Spherical-motion flexible parallel mechanism

A spherical motion and flexible technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the complex structure of flexible parallel mechanisms, and achieve the effects of simple structure, avoiding interference, and low processing and assembly requirements

Active Publication Date: 2020-05-29
BEIJING SURGERII TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a flexible parallel mechanism with spherical motion, which is used to solve the problem of complex structure of the flexible parallel mechanism in the prior art

Method used

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  • Spherical-motion flexible parallel mechanism
  • Spherical-motion flexible parallel mechanism
  • Spherical-motion flexible parallel mechanism

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Embodiment Construction

[0037] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0038] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "upper"...

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Abstract

The invention provides a spherical-motion flexible parallel mechanism. The flexible parallel mechanism comprises a plurality of flexible motion branch chains, wherein each flexible motion branch chainis sequentially provided with a first continuous body structure section and a branch chain unit which are connected with a rack, a second continuous body structure section at the tail end in each branch chain unit is connected with a motion platform, during motion, the motion axes of the first continuous body structure sections and the motion axes of the second continuous body structure sectionsintersect at one point, and the motion platform driven by the flexible parallel mechanism conducts spherical motion with the point as the sphere center. According to the flexible parallel mechanism, in the bending process, a linear actuator drives the first continuous body structure sections, the first continuous body structure sections drive the second continuous body structure sections to be passively bent, it is guaranteed that the whole mechanism achieves spherical motion, the flexible motion branch chains are simple in structure, interference among the branch chains is avoided, and the machining and assembling requirements are low.

Description

technical field [0001] The invention belongs to the technical field of flexible parallel robots, and relates to a flexible parallel mechanism for spherical motion. Background technique [0002] The parallel mechanism has the advantages of high micro-motion precision, small motion inertia, and high rigidity, so parallel robots have been widely used in industrial occasions. In many applications, the parallel mechanism only needs some degrees of freedom to realize the function of use. For example, spherical mechanism is a typical parallel mechanism with few degrees of freedom. This mechanism can be used in industrial occasions such as electronic dexterous eyes, numerical control rotary tables and the like. [0003] In 1990, Professor C.M.Gosselin proposed a 3-RRR spherical parallel mechanism Agile Eye. The mechanism includes three branch chains, each branch chain is composed of three arc-shaped connecting rods, the connecting rods are hinged to each other, and the axes inter...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0054
Inventor 徐凯刘旭陈煜阳吴中昊吴百波王龙飞
Owner BEIJING SURGERII TECH CO LTD
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