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Three-degree-of-freedom parallel mechanism without accompanying movement

A technology with accompanying motion and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve high running accuracy, strong bearing capacity, and easy controller design.

Active Publication Date: 2020-02-21
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention mainly solves the technical problems existing in the prior art, thereby providing a three-degree-of-freedom parallel mechanism without accompanying motion that overcomes the defect of accompanying motion in the existing parallel mechanism

Method used

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  • Three-degree-of-freedom parallel mechanism without accompanying movement
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  • Three-degree-of-freedom parallel mechanism without accompanying movement

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Embodiment Construction

[0029] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

[0030] In the present invention, if figure 1 The three-coordinate system is set as shown, the Z-axis is the vertical direction, and the X-axis and Y-axis are two axes perpendicular to each other in the horizontal direction.

[0031] refer to Figure 1-2 As shown, the three-degree-of-freedom parallel mechanism without accompanying motion of the present invention includes:

[0032] The static platform 1 is fixedly arranged on the external device;

[0033] The moving platform 2 is connected with the static platform 1 through a flexible drive chain;

[0034] Among them, the flexible drive chain includes:

[0035] Two three-joint movable component...

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Abstract

The invention discloses a three-degree-of-freedom parallel mechanism without accompanying movement. The three-degree-of-freedom parallel mechanism without accompanying movement comprises a static platform and a movable platform, wherein the static platform is fixedly arranged on an external device, and the movable platform is connected with the static platform through a flexible driving chain. Theflexible driving chain comprises two arranged symmetrically three-joint movable assemblies, a four-joint movable assembly and a plurality of rotary driving assemblies, wherein the upper ends of the three joint movable assemblies are rotationally connected with the static platform, and the lower ends of the three joint movable assemblies are movably connected with the movable platform; and the upper end of the four-joint movable assembly is rotationally connected with the static platform, and the lower end of the four-joint movable assembly is movably connected with the movable platform; and the three-joint movable assemblies and the four-joint movable assembly are located on the same straight line with the movable connection of the movable platform. According to the three-degree-of-freedom parallel mechanism without accompanying movement, the movable platform has two rotational degrees of freedom and one translational degree of freedom in space, accompanying movement does not exist, good kinematic performance is achieved, motion decoupling of all degrees of freedom is achieved, and the design of a controller is convenient to achieve.

Description

technical field [0001] The invention relates to the technical field of special robots, in particular to a three-degree-of-freedom parallel mechanism without accompanying motion. Background technique [0002] As the skeleton of mechanical equipment, the parallel mechanism with two degrees of freedom of rotation and one degree of freedom of movement has broad application prospects in the field of manufacturing. However, the existing two-rotation-one-shift parallel mechanism generally has the problem of accompanying motion. In mechanism science, the accompanying motion of a mechanism is essentially a motion on a non-independent degree of freedom, that is to say, a motion on a certain degree of freedom may be It brings movement in other degrees of freedom, which brings great difficulties to the calibration and trajectory planning of the mechanism, and in order to overcome the influence of accompanying motion in the mechanism, it needs to be compensated in real time by means of c...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 张氢陈淼李帅杭孙远韬秦仙蓉葛韵斐张迎刚
Owner TONGJI UNIV
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