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A three-degree-of-freedom parallel mechanism with rotatable axes

A technology of rotating pairs and rotating axes, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools. It can solve the problems of difficult mechanism integration, limited application range, and poor adaptability, and achieve simple structure, reduced motion inertia, and good adaptability. effect of ability

Active Publication Date: 2019-09-13
XIAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the limitation of institutional constraints, this type of institution has the problems of small working space, poor adaptability, and difficulty in institutional integration, which limits its application scope.

Method used

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  • A three-degree-of-freedom parallel mechanism with rotatable axes
  • A three-degree-of-freedom parallel mechanism with rotatable axes
  • A three-degree-of-freedom parallel mechanism with rotatable axes

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Embodiment Construction

[0031] The invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it is not used as a basis for any limitation on the invention.

[0032] Such as figure 1 As shown, a three-degree-of-freedom parallel mechanism with a rotatable axis rotating pair of the present invention includes a fixed platform 1, a moving platform 2, and three branch chains connecting the two platforms. The fixed platform and the moving platform are in an isosceles triangle structure , the first branch chain and the second branch chain of the three branch chains have the same structure, they are set on one side of the isosceles triangle of the fixed platform 1 and are connected to each other, and the third branch chain 5 of the three branch chains is set at the bottom of the fixed platform 1 The vertex of the isosceles triangle is perpendicular to the first branch chain 3 and the second branch chain 4 .

[0033] Among them, one end of the upper...

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Abstract

The invention relates to a three-freedom-degree parallel mechanism with rotatable axial rotation pairs. The three-freedom-degree parallel mechanism comprises a fixed platform, a movable platform and three branch chains for connecting two platforms, wherein the first branch chain and the second branch chain are identical in structure, one end of each of upper connecting rods in the two branch chains is connected with the movable platform through a spherical pair, the other end of each upper connecting rod is connected with one end of a corresponding lower connecting rod through the corresponding rotatable axial rotation pair, and the other end of each lower connecting rod is connected with the fixed platform through a moving pair. One end of the upper connecting rod of the third branch chain is connected with the movable platform through a spherical pair, the other end of the upper connecting rod is connected with one end of a middle connecting rod through a moving pair, the other end of the middle connecting rod is connected with one end of the corresponding lower connecting rod through a rotating pair, and the other end of the lower connecting rod is connected with the fixed platform through a moving pair. The rotatable axial rotation pairs of the first branch chain and the second branch chain are kept parallel in axis during change. The upper connecting rod of the third branch chain and the moving pair connected with the middle connecting rod can be locked through locking devices as required. The three-freedom-degree parallel mechanism is larger in working space comparedwith like mechanisms and has a wide application prospect.

Description

technical field [0001] The invention belongs to the technical field of mechanical mechanisms, and in particular relates to a three-degree-of-freedom parallel mechanism with a rotatable axis rotating pair capable of realizing two rotations and one displacement. Background technique [0002] Since the successful application of the Steward mechanism in tire testing and flight simulators, the parallel mechanism has been used in robots, CNC machine tools, industrial vibrating screens, spraying robots and satellite antennas due to its advantages of high motion precision, fast response speed and large carrying capacity. field has been widely used. In practical applications, there are a considerable number of operating tasks that require less than 6 degrees of freedom. At this time, using a suitable parallel robot with fewer degrees of freedom can effectively save the cost of system design, manufacturing, control and maintenance. The three-degree-of-freedom parallel mechanism has t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 田海波马琨马宏伟魏娟
Owner XIAN UNIV OF SCI & TECH
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