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Three-RDOF (rotational degree of freedom) parallel mechanism

A technology with degrees of freedom and three rotations, applied in the mechanical field, can solve the problems of high manufacturing cost, large moving mass, and difficult installation, and achieve the effects of easy assembly, small moving mass, and simple structure.

Inactive Publication Date: 2015-04-01
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the robot joints are mostly realized by gear transmission and series structure, which is complicated in structure, difficult to install, and high in 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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  • Three-RDOF (rotational degree of freedom) parallel mechanism
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  • Three-RDOF (rotational degree of freedom) parallel mechanism

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Embodiment Construction

[0013] The present invention will be described in further detail below with reference to specific embodiments.

[0014] like figure 1 As shown in the figure, a parallel mechanism with three rotational degrees of freedom 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. .

[0015] like figure 2 As shown, the moving platform 2 includes an upper platform 2a, a middle platform 2b and a lower platform 2c, the upper platform 2a and the middle platform 2b are connected by a rotating pair, and the upper platform 2a and the lower platform 2c They are connected by a rotating pair, and the axes of rotation of the two rotating pairs are coincident and perpendicular to the plane where the upper platform 2a, the middle platform 2b and the lower platform 2c are located, and the upper platform 2a is provided with a plurality of T-shaped radials in...

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Abstract

The invention discloses a three-RDOF (rotational degree of freedom) parallel mechanism, which comprises a fixed platform, a movable platform, and a first branch, a second branch and a third branch which are connected between the fixed platform and the movable platform, wherein the movable platform comprises an upper platform, a middle platform and a lower platform; a group of planar parallelogram structures is respectively arranged in the first and second branches; the plane where the planar parallelogram structure in the first branch is located intersects with the plane where the planar parallelogram structure in the second branch is located; centers of four hinges on the middle platform and the lower platform are coplanar; an intersection point of a connection line of centers of two hinges on the lower platform and a connection line of centers of two hinges on the middle platform pass through a revolution axis of a rotation pair between the middle platform and the lower platform; and through the rotation of master arms in the three branches, the rotation of the upper platform, the middle platform and the lower platform can be realized, and then three-dimensional rotation of the movable platform is realized. The three-RDOF parallel mechanism has the advantages of simplicity in construction, compactness in structure, small movement mass, convenience in assembly and easiness in control, and can be used on robot joints or machine tool accessories.

Description

technical field [0001] The invention belongs to the field of machinery, and in particular relates to a parallel mechanism with three rotational degrees of freedom without accompanying motion, which can be applied to robot joints or machine tool accessories. Background technique [0002] At present, the robot joints are mostly realized by gear transmission and series structure, which are complicated in structure, difficult to install, and high in manufacturing cost. The three-degree-of-freedom rotors used as machine tool accessories are mostly in the form of series, which have large moving mass and poor rigidity. SUMMARY OF THE INVENTION [0003] In view of the above-mentioned prior art, the present invention provides a parallel mechanism with three rotational degrees of freedom with simple structure, compact structure, and no accompanying motion. [0004] In order to solve the above-mentioned technical problems, the technical solution for realizing a parallel mechanism wi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B23Q1/64
Inventor 赵学满孙涛宋轶民王攀峰董罡
Owner TIANJIN UNIV
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