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Over-constraint parallel mechanism with three degrees of freedom

A parallel and free technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to realize clamping and rotating movements, limited application range, and single function, so as to improve motion accuracy and expand the practical application range , Improve the effect of lateral stiffness and

Inactive Publication Date: 2012-07-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The limitations of the above mechanisms are: both are two-degree-of-freedom translational mechanisms, which cannot realize local clamping and rotating movements, which makes their functions relatively single, and their application range in actual production is greatly limited.

Method used

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  • Over-constraint parallel mechanism with three degrees of freedom
  • Over-constraint parallel mechanism with three degrees of freedom
  • Over-constraint parallel mechanism with three degrees of freedom

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Embodiment Construction

[0022] 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:

[0023] see Figure 1 ~ Figure 2 , a three-degree-of-freedom constrained parallel mechanism, including a fixed frame 5 and a moving platform 11, and four symmetrically distributed branch chains connected between the fixed frame 5 and the moving platform 11, each branch chain includes a nearly The frame rod and two parallel and equal-length remote frame rods 9a, 9b connected thereto. The four branch chains are composed of a first active chain 1 , a second active chain 2 , a third active chain 3 and a passive chain 4 .

[0024] One end of the near frame bar 7a, 7b, 7c of the first active chain 1, the second active chain 2 and the third active chain 3 is connected with the drive unit A6a, the drive unit B6b and the drive unit C6c respectively, t...

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Abstract

The invention discloses an over-constraint parallel mechanism with three degrees of freedom, which comprises a fixed rack, a movable platform, three driving chains and a driven chain. The three driving chains and the driven chain are connected between the fixed rack and the movable platform, the third driving chain is connected with the driven chain by a reverse equal-ratio transmission which is connected between a near rack rod of the third driving chain and a near rack rod of the driven chain, the movable platform consists of four angle plates, four side rods and four parallel rods, effective lengths of the side rods are equal to those of the parallel rods, the four angle plates are symmetrically and uniformly distributed, each angle plate connected with two far rack rods of a corresponding one of four branch chains, the four side rods are sequentially connected by rotation pairs to form a rhombic structure, four vertexes of the rhombic structure are respectively connected with the four angle plates by rotation pairs, the center of the rhombic structure is coincident with a center formed by the four angle plates, each parallel rod is arranged between the corresponding two adjacent angle plates, lower connecting axes on each two opposite angle plates are parallel to each other, and lower connecting axes of each two adjacent angle plates are parallel to each other. The over-constraint parallel mechanism is novel and is fine in lateral rigidity.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a three-degree-of-freedom constraint parallel mechanism. Background technique [0002] Parallel robots with few degrees of freedom have the advantages of simple structure, low cost, and easy control. They are widely used in pick-and-place and box-packing operations in food, medicine, electronics, and other light industries, and have good application prospects. [0003] Patent document CN1355087A discloses a two-degree-of-freedom translational parallel robot mechanism that only includes a rotating pair, including a frame, a moving platform, and two pairs of branch chains each containing two parallelogram mechanisms. Patent document CN101642907A discloses a two-degree-of-freedom parallel robot mechanism, including a base, a moving platform, and two active branch chains and a passive branch chain respectively connecting the base and the moving platform. The limitations of the above-mentioned me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 黄田汪满新白普俊刘松涛倪雁冰赵学满梅江平
Owner TIANJIN UNIV
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