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Space decoupling three-dimensional motion parallel micro-motion mechanism

A three-dimensional moving and moving mechanism technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of small operation space and poor motion decoupling, so as to expand the working space, overcome the problem of motion coupling, and solve the problem of working space. The effect of restriction

Inactive Publication Date: 2012-10-31
YANSHAN UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a space-decoupled three-dimensional mobile parallel micro-motion mechanism to overcome the defects of poor motion decoupling and small operating space of the three-branch space three-dimensional mobile parallel micro-motion mechanism in the prior art

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  • Space decoupling three-dimensional motion parallel micro-motion mechanism
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  • Space decoupling three-dimensional motion parallel micro-motion mechanism

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Embodiment Construction

[0017] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0018] The structure of a space-decoupled three-dimensional mobile parallel micro-motion mechanism in an embodiment of the present invention is as follows: figure 1 As shown, it includes a base platform 1, a moving platform 2, three branches 3 and three piezoelectric ceramic drivers 4 respectively installed on the three branches 3; the three branches 3 are mutually orthogonal and installed on the On the base platform 1 and connected with the moving platform 2. The branch structure of the embodiment of the present invention is as follows figure 2 As shown, it includes a flexible rotating pair 5, a flexible moving pair 7 and a flexible cylindrical pair 9, and the flexible...

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Abstract

The invention discloses a space decoupling three-dimensional motion parallel micro-motion mechanism which comprises a basic platform, a movable platform, three branches and three piezoelectric ceramic drivers respectively mounted on the three branches, wherein the three branches are mutually orthogonal, are mounted on the basic platform and are connected with the movable platform; each branch comprises a flexible rotary pair, a flexible movable pair and a flexible cylindrical pair, and the flexible movable pair is connected with the flexible rotary pair and the flexible cylindrical pair respectively through connecting rods; and the piezoelectric ceramic drivers are used for driving piezoelectric ceramics to move. According to the invention, the input of the three branches and the output of the movable platform realize motion decoupling, displacement is loaded on one branch to control the motion output of the movable platform in the corresponding direction, and the motion coupling problem of a conventional three-branch three-dimensional motion parallel micro-motion mechanism is overcome. Besides, in the process of driving the piezoelectric ceramics, a bridge-type displacement amplifier is adopted to amplify the output displacement of the piezoelectric ceramics, and the working space of the parallel micro-motion mechanism is expanded.

Description

technical field [0001] The invention belongs to the technical field of micro-motion robots, and in particular relates to a three-branch space-decoupled three-dimensional mobile parallel micro-motion mechanism with flexible hinges driven by piezoelectric ceramics. Background technique [0002] As an important part of the micro-operating system, the micro-robot has broad application prospects in the fields of precision mechanical engineering, minimally invasive surgery, optical fiber welding, optical adjustment, ultra-precision machining, and bioengineering. With the development of micro-nano technology, higher requirements are put forward for multi-degree-of-freedom micro-robots with micro-nano-level positioning accuracy. Compared with the serial mechanism, the parallel micro-robot has the advantages of compact structure, high rigidity, and no accumulation of errors, so it has been widely used. At present, the six-degree-of-freedom parallel micro-robots mostly use Stewart or...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 李仕华龚文姜珊
Owner YANSHAN UNIV
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