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Parallel mechanism with three degrees of freedom

A degree of freedom and space technology, applied in the field of robotics, can solve problems such as high manufacturing and control costs, complicated manufacturing and installation processes, and difficult control

Active Publication Date: 2020-10-27
西安德普赛科计量设备有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the more degrees of freedom, the higher the cost of manufacturing and control, and Difficult to control, complex manufacturing and installation process

Method used

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Embodiment Construction

[0015] The specific implementation method of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] The present invention has a three-degree-of-freedom space parallel mechanism, such as figure 1 As shown, the moving platform 7 and the fixed platform 6 of the equilateral triangle are included, and the moving platform 7 is connected with the fixed platform 6 through three branch chains to form an equilateral triangular prism. The three branch chains are symmetrically distributed in an equilateral triangle. 7's connections are denoted as B 1 , B 2 , B 3 .

[0017] Each branch chain includes a revolving pair Rs connected to the fixed platform 6, and the revolving pair Rs is sequentially connected with the fourth connecting rod 4, the moving pair P, the fifth connecting rod 5 and the ball pair S, and the ball pair S is connected with the moving platform 7, The axis of the moving pair P passes through the ball pair S.

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Abstract

The invention discloses a three-degree-of-freedom spatial parallel mechanism which comprises a regular triangular moving platform and a regular triangular fixed platform, wherein the moving platform and the fixed platform are connected through three branch chains, so as to form the shape of a triangular pyramid frustum; and the three branch chains are symmetrically distributed in a triangular manner. The three-degree-of-freedom spatial parallel mechanism disclosed by the invention is equipped with the three branch chains and has the characteristics of being high in bearing stiffness, high in accuracy and high in flexibility; and equipment related to motion simulation, exercise rehabilitation and the like can be designed based on the three-degree-of-freedom spatial parallel mechanism.

Description

technical field [0001] The invention belongs to the field of robots and relates to a space parallel mechanism with three degrees of freedom. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, but the more degrees of freedom, the higher the cost of manufacturing and control, and It is not easy to control, and the manufacturing and installation process is complicated. Therefore, the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 曹亚斌刘伟刘宏昭
Owner 西安德普赛科计量设备有限责任公司
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