Spatial three-dimensional rotation parallel mechanism

A three-rotation, space technology, applied in the field of machinery, can solve the problems of large motion mass, high manufacturing cost, complex structure, etc., and achieve the effect of small motion mass, easy assembly and compact structure

Active Publication Date: 2015-01-14
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, robot joints, especially wrist joints, are mostly realized by gear transmission and series structure, which has complex structure, difficult installation, and high manufacturing cost.
The three-degree-of-freedom rotors used as machine tool accessories are mostly in series, with large moving mass and poor rigidity

Method used

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  • Spatial three-dimensional rotation parallel mechanism
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  • Spatial three-dimensional rotation parallel mechanism

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Embodiment Construction

[0014] The present invention will be further described in detail below in combination with specific embodiments.

[0015] Such as figure 1 As shown, a space three-rotation parallel mechanism of the present invention includes a fixed platform 1 , a moving platform 2 and a first branch 3 , a second branch 4 and a third branch 5 connecting the fixed platform 1 and the moving platform 2 .

[0016] Such as figure 2 As shown, the moving platform 2 includes a main platform 2a, a secondary platform 2b and four connecting rods 2c-2f, and the four connecting rods 2c-2f are connected by rotating pairs to form a set of planar parallelogram structures, and the four rotating pairs The axis is perpendicular to the plane where the plane parallelogram is located; the secondary platform 2b is respectively connected to a set of opposite side connecting rods 2c, 2e of the plane parallelogram through a rotary pair whose axis is perpendicular to the plane where the plane parallelogram is located,...

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Abstract

The invention discloses a spatial three-dimensional rotation parallel mechanism which comprises a fixed platform, a movable platform, a first branch, a second branch and a third branch, wherein the first branch, the second branch and the third branch are used for connecting the fixed platform with the movable platform; the movable platform comprises a main platform, a secondary platform and four connecting rods, wherein the four connecting rods are connected through a rotation pair to form a group of plane parallelogram structures; the first branch and the second branch are formed into a pair of crossed plane parallelogram structures through a driving arm, two driven arms, two pairs of hook hinges and the movable platform; the third branch is formed by a third driving arm, a hook hinge and the main platform, wherein one end of the third driving arm is connected with the fixed platform through the rotation pair and used as an active pair to supply power to the mechanism; and three-dimensional rotation of the movable platform is realized by controlling the rotation of a first driving arm, a second driving arm and the third driving arm. The spatial three-dimensional rotation parallel mechanism has the advantages of simple structure, compact structure, less movement mass, convenience in assembly and easiness in control and can be used for robot joints or tool accessories.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to a three-rotation-degree-of-freedom parallel mechanism without accompanying motion that can be applied to robot joints or machine tool accessories. Background technique [0002] At present, robot joints, especially wrist joints, are mostly realized by gear transmission and series structure, which is complex in structure, difficult to install, and high in manufacturing cost. The three-degree-of-freedom rotors used as machine tool accessories are also mostly in series, with large moving mass and poor rigidity. Contents of the invention [0003] Aiming at the above prior art, the present invention provides a space three-rotation parallel mechanism with simple structure, compact structure and no accompanying motion. [0004] In order to solve the above-mentioned technical problems, the technical scheme realized by a space three-rotation parallel mechanism of the present inventi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B23Q1/64
Inventor 宋轶民董罡王攀峰孙涛赵学满
Owner TIANJIN UNIV
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