Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation

A technology of three-dimensional translation and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as small working space, and achieve simple control, easy calibration, and easy control

Inactive Publication Date: 2014-09-03
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is: aiming at the small problem of the working space caused by the symmetrical structure of the existing four-degree-of-freedom parallel mec...

Method used

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  • Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation
  • Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation

Examples

Experimental program
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Effect test

Embodiment 1

[0018] Such as figure 1 The shown four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation is composed of a two-dimensional translation and one-dimensional rotation parallel mechanism and a linear motion mechanism. The linear guide rail 17, the ball screw 18 and the drive motor 19 form a linear motion mechanism. The specific structural diagram of the two-dimensional translation and one-dimensional rotation parallel mechanism is as follows: Figure 5 shown. A moving platform 2 is arranged above the fixed platform 1, and the fixed platform is connected to the moving platform through three sets of motion branch chains. The first group of motion branch chains is provided with a moving pair 4, the moving pair 4 is connected to the connecting rod 6 and the connecting rod 7, the connecting rod 6 is directly connected to the fixed platform through the universal joint 3, and the connecting rod 7 is connected to the moving platform thro...

Embodiment 2

[0020] Such as figure 2 The four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation shown is composed of a two-dimensional translation and one-dimensional rotation parallel mechanism and a linear motion mechanism. The specific structural diagram of the two-dimensional translation and one-dimensional rotation parallel mechanism is as follows: Figure 6 shown. Among them, the third group of kinematic branch chains is connected with the moving platform through the rotating pair 16, the middle kinematic pair of the third group of kinematic branch chains is the rotating pair 15, and the kinematic pair connected with the fixed platform 1 in the third group of kinematic branch chains is the moving pair Deputy 13. Other structures are the same as those in Embodiment 1, and will not be repeated here.

Embodiment 3

[0022] Such as image 3 The four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation shown is composed of a two-dimensional translation and one-dimensional rotation parallel mechanism and a linear motion mechanism. The specific structural diagram of the two-dimensional translation and one-dimensional rotation parallel mechanism is as follows: Figure 7 shown. The fixed platform 1 is connected to the moving platform 2 through four sets of kinematic branch chains, the first group of kinematic branch chains is connected to the fixed platform 1 through the universal joint 3, and the kinematic pairs connected with the moving platform 2 in the first group of kinematic branch chains are The ball pair 5 is provided with an intermediate moving pair 4 in the first group of motion branch chains. The structure of the second and third groups of kinematic branch chains is the same as that of the first group of kinematic branch chains. The ...

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Abstract

The invention discloses a four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation. The mechanism consists of a straight-line motion mechanism realizing one-dimensional translation and a three-degree-of-freedom parallel mechanism realizing two-dimensional translation and one-dimensional rotation; three or four groups of motion branched chains are arranged between a movable platform and a fixed platform of the parallel mechanism with two-dimensional translation and one-dimensional rotation, one group of RRR or PRR branched chains are included in the branched chains, and the rest branched chains are all UPS branched chains with six degrees of freedom in space; connecting points of the movable platform and the fixed platform at the two ends of the UPS branched chains are respectively called as movable platform connecting points and fixed platform connecting points, and any two movable platform connecting points are connected to form a straight line L; connecting points of the RRR or PRR branched chains on the movable platform are any points on the mid-perpendicular line in the straight line L except for foot points; the connecting points of the branched chains on the fixed platform and the connecting points of the branched chains on the movable platform are correspondingly distributed. The parallel mechanism is suitable for machine tools, robots and the like.

Description

technical field [0001] The invention belongs to the field of industrial robot mechanisms, in particular to a four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation. Background technique [0002] The parallel mechanism refers to the mechanism that is connected by two or more branches between the moving platform and the fixed platform, the mechanism has two or more degrees of freedom, and is driven in parallel. Parallel mechanisms have been widely used in many technical fields in recent years because of their advantages such as high rigidity, strong bearing capacity, small error accumulation, good dynamic performance, and compact structure. The early parallel mechanism is usually a Stewart parallel mechanism with 6 degrees of freedom. The moving platform of this mechanism is connected with the fixed platform by six branches. There are two spherical joints at both ends of each branch, and a moving pair in the middle. The drivi...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 陈原张荣敏高军
Owner SHANDONG UNIV
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