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Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation

A technology of three-dimensional translation and degree of freedom, which is applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large mass of moving parts and structure duplication of mechanism-moving platforms, and achieve simple and compact structure, improved dynamic response characteristics, high The effect of acceleration

Active Publication Date: 2016-01-13
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The structure of the moving platform of the above mechanism is relatively duplicated, and the mass of the moving parts is relatively large

Method used

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  • Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation
  • Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation
  • Five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation

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Embodiment 1

[0059] A five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation, including a fixed frame 1, a large rotating shaft drive device fixedly connected to the fixed frame 1, a first bevel gear 3, a second bevel gear 4, and a large rotating shaft 5. Moving platform 6, the first branch I and the second branch II arranged between the large rotating shaft 5 and the moving platform 6, the third branch arranged between the fixed frame 1 and the moving platform 6 III and the fourth branch IV, the first bevel gear 3 is rotatably connected to the fixed frame 1, and is fixedly connected to the driving end of the large shaft driving device 2, the large shaft is rotatably connected to the fixed frame 1, the A second bevel gear 4 is also fixedly connected to the middle of the large rotating shaft 5, and the first bevel gear 3 and the second bevel gear 4 are meshed; a suction cup 7 is fixedly connected to the end of the movable plat...

Embodiment 2

[0081] A five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation, including a fixed frame 1, a large rotating shaft drive device fixedly connected to the fixed frame 1, a first bevel gear 3, a second bevel gear 4, and a large rotating shaft 5. Moving platform 6, the first branch I and the second branch II arranged between the large rotating shaft 5 and the moving platform 6, the third branch arranged between the fixed frame 1 and the moving platform 6 III and the fourth branch IV, the first bevel gear 3 is rotatably connected to the fixed frame 1, and is fixedly connected to the driving end of the large shaft driving device 2, the large shaft is rotatably connected to the fixed frame 1, the A second bevel gear 4 is also fixedly connected to the middle of the large rotating shaft 5, and the first bevel gear 3 and the second bevel gear 4 are meshed; a suction cup 7 is fixedly connected to the end of the movable plat...

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Abstract

The invention discloses a five-degree-of-freedom parallel mechanism capable of achieving three-dimensional translational motion and two-dimensional rotation. The mechanism comprises a fixed frame, a movable platform, a large rotating shaft, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the first branch chain and the second branch chain are arranged between the large rotating shaft and the movable platform, and the third branch chain and the fourth branch chain are arranged between the fixed frame and the movable platform; the large rotating shaft is rotatably connected with the fixed frame, and the first branch chain and the second branch chain each comprise a rotating fork, a driving arm and two parallel and isometric driven arms; and the first branch chain and the second branch chain are fixedly connected with the large rotating shaft through the rotating forks, and therefore the two branch chains are synchronously and rotatably connected around the fixed frame. The first branch chain and the fourth branch chain each comprise a connecting shaft and are coaxially and rotatably connected with the movable platform through the connecting shafts. A single-platform structure is adopted in the movable platform of the parallel mechanism, and the five-degree-of-freedom parallel mechanism has the beneficial effects that the structure is concise, and the movable platform is light; and the high-speed and high-acceleration dynamic response characteristics are facilitated.

Description

Technical field [0001] The invention relates to a parallel mechanism, in particular to a five-degree-of-freedom parallel mechanism with spatial three-dimensional translation and two-dimensional rotation. Background technique [0002] The five-degree-of-freedom parallel mechanism with three-dimensional translation and two-dimensional rotation can meet the requirements of measurement, spraying, handling, assembly and other operations. [0003] Patent document CN103350417A discloses a parallel mechanism that can realize three-dimensional translation and two-dimensional rotation. It includes a fixed frame and a movable platform. The fixed frame is fixed with five driving devices. The movable platform includes a center plate and vertically penetrates the center of the center plate. Position of the rocker, the center plate and the rocker are connected by a Hooke hinge, and the upper end of the rocker is fixed with two ball head rods; there are three first branches connected between the f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 汪满新冯虎田欧屹
Owner NANJING UNIV OF SCI & TECH
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