Symmetrical three-degree-of-freedom movement coupling mechanism

Abstract

Asymmetrical three-degree-of-freedom movement coupling mechanism is based on a symmetrical three-degree-of-freedom movement paralleling mechanism and adopts the technical scheme that the coupling mechanism is constructed in the mode that coupling rod groups are added among paralleling mechanismbranched chains. For facilitating adding of the coupling branched chains to connecting rods, a 3-RRUR paralleling mechanism containing more R pairs is used as a basis, appropriate coupling node positions are selected from the coupling branched chains under the situation that the degree of freedom of the mechanism is ensured, and the appropriate coupling rod groups are added to form the symmetrical three-degree-of-freedom movement coupling mechanism. The symmetrical three-degree-of-freedom movement coupling mechanism has the advantages of being large in rigidity, good in carrying capacity, stable in movement and convenient to assemble and maintain, and a new thought is provided for configuration integration of multiple loop coupling mechanisms.

Description

technical field [0001] The invention is a coupling mechanism obtained by adding a coupling rod group based on a symmetrical parallel mechanism, relates to the technical field of mechanism application, and in particular relates to a robot actuator with three-degree-of-freedom movement. Background technique [0002] The development of institutions has gone through a process from simple to complex, and the most effective way to innovate institutions is to systematically synthesize their configurations. In some high-strength and heavy-duty workplaces that require heavy machinery equipment, it is often required that the machine has a high mechanical strength, simple structure, low cost, and easy maintenance, and the end effector needs to meet the requirements of smooth movement and easy control. The existing parallel mechanism has the advantages of strong bearing capacity, high rigidity, and low inertia, but the working space is limited; the series mechanism has a large working s...

AI Technical Summary

Problems solved by technology

However, the current research on the configuration synthesis of coupling mechanisms is still in the basic stage

Although some individual mechanism design methods have been proposed one after another, they are far from forming a traditional and regular configuration synthesis method.

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