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Structure-adjustable three-freedom-degree parallel mechanism

A degree of freedom, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increasing the cost of experimental hardware and time costs, and achieve the effect of saving adjustment time, cost, and easy installation.

Active Publication Date: 2015-12-16
HENAN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when studying different types of 3-PRS parallel mechanisms, the new fixed platform, columns and other parts need to be rebuilt, which increases the cost of experimental hardware and time

Method used

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  • Structure-adjustable three-freedom-degree parallel mechanism
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Embodiment Construction

[0044] The specific implementation, structure, features and effects provided by the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0045] like Figure 1~5 As shown, the structure-adjustable three-degree-of-freedom parallel mechanism provided by the present invention includes a fixed platform 1, a moving platform 2, a first branch chain 3, a second branch chain 4 and a third branch chain 5, wherein:

[0046] 1) The first branch chain 3: including the first adjusting part 31, the first column 32, the first moving pair 33, the first rotating pair 34, the first connecting rod 35 and the first spherical pair 36; the first adjusting part 31 consists of The first sliding rail 311, the first sliding block 312, the first mounting bar 313 and the screw 314 are composed; the first sliding rail 311 and the first mounting bar 313 are installed in the chute at the bottom of the first sliding block 312, and the scr...

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Abstract

The invention discloses a structure-adjustable three-freedom-degree parallel mechanism which comprises a fixed platform, a movable platform and three branches. Each branch comprises an adjusting part, a column, a moving pair, a rotating pair, a connecting rod and a spherical pair, wherein the adjusting part consists of a sliding rail, a slide block, an inlaid strip and a screw. The sliding rail of the adjusting part is horizontally installed on the fixed platform and is matched with a sliding groove formed in the lower portion of the slide block, the column is vertically installed on the slide block, the moving pair is connected with the column, the axis of the moving pair is perpendicular to the sliding groove formed in the lower portion of the slide block and is connected with the rotating pair, the axis of the rotating pair is parallel to the upper plane of the fixed platform, one end of the connecting rod is connected with the rotating pair, the other end of the connecting rod is connected with the spherical pair, and the spherical pair is installed on the movable platform. The angles of the three columns are adjusted through the sliding rails and the sliding grooves, the arrangement form of the connecting rods can be conveniently and quickly adjusted, installation is facilitated through quick fixing of the inlaid strips and the screws, the adjusting time is saved, and the efficiency is improved.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel mechanism with adjustable structure, in particular a three-degree-of-freedom parallel mechanism composed of a moving pair, a revolving pair and a spherical pair, and belongs to the technical field of robot applications. Background technique [0002] Parallel mechanism is also called parallel robot, which is one of the two branches of robot. Compared with serial robots, parallel robots have the advantages of high rigidity, strong carrying capacity, and high precision. In many occasions, there is no need to have six degrees of freedom, and a simple mechanism with few degrees of freedom in the mechanical structure and control system can well meet the requirements. Among them, the 3-PRS parallel mechanism with three degrees of freedom (P is the moving joint, R is the revolving joint, and S is the spherical joint) is one of the most typical representatives, and has received extensive attention fro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 陈国强刘彦伟康件丽
Owner HENAN POLYTECHNIC UNIV
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