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Parallel connection mechanism with five freedom degrees of two movement and three rotation

A technology with three degrees of freedom and three rotations, which is applied to manipulators, manufacturing tools, program-controlled manipulators, etc., can solve many problems and achieve the effects of easy production and processing, simple mechanism structure and novel structure

Inactive Publication Date: 2017-11-10
BEIJING JIAOTONG UNIV
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Problems solved by technology

[0002] Parallel mechanisms have the advantages of high stiffness, high precision and large load-carrying capacity. At present, there have been many studies on the configuration of parallel mechanisms. At present, most of the researches are on the terminal output of six degrees of freedom and three degrees of freedom, but for the five degrees of freedom parallel Mechanisms, especially some parallel mechanisms with novel structures and strong practicability are not many

Method used

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  • Parallel connection mechanism with five freedom degrees of two movement and three rotation
  • Parallel connection mechanism with five freedom degrees of two movement and three rotation
  • Parallel connection mechanism with five freedom degrees of two movement and three rotation

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Embodiment Construction

[0021] The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the solutions of the present invention will be further described.

[0022] Such as figure 1 Shown is a five-degree-of-freedom parallel robot mechanism, which includes: a fixed platform 1, four branch chains (4-1, 4-2, 5-1, 5-2), and a central symmetrical rotating rod 2 (already Included in branch chain 5-1 and 5-2), moving platform 3. Four branch chains are distributed between the moving platform and the fixed platform, among which branch chain 5-1 and branch chain 5-2 are symmetrically distributed at 180°, and their structures are completely consistent. The branch chain 4-1 and the branch chain 4-2 are all the same except for the sliding radius of their sliders, and the two branch chains do not interfere with each other in motion.

[0023] The first type of branch chain (branch chain 4-1, 4-2) includes: including: arc slider (6, 10), two ends of rotating...

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Abstract

The invention aims at overcoming the defects in the prior art and provides a new parallel connection robot structure. Position and pose conversion of two movement and three rotation of a workbench in a work space is achieved. The parallel connection mechanism should have the beneficial effects of overcoming the strange position and shape of the mechanism and improving the movement and force transmission performance of the mechanism. As shown by the abstract drawing, according to the overall structure of the mechanism, four branch chains are distributed between a fixed platform and a movable platform, two branch chains containing central symmetry rotating rods 2 are completely consistent in structure, two branch chains containing arc sliders are roughly the same, only the arc radiuses of the sliders is different, and when the two branch chains move on the fixed platform, the two arc sliders cannot generate interference. The parallel connection mechanism with the five freedom degrees of two movement and three rotation is simple in structure and easy to produce and machine, and can be applied to the fields of machining platforms of five axis linkage machine tools, position and pose adjustment of some important precise instruments, simulation platforms and the like.

Description

technical field [0001] The invention relates to the technical field of design robots, in particular to a parallel robot mechanism with two movements, three rotations and five degrees of freedom. Background technique [0002] Parallel mechanisms have the advantages of high stiffness, high precision and large load-carrying capacity. At present, there have been many studies on the configuration of parallel mechanisms. At present, most of the researches are on the terminal output of six degrees of freedom and three degrees of freedom, but for the five degrees of freedom parallel There are not many mechanisms, especially some parallel mechanisms with novel structures and strong practicability. This paper proposes a parallel mechanism with a novel structure of five drives and five degrees of freedom as the terminal output, which can be applied to the workbench of five-axis linkage machine tools, the pose adjustment of some important precision equipment, and the field of simulation...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/003B25J9/0045
Inventor 曲海波柯德正
Owner BEIJING JIAOTONG UNIV
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