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High-speed translational movement parallel mechanism with three degrees of freedom

A technology of translational motion and degree of freedom, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of weak attitude restraint ability and difficult attitude control, and achieve improved ability to resist lateral loads, strong restraint ability, high speed effect

Active Publication Date: 2013-08-28
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The COSCO poles of the motion branch chains connected in parallel between the fixed platform and the moving platform are single, double or triple (the three are in the same plane), so that the posture constraint ability of each branch chain on the moving platform is relatively weak, requiring three Only when the branch chains work together can the posture be constrained, making the posture difficult to control

Method used

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  • High-speed translational movement parallel mechanism with three degrees of freedom
  • High-speed translational movement parallel mechanism with three degrees of freedom
  • High-speed translational movement parallel mechanism with three degrees of freedom

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] The overall structure of the three-degree-of-freedom high-speed translational motion parallel mechanism of the present invention is as follows: figure 1 As shown, in addition to the above-mentioned structural features, the axes of the first rotating pair 2 connecting the driving arm 3 and the fixed platform 1 in the three motion branch chains are in a plane and intersect each other to form an equilateral triangle; the driving arm 3 It is connected with the upper connecting plate 5 of the composite sub-chain by the second rotating pair 4a, and the axis of the second rotating pair 4a is parallel to the axis of the first rotating pair 2; the lower connecting plates 9 of the three composite sub-chains are respectively connected with The inclined planes of the three space tetrahedrons evenly distributed in the circumferential direction of the motion platform 10 are directly fixedly connected. Compared with the motion platform 10, the fourth Hooke hinge 81a and the fifth Hooke...

Embodiment 2

[0020] The general structure of the three-degree-of-freedom high-speed translational motion parallel mechanism of the present invention is as follows: figure 2 As shown, its structure is basically the same as that of the mechanism in Example 1, the only difference is that the driving arm 3 is connected to the upper connecting plate 5 of the composite branch chain through the seventh Hooke hinge 4b, and the seventh tiger connecting the driving arm 3 The axis of the gram hinge 4b ​​is parallel to the axis of the first rotating pair 2 .

Embodiment 3

[0022] The general structure of the three-degree-of-freedom high-speed translational motion parallel mechanism of the present invention is as follows: image 3 As shown, the difference between this mechanism and the mechanism of Embodiment 1 is that the axes of the first rotating pair 2 connecting the driving arm 3 and the fixed platform 1 in the three motion branch chains intersect at one point and are arranged orthogonally to each other; the three compound The lower connection plates 9 of the sub-branches are respectively connected on three mutually orthogonal planes of the motion platform 10. With respect to the motion platform 10, the fourth Hooke hinge 81a and the second connection plate 9 of the three motion branches are connected to the lower connection plate 9. The centers of the five Hooke hinges 82a and the sixth Hooke hinges 83a form a spatial distribution.

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Abstract

The invention discloses a high-speed translational movement parallel mechanism with three degrees of freedom. The high-speed translational movement parallel mechanism comprises a fixed platform, a moving platform and three moving branched chains with identical structures; the three moving branched chains are connected between the fixed platform and the moving platform in parallel, each moving branched chain comprises a driving arm and a composite secondary branched chain with two degrees of freedom, and each composite secondary branched chain with the two degrees of freedom can translate in three-dimensional space; and the fixed platform is connected with the driving arms by rotation pairs, lower ends of the composite secondary branched chains are directly fixed to the moving platform, and the driving arms are connected with the composite secondary branched chains by rotation pairs or hooke joints. The high-speed translational movement parallel mechanism with the three degrees of freedom has the advantages that the moving branched chains comprise the composite secondary branched chains, so that independent secondary assemblies can be formed, and the high-speed transitional movement parallel mechanism is high in moving platform gesture restraining capacity and is favorable for high-speed movement; and a spatial polyhedron can be formed on the moving platform by centers of tail-end hinges of the moving branched chains of the mechanism, so that the mechanism is high in lateral load resistance.

Description

technical field [0001] The invention belongs to the technology of parallel robots, in particular to a parallel mechanism of high-speed translational motion with three degrees of freedom in space. Background technique [0002] The three-degree-of-freedom high-speed translational parallel mechanism is an important part of the few-degree-of-freedom parallel mechanism, and its motion platform can realize three-dimensional rapid translational motion in space. Because of its simple structure, large working space, easy control and low cost, this type of robot is widely used in high-speed pick-and-place operations of scattered materials in electronics, light industry, food, medicine and other industries. [0003] At present, the most widely used and most mature three-degree-of-freedom high-speed translational motion parallel mechanism is the Delta mechanism (application number: US4976572). The moving platform is composed of branch chains that perform 3-axis translational motion rel...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 彭斌彬盛成封金徽武凯孙宇
Owner NANJING UNIV OF SCI & TECH
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