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Four freedom degree parallel mechanism with series input branch chains

A technology with series input and degrees of freedom, applied in electrical program control, digital control and other directions, can solve the problems of difficult positive kinematic solution, small working space, unfavorable control, etc., and achieve the effect of easy positive kinematics solution, large working space and simple mechanism

Inactive Publication Date: 2014-10-15
TIANJIN POLYTECHNIC UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, many key technologies of this type of mechanism have not yet been fully resolved, such as: the movement is difficult to solve; the pose of the motion platform is strongly coupled to the input, which is not conducive to control; the mechanism is complex, making its work space smaller

Method used

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  • Four freedom degree parallel mechanism with series input branch chains

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Embodiment Construction

[0015] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0016] Such as figure 1 As shown, the present invention contains a four-degree-of-freedom parallel mechanism with series input branch chains, which consists of a dynamic platform 7, a static platform 8, and three branch chains I, II, and III with incomplete structures; the first branch chain I consists of a spherical Deputy S 1 , rod 1, moving pair P 1 , member 2 and Hooke hinge U 1 connected sequentially; the second branch chain II consists of spherical pair S 2 , rod 3, moving pair P 2 , rod 4 and rotating pair R 2 connected sequentially; the third branch III consists of spherical pair S 3 , rod 5, moving pair P 3 , rod 6 and rotating pair R 3 connected sequentially; the two ends of the branch chains are fixedly connected to the mov...

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Abstract

The invention provides a four freedom degree parallel mechanism with series input branch chains. The mechanism is composed of a dynamic platform, a static platform and three branch chains. The first branch chain is composed of a hooke hinge, a moving pair and a spherical pair, wherein the hooke hinge, the moving pair and the spherical pair are connected in series. The second branch chain is composed of a rotating pair, a moving pair and a spherical pair, wherein the rotating pair, the moving pair and the spherical pair are connected in series. The structure of the third branch chain and the structure of the second branch chain are completely same. According to the configuration mode of the three branch chains on two platforms, by driving the moving pairs in the three branch chains and the rotating pair in the second branch chain, two translation and two rotating output of the dynamic platform is controlled. According to the mechanism, undesired motion output is constant; partial control decoupling is realized between motion output and input; kinematics normal solution is easy; the mechanism has the advantages of simple structure, good rigidity and the like; and the mechanism can be used as a reconfigurable actuator of a virtual machine tool and a robot.

Description

technical field [0001] The invention relates to a reconfigurable executive mechanism of a class of machine tools and robots, in particular a four-degree-of-freedom parallel mechanism with series input branch chains. Background technique [0002] The parallel mechanism CNC machine tool refers to the machine tool with the parallel mechanism as the executive mechanism. This machine tool is considered to be a revolution in the structure of machine tools since the 20th century. At present, prototypes of this machine tool (such as the Variax parallel machine tool of Giddings and Lewis Company of the United States) have been developed in the United States, Japan and other countries, and the parallel mechanisms adopted are all traditional Stewart (Stewart) mechanisms. This mechanism for controlling the position and attitude of the tool in space is mainly composed of a base, a moving platform and a connecting rod. The base and the moving platform are connected by a connecting rod, an...

Claims

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Application Information

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IPC IPC(8): G05B19/18
Inventor 冯志友
Owner TIANJIN POLYTECHNIC UNIV
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