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A five-degree-of-freedom parallel mechanism with double-actuated composite branches

A dual-drive, degree-of-freedom technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of reducing the working space of motion and achieve the effect of large working space

Active Publication Date: 2021-09-03
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the three-dimensional translational motion workspace of the parallel mechanism is actually the intersection of the movement spaces of each branch chain, the branch chain controlling the swing of the rocker in this mechanism is directly driven by the branch chain independently arranged between the moving platform and the fixed platform. Therefore its working space is constrained by 5 kinematic branch chains, which will reduce its kinematic working space

Method used

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  • A five-degree-of-freedom parallel mechanism with double-actuated composite branches
  • A five-degree-of-freedom parallel mechanism with double-actuated composite branches
  • A five-degree-of-freedom parallel mechanism with double-actuated composite branches

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Effect test

Embodiment 1

[0027] to combine figure 1 , figure 2 , a five-degree-of-freedom parallel mechanism containing a double-drive composite branch chain in this embodiment, including a static platform 1, a moving platform 18, an end effector 23, and three branch chains connected in parallel between the static platform 1 and the moving platform 18 In the three branch chains connected in parallel between the static platform 1 and the dynamic platform 18, two branch chains are double-drive branch chains, and one is a single-drive branch chain; the double-drive branch chains include the main drive branch chain and the main drive branch chain The secondary drive branch on the drive branch; the end effector 23 is connected to the moving platform 18 through a Hooke hinge 22 .

[0028] Among the three branch chains connected in parallel between the static platform 1 and the moving platform 18, the first branch chain is a single drive branch chain 1, including the first drive motor 31, the first speed r...

Embodiment 2

[0033] The structure of this embodiment is as Figure 3(a) , 3(b) As shown, different from Embodiment 1, the driven link 14 in the double drive branch chain II and III of this embodiment is arranged crosswise with the two connecting rods 7a and 7b in the space quadrilateral mechanism, that is, the two connecting rods 7a and 7b in the space quadrilateral mechanism The projection lines of the connecting rods 7a and 7b on the plane perpendicular to the secondary axis of rotation of the first active arm 4 coincide with each other, and the projection line is the same as that of the driven connecting rod 14 on the plane perpendicular to the secondary axis of rotation of the first active arm 4. Projection lines cross each other.

Embodiment 3

[0035] The structure of this embodiment is shown in FIG. 4( a ). The difference between this embodiment and Embodiment 1 is that the arrangement of the moving platform 18 is different.

[0036]As shown in Figure 4(b), there is an opening at the center of the moving platform 18, the active end of the Hooke hinge 22 is fixedly connected to the center of the moving platform 18, and the axis of the active end coincides with the center plane of the moving platform 18, and the end effector 23 passes through the center of the moving platform 18 and is fixedly connected with the passive end of the Hooke hinge 22. The connecting rod 20 is arranged above the moving platform 18 and its two ends are respectively connected to the second connecting member 16 and the end effector 23 through a spherical joint.

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Abstract

A five-degree-of-freedom parallel mechanism with a double-drive compound branch chain, including a static platform, a moving platform, an end effector, three branch chains connected in parallel between the static platform and the moving platform, and a parallel connection between the moving platform and the end effector Three branch chains between; two of the three branch chains connected in parallel between the static platform and the dynamic platform are double-drive branch chains, and one is a single-drive branch chain; the double-drive branch chain includes the main drive The branch chain and the auxiliary drive branch chain arranged on the main drive branch chain; one of the three branch chains connected in parallel between the moving platform and the end effector is a passive branch chain, and the branch chain moves the moving platform through the Hooke hinge. The platform and end effector are directly connected together. The invention realizes the five-degree-of-freedom movement of three translations and two rotations of the parallel mechanism.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to a five-degree-of-freedom parallel mechanism with double-drive compound branch chains. Background technique [0002] High-speed parallel robots have been widely used in automatic production line handling, sorting and assembly in the fields of food and medicine, modern logistics, electronic information and other fields because of their advantages that serial robot mechanisms do not have. The traditional Delta mechanism has only three or four degrees of freedom, which limits its application field and cannot meet the needs of modern flexible automated production lines. [0003] Patent CN108326832A divides four branch chains evenly distributed around the fixed platform into two groups and connects them to the upper and lower movable platforms respectively, and uses the displacement change of the upper and lower movable platforms to drive the end effector to swing through t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 彭斌彬王一童管超超
Owner NANJING UNIV OF SCI & TECH
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