotation parallel mechanism has three rotational freedom degrees of decoupling, which are linearly controlled by depending on the movable pairs of the branch chains only, and the decoupling three-rotation parallel mechanism is very simple in a realizing principle, and has a good linear relation.

Description

technical field [0001] The invention relates to a machine tool and an industrial robot, in particular to a decoupling three-rotation parallel mechanism for a virtual-axis machine tool and a robot for a virtual-axis numerical control machine tool and a parallel robot. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-operation fields. However, the driving units of the parallel mechanism are coupled, that is, the movement of the overall output platform (moving platform) of the parallel mechanism in any direction is the synthesis of the movements of all driving units, and the movement of each driving unit is combined with the overall movement of the parallel mechanism ( That is, the relationship between input and output) is nonlinear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of accuracy. Therefore, how...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/25B25J9/08
Inventor 张帆刘燕宋芳
Owner SHANGHAI UNIV OF ENG SCI
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