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Three-freedom-degree and four-freedom-degree parallel mechanism

A degree of freedom, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of equipment installation and debugging, complex control algorithms of parallel structures, and long time to complete actions, etc., to reduce the constraints of kinematic pairs. , Simple structure, simple debugging effect

Inactive Publication Date: 2013-08-07
林发明 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1. There are still many constraints on the kinematic pairs of the existing three / four-degree-of-freedom parallel mechanism, and the control algorithm of the parallel structure is very complicated, resulting in a slow response speed of the equipment and a long time to complete the action
[0005] 2. The existing three / four degrees of freedom parallel mechanism has a complex structure, high equipment cost, and heavy workload for equipment installation and debugging
[0006] 3. The working space of the existing three / four degrees of freedom parallel mechanism is small

Method used

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  • Three-freedom-degree and four-freedom-degree parallel mechanism

Examples

Experimental program
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Effect test

Embodiment 1

[0045] For the three-degree-of-freedom parallel mechanism according to an embodiment of the present invention, please refer to Figure 1 to Figure 3 . A three-degree-of-freedom parallel mechanism includes three support rods 10, three lifting blocks 11, three groups of parallelogram mechanisms, a moving platform 30, and a static platform 12 that can be used or not used according to the installation environment.

[0046] The three support rods 10 are parallel to each other and are respectively arranged on the three corners of the same equilateral triangle, and the three support rods 10 enclose an equilateral triangle cylindrical space. The drawing shows the situation where the static platform 12 is used, and the static platform 12 is an equilateral triangle, and each corner is provided with a support rod 10 , and the support rod 10 is perpendicular to the static platform 12 .

[0047] A lifting block 11 is installed on each support rod 10 , and each lifting block 11 is connecte...

Embodiment 2

[0051] see Figure 4 , the four-degree-of-freedom parallel mechanism in another embodiment of the present invention includes the three-degree-of-freedom parallel mechanism described in Embodiment 1. The difference is that a rotating mechanism is installed on the static platform 12, and the rotating mechanism is used to rotate the processed artifact. “On the static platform 12 ” refers to the connection relationship, not the positional relationship. The rotating mechanism can be located above the static platform 12 or below the static platform 12 . When the static platform 12 was arranged on the lower end of the support rod 10, the turning mechanism was installed above the static platform 12; The rotating mechanism described in this embodiment is a rotating shaft 40, which is connected to the static platform through a universal joint.

Embodiment 3

[0053] In another embodiment of the present invention, the four-degree-of-freedom parallel mechanism includes the three-degree-of-freedom parallel mechanism described in Embodiment 1, but the difference is that a rotating mechanism is installed on the moving platform 30 . “On the moving platform 30 ” refers to the connection relationship, not the positional relationship. The rotating mechanism can be located above the moving platform 30 or below the moving platform 30 . When the static platform 12 was arranged on the lower end of the support rod 10, the turning mechanism was installed below the moving platform 30; The rotating mechanism described in this embodiment is a rotating shaft, which is connected to the moving platform through a universal joint. Alternatively, the rotating mechanism is a motor, which is connected to the moving platform through a bearing.

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Abstract

The invention discloses a three-freedom-degree and four-freedom-degree parallel mechanism. The three-freedom-degree parallel mechanism comprises a movable platform and three parallel supporting rods, wherein the three supporting rods are respectively distributed on three corners of an equilateral triangle, a lifting block is installed on each supporting rod, and each lifting block is connected with the movable platform through a group of parallelogram mechanism. The four-freedom-degree parallel mechanism is further provided with a rotating freedom degree on the basis of the three-freedom-degree parallel mechanism. The three-freedom-degree and four-freedom-degree parallel mechanism has the advantages of simplifying positive solution and inverse solution calculation formulas, enables calculation to be fast and easy to control during actual application, improves corresponding speed of a device, improves working efficiency of the device, simultaneously enlarges the working space of the device and is wide in application range.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a three-degree-of-freedom parallel mechanism and a four-degree-of-freedom parallel mechanism. Background technique [0002] The parallel robot has: no cumulative error, high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed, and good in dynamic response; compact structure, high rigidity, and large bearing capacity; The completely symmetrical parallel mechanism has the characteristics of good isotropy and small working space. It has been widely used in fields that require high rigidity, high precision or large load without a large working space. It appears in industry, medicine, etc. , military and other fields. [0003] The parallel mechanism is affected by the constraints of kinematic pairs, branch chain interference, singular configuration, pose coupling and other factors. Delta pa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 林发明温亚莲
Owner 林发明
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