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Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts

A vertically staggered, degree-of-freedom technology, used in manufacturing tools, metal processing mechanical parts, large fixed members, etc., can solve the problems of high-precision ball pair manufacturing, calibration and control difficulties, and small working space, and achieve easy calibration control. , the effect of expanding the rotation range and reducing the manufacturing cost

Active Publication Date: 2012-03-07
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this type of mechanism has the following problems: (1) complex kinematics, strong coupling, which is not conducive to control; (2) complex mechanism, small working space; (3) difficult to manufacture high-precision ball pairs
However, the axis of the two rotational degrees of freedom of the 3-PRS parallel mechanism (referred to as the rotating shaft) changes with the pose of the moving platform, which makes calibration and control very difficult; while the 2-SPR / UPR parallel mechanism is equipped with a spherical joint, in There are big problems in manufacturing accuracy and rotation range

Method used

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  • Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts
  • Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts
  • Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts

Examples

Experimental program
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Effect test

Embodiment 1

[0032] figure 1 As shown, the moving platform 4 is connected in parallel with the frame 11, the frame 21 and the frame 31 through three branches; in the first branch 5.1, the frame 11 passes through the universal hinge 12 in turn (the universal hinge includes an external shaft 12.1 a The outer rotating element 12.1 rotatably installed on the frame and the inner rotating element 12.2 rotatably installed on the outer rotating element through the inner rotating shaft 12.2a), the moving pair 13, the connecting rod 14, the rotating pair 15 and the moving platform 4 connection; in the second branch 5.2, the frame 21 sequentially passes through the universal hinge 22 (the universal hinge includes an external rotating element 22.1 rotatably mounted on the frame through an external rotating shaft 22.1a and a rotatable rotating element through an internal rotating shaft 22.2a The internal rotating element 22.2 installed on the external rotating element), the moving pair 23, the connecti...

Embodiment 2

[0039]The moving platform 4 is connected with the frame 11, the frame 21, the frame 31 and the frame 41 through four branches; the frame 11 in the first branch 5.1 passes through the universal joint 12 successively (the universal joint includes an external rotating shaft 12.1 a The outer rotating element 12.1 rotatably installed on the frame and the inner rotating element 12.2 rotatably installed on the outer rotating element through the inner rotating shaft 12.2a), the moving pair 13, the connecting rod 14, the rotating pair 15 and the moving platform 4 connection; the frame 21 in the second branch 5.2 passes in turn through the universal hinge 22 (this universal hinge includes an external rotating element 22.1 rotatably mounted on the frame via an external shaft 22.1a and a rotatable via an internal shaft 22.2a The internal rotating element 22.2) installed on the external rotating element), the moving pair 23, the connecting rod 24 and the rotating pair 25 are connected with ...

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Abstract

The invention relates to a parallel kinematics machine which has the advantage of being easy to calibrate and control. According to he technical scheme, the three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts comprises a movable platform, a rack and three branches, the three-freedom-degree parallel mechanism is characterized in that a first branch and a second branch are connected with a universal hinge, a sliding pair, a connecting rod and a rotating pair in series; a third branch is connected with a rotating pair, a sliding pair, a connecting rod and a universal hinge; axes of outer rotating shafts of the universal hinges of the first hinge and the second hinge are collinear and parallel to the axis of the rotating pair of the third branch; the axis of the inner rotating shaft of the universal hinge of the first branch and the axis of the rotating pair of the first branch are parallel to the axis of the inner rotating shaft of the universal hinge of the second branch and the axis of the rotating pair of the second branch and vertical to the axes of the outer rotating shafts of the universal hinges of the first branch and the second branch; in the third branch, the axis of a first rotating shaft of the universal hinge is parallel to the axis of the rotating pair, and the axis of a second rotating shaft of the universal hinge is parallel to the axes of the rotating pairs of the first branch and the second branch.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel mechanism with two vertically staggered rotating shafts, especially a three-degree-of-freedom parallel kinematic machine tool. Background technique [0002] A parallel robot or a parallel machine tool is a device in which a parallel mechanism is used as an actuator. At present, most of the parallel robots or parallel machine tools developed in the world are based on the traditional 6-DOF Stewart mechanism (such as CN00102901.0, CN03113115.8, CN200410041753.3, CN200310106458.7); this mechanism consists of a fixed platform, a moving platform and It is composed of length-adjustable connecting rods connecting them. The two ends of the connecting rod are respectively ball joints and universal joints. The pose of the moving platform can be changed by controlling the length of the connecting rods. However, this type of mechanism has the following problems: (1) complex kinematics and strong coupling,...

Claims

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Application Information

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IPC IPC(8): B23Q1/54
Inventor 李秦川陈巧红余旭锋马吉刚武传宇
Owner ZHEJIANG SCI-TECH UNIV
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