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2T1R three-degree-of-freedom spatial parallel mechanism

A degree of freedom and space technology, applied in the field of mechanics, can solve problems such as limited rotation angle and complex kinematics, and achieve the effect of high rotation ability

Inactive Publication Date: 2013-02-13
BEIJING CHUANGHANG TECH DEV
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Problems solved by technology

However, the above-mentioned rotational motions are coupled to each other, and this coupling characteristic makes their kinematics relatively complex and the rotational angle is limited to a certain extent.

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  • 2T1R three-degree-of-freedom spatial parallel mechanism

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Embodiment Construction

[0009] A 2T1R three-degree-of-freedom space parallel mechanism of the present invention is described in detail as follows in conjunction with the accompanying drawings and embodiments:

[0010] The structure of a 2T1R three-degree-of-freedom space parallel mechanism in this embodiment is as follows: figure 1 As shown, it includes a first fixed platform 112, a second fixed platform 11, a third fixed platform 110, a moving platform 114 for installing actuators, and first, second and third branch chains, and the three branch chains are respectively connected Between the first fixed platform 112, the second fixed platform 11, the third fixed platform 110 and the moving platform 114, and form a space with the first fixed platform 112, the second fixed platform 11, the third fixed platform 110 and the moving platform 114 closed-loop mechanism.

[0011] The first branch chain is a PRS type motion branch chain, including: a first slider 111 , a first connecting rod 113 and a motion p...

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Abstract

The invention relates to a 2T1R three-degree-of-freedom spatial parallel mechanism. The 2T1R three-degree-of-freedom spatial parallel mechanism comprises a movable platform, three fixed platforms, a first branching chain, a second branching chain and a third branching chain, wherein the movable platform is provided with an actuator; the first branching chain, the second branching chain and the third branching chain, which are different in structural forms, are used for connecting the movable platform with each fixed platform; the first branching chain, the second branching chain and the third branching chain respectively comprises a kinematic pair under an active driving mode; the first branching chain, the second branching chain and the third branching chain are respectively connected with each fixed platform and the movable platform to form the spatial parallel mechanism which drives the movable platform to move by three inputs, so as to achieve two motional degrees of freedom and one rotational degree of freedom. By adopting the 2T1R three-degree-of-freedom spatial parallel mechanism, high rotating capacity is easy to achieve.

Description

technical field [0001] The invention belongs to the field of mechanics, in particular to a novel 2T1R (two-translation-one-rotation) three-degree-of-freedom space parallel mechanism. Background technique [0002] In the field of mechanism science, traditional mechanisms mostly use a single open-chain structure to realize multiple degrees of freedom of the terminal, which is generally called a series mechanism, and the corresponding mechanism that uses multiple branch chains to form a closed loop to realize terminal movement is called a parallel mechanism. , the number of degrees of freedom for such mechanisms is at most six. The parallel mechanism with few degrees of freedom refers to the parallel mechanism with less than six degrees of freedom, and the three-degree-of-freedom parallel mechanism is the most important type. [0003] In recent years, the three-degree-of-freedom parallel mechanism among the few-degree-of-freedom parallel mechanisms has received more and more a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/64
Inventor 王恽楷刘辛军王立平
Owner BEIJING CHUANGHANG TECH DEV
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