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A 4-DOF Parallel Mechanism with Three 3t1r Motion Modes

A degree of freedom and parallel technology, applied in the field of robotics, can solve the problem of no switching and achieve the effect of satisfying one machine with multiple functions

Active Publication Date: 2021-02-05
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

AI Technical Summary

Problems solved by technology

However, there is currently no 3T1R parallel mechanism that can switch between two fixed axes and has a rotational axis that changes continuously in space

Method used

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  • A 4-DOF Parallel Mechanism with Three 3t1r Motion Modes
  • A 4-DOF Parallel Mechanism with Three 3t1r Motion Modes
  • A 4-DOF Parallel Mechanism with Three 3t1r Motion Modes

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Experimental program
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Embodiment Construction

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] A four-degree-of-freedom parallel mechanism with three 3T1R motion modes, such as figure 1 As mentioned above, it includes a rod-shaped moving platform 2, and the moving platform 2 passes through the first rotating pair R 1 3 are connected in parallel with a first connecting rod 4,

[0030] It also includes a fixed platform 1, the fixed platform 1 is connected with the first connecting rod 4 through the first branch chain and the third branch chain; Rod 5, each first sliding rod 5 is connected with a T-shaped second connecting rod 6, each second connecting rod 6 includes a connecting rod and a hollow sleeve rod, and the sleeve rod of each second connecting rod 6 Socketed with the corresponding first sliding rod 5, so that each second connecting rod 6 can slide along the corresponding first sliding rod 5 to form the first moving pair ...

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Abstract

The invention discloses a four-degree-of-freedom parallel mechanism with three 3T1R dynamic modes, including a fixed platform and a moving platform, and the moving platform passes through the first rotating pair R 1 The first connecting rod is connected; the fixed platform is connected with the first connecting rod through the first branch chain and the third branch chain; the fixed platform is connected with the moving platform through the second branch chain and the fourth branch chain. The present invention has three kinds of four-degree-of-freedom parallel mechanisms with three movement and one rotation motion modes. The movable platform and the fixed platform are connected by setting four branch chains. The whole parallel mechanism of the present invention is easy to manufacture, simple to control, and good in flexibility. It can be applied to spray paint of automobile bumpers. During spraying, the mechanism can adapt to bumpers of different shapes, thereby improving production efficiency. The parallel mechanism of the invention can also be applied to motion simulators and coordinate measuring machines.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a four-degree-of-freedom parallel mechanism with three 3T1R motion modes. 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 ...

Claims

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Application Information

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