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Two-degree-of-freedom decoupling parallel mechanism with mixed movement

A technology of mixed motion and degrees of freedom, applied in the field of robotics, can solve problems such as few researches, and achieve the effect of easy control, large working space, and good kinematic performance

Inactive Publication Date: 2013-05-01
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing two-degree-of-freedom parallel mechanism research mainly focuses on the two-degree-of-freedom mobile parallel mechanism for plane positioning and the two-degree-of-freedom rotational parallel mechanism for orientation. There are few studies on two-degree-of-freedom mixed-kinematic parallel mechanisms

Method used

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  • Two-degree-of-freedom decoupling parallel mechanism with mixed movement

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Embodiment 1

[0012] exist figure 1 In the shown schematic diagram of a two-degree-of-freedom decoupling parallel mechanism with mixed motion, one end of the first branch is connected to the fixed platform 1 through a moving pair 10, and the moving pair is connected to a rotating pair 8 through a connecting rod 9, and the rotating pair is connected through a connecting rod 9. The rod 7 is connected with another rotating pair 6, which is connected with the moving platform 5; one end of the second branch is connected with the fixed platform through the moving pair 2, and the moving pair is connected with the rotating pair 4 through the connecting rod 3. The other end is connected with the moving platform through the rotating pair 4.

[0013] The two rotary axes in the first branch are parallel to each other and perpendicular to the moving axis; the rotating axis in the second branch is parallel to the rotating axis in the first branch and is parallel to the moving axis in the branch. Also ve...

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Abstract

The invention discloses a two-degree-of-freedom decoupling parallel mechanism with mixed movement. The two-degree-of-freedom decoupling parallel mechanism mainly comprises a movable platform, a fixed platform and two branches, wherein the branches connect the platforms in such a manner that one end of a first branch is connected with the fixed platform through a movable pair; the movable pair is connected with a rotating pair through a connecting rod; the rotating pair is connected with another rotating pair through a connecting rod; the rotating pair is connected with the movable platform; one end of a second branch is connected with the fixed platform through the movable pair, and the other end of the second branch is connected with the movable platform through the rotating pair; the movable pair is connected with the rotating pair through a connecting rod; and the other end of the branch is connected with the movable platform through the rotating pair. The two-degree-of-freedom decoupling parallel mechanism has the advantages of large working space, simple structure, low cost, easiness in controlling, and the like.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel mechanism. Background technique [0002] Compared with the series mechanism, the parallel mechanism is widely used in technical fields such as robots, CNC machine tools, sensors, motion simulators, and micro-motion consoles because of its high strength, large load-carrying capacity, small cumulative error, and compact structure. . Compared with the traditional six-degree-of-freedom parallel mechanism, the less-freedom mechanism has the characteristics of simple structure, relatively simple design, manufacture, assembly and control, and low cost. Moreover, in many occasions, such as the end effector and platform positioning of an automated production line, only two or three degrees of freedom are required to meet the conditions. At this time, it is unnecessary to use a multi-degree-of-freedom mechanism. Therefore, the mechanism with few degrees of freedom has become the object o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/48
Inventor 张立杰卢文娟张一同
Owner YANSHAN UNIV
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