A light three-degree-of-freedom translational motion parallel mechanism

A technology of translational motion and degree of freedom, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large footprint and unfavorable miniaturization of unmanned boats

Active Publication Date: 2020-11-24
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the volume of space occupied by such an arrangement is equivalent to the product of the range of movement in the three directions. Such an occupied volume is relatively large, which is not conducive to the miniaturization of unmanned boats.

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  • A light three-degree-of-freedom translational motion parallel mechanism

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Embodiment Construction

[0013] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0014] Such as figure 1 As shown, for the convenience of description, a coordinate system is established in the figure, the length direction of the connecting rod 301 is regarded as the x-axis direction, and the connecting line direction of the spherical joint 101 and the spherical joint 102 is regarded as the z-axis direction, and then according to the Cartesian coordinates The system determines the y-axis direction.

[0015] A light-duty three-degree-of-freedom translational movement parallel mechanism, including fixing parts 101-103 fixedly connected to the frame, driving parts 201-204, several connecting rods 301-304 and an end effector 4, the mechanism and driving mechanism composed of several connecting rods The joint control of the components eliminates the rotational motion of the end effector 4 around the x, y, and z axes, so that ...

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Abstract

The invention relates to a light three-degree-of-freedom translational movement parallel mechanism which comprises fixing pieces, driving pieces, a plurality of connecting rods and a tail end executorwhich are fixedly connected with a rack. Through combined action of a mechanism composed of the multiple connecting rods and control of the driving pieces, rotary movement, around the x, y and z axes, of the tail end executor is eliminated, so that the tail end executor can only conduct translational movement in the x, y and z directions. The mechanical mechanism is only provided with the three fixing pieces fixed to the rack, and the three fixing pieces are installed on the same horizontal plane; and the space volume occupied by the whole mechanism can be adjusted through extension and shortening of the driving pieces, and the light three-degree-of-freedom translational movement parallel mechanism has the light characteristic compared with a screw rod sliding block mechanism. The light three-degree-of-freedom translational movement parallel mechanism is applied to an environmental monitoring unmanned ship and can meet the sampling action which keeps horizontal all the time and is required by seawater sampling bottles.

Description

technical field [0001] The invention relates to a light three-degree-of-freedom translational motion parallel mechanism. Background technique [0002] In the water quality sampling application of unmanned boats, it is necessary to put the sampling bottle into the sea water, recover the sampling bottle after sampling and move the sampling bottle to the refrigerator where the water sample is stored. During the whole sampling process, the sampling bottle needs to be kept level, which requires A translational motion mechanism with three degrees of freedom is used. To complete the three-degree-of-freedom translational movement, a screw-screw slider mechanism arranged in three directions is generally used. However, the volume of space occupied by such an arrangement is equivalent to the product of the ranges of movement in three directions, and such an occupied volume is relatively large, which is not conducive to the miniaturization of the unmanned boat. Contents of the invent...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 杨毅孙健彭艳谢少荣罗均
Owner SHANGHAI UNIV
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