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Two-translation-one-rotation branch incomplete symmetrical parallel mechanism

A completely symmetrical and branched technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increasing the complexity of the control process, and achieve the effects of low cost, fewer joints, and large working space

Active Publication Date: 2019-01-25
YANSHAN UNIV
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Problems solved by technology

However, in general, as the number of degrees of freedom increases, the number of branches will increase accordingly, and the complexity of the control process will increase accordingly.

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  • Two-translation-one-rotation branch incomplete symmetrical parallel mechanism

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Embodiment Construction

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0020] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Please refer to figure 1 ,in figure 1 It is a structural schematic diagram of an incompletely symmetrical parallel mechanism with two translation-rotation branches in the present invention. The present in...

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Abstract

The invention relates to the technical field of parallel mechanisms, in particular to a two-translation-one-rotation branch incomplete symmetrical parallel mechanism, which comprises a movable platform and a fixed platform, wherein the fixed platform and the movable platform are in transmission connection through a first moving branch chain, a second moving branch chain and a third moving branch chain, the first moving branch chain and the third moving branch chain are in symmetrical arrangement. The two-translation-one-rotation branch incomplete symmetrical parallel mechanism has the advantages of simple branch structure, large working space, easy control, easy manufacture and assembly, high rigidity and strong bearing capacity. In addition, the mechanism has few joints and only 13 degrees of freedom of the motion pair, so that the problem that the parallel mechanism is easy to generate deflection and torsional deformation due to excessive degrees of freedom of the motion pair can beeffectively solved.

Description

technical field [0001] The invention relates to a parallel structure, in particular to an incompletely symmetrical parallel mechanism with two translation-rotation branches. Background technique [0002] Compared with the traditional serial mechanism, the parallel mechanism has the advantages of high rigidity, high bearing capacity, small cumulative error, and good dynamic performance. But in general, as the number of degrees of freedom increases, the number of branches will increase accordingly, and the complexity of the control process will increase accordingly. Therefore, in some occasions, the parallel mechanism with less degrees of freedom has a higher use value because of fewer driving elements, simple motion model and lower cost. Contents of the invention [0003] Aiming at the deficiencies in the prior art, the object of the present invention is to propose an incompletely symmetrical parallel mechanism with two translation-rotation branches, which has simple geome...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0063
Inventor 李艳文王森于龙龙梁文龙栾英宝仲崇迪李双李赫
Owner YANSHAN UNIV
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