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Parallel Mechanism with Two Movement Modes of 3r1t and 2r2t

A motion mode, 2R2T technology, applied in the field of robotics, can solve problems such as low accuracy and weak dexterity, and achieve the effect of high accuracy, strong dexterity, and increased application range

Active Publication Date: 2020-11-17
西安德普赛科计量设备有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel mechanism with two motion modes of 3R1T and 2R2T, which solves the problems of relatively low accuracy and relatively weak dexterity of existing parallel mechanisms

Method used

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  • Parallel Mechanism with Two Movement Modes of 3r1t and 2r2t
  • Parallel Mechanism with Two Movement Modes of 3r1t and 2r2t

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Embodiment Construction

[0015] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] The parallel mechanism of the present invention with two motion modes of 3R1T and 2R2T, such as figure 1 As shown, it includes a rectangular moving platform B1B2B3B410 and a rectangular fixed platform A1A2A3A49. The fixed platform A1A2A3A49 is connected to the moving platform B1B2B3B410 through the first branch chain, the second branch chain, the third branch chain and the fourth branch chain respectively. The connections between the second branch chain, the third branch chain and the fourth branch chain and the moving platform B1B2B3B410 are respectively marked as B1, B2, B3 and B4.

[0017] The first branch chain includes a universal hinge installed at A1 of the fixed platform A1A2A3A4. The universal hinge connects the rotating pair R11 and the rotating pair R12. Parallel, the shaft axis of the rotating pair R12 and the axis of the...

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Abstract

The invention discloses a parallel mechanism with two movement modes including 3R1T and 2R2T. The parallel mechanism comprises a rectangular movable platform B1B2B3B4 and a rectangular fixed platformA1A2A3A4, wherein the fixed platform A1A2A3A4 is connected with the movable platform B1B2B3B4 through a first branch chain, a second branch chain, a third branch chain and a fourth branch chain; connection parts of the first branch chain, the second branch chain, the third branch chain and the fourth branch chain, and the movable platform B1B2B3B4 are marked as B1, B2, B3 and B4 respectively. Theparallel mechanism disclosed by the invention has two different four-degree-of-freedom movement patterns; in the movement mode 3R1T or 2R2T, the mechanism can be controlled only if four drives are arranged; two different types of movement patterns can be realized by a few of driving pairs, so that an application range of the mechanism is enlarged and the manufacturing cost of the mechanism is reduced.

Description

technical field [0001] The invention belongs to the field of robots and relates to a parallel mechanism with two motion modes of 3R1T and 2R2T. 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 reduction of degrees of freedom in parallel mechanisms will make the mechanism structure simpler, manufacturing and control The cost is relatively low, so in the case of meeting the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/0072B25J9/08
Inventor 刘伟
Owner 西安德普赛科计量设备有限责任公司
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