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Three freedom degrees decoupling sphere parallel mechanism

A degree of freedom and parallel technology, applied in the field of mechanics, to achieve the effect of increasing the rotary working space, precise control and calibration, and facilitating industrial implementation and application

Inactive Publication Date: 2006-07-19
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The three-degree-of-freedom decoupling parallel mechanism proposed by the present invention has the remarkable feature of a continuously rotating platform, but no literature with this feature has been reported yet

Method used

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  • Three freedom degrees decoupling sphere parallel mechanism
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  • Three freedom degrees decoupling sphere parallel mechanism

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Embodiment Construction

[0016] The three-degree-of-freedom decoupling parallel mechanism (hereinafter referred to as the parallel mechanism with a continuously rotating platform described in the present invention, see figure 1 ), including a base 1 and a moving platform 4, and a rotary motion branch chain 2 and two moving motion branch chains 3 and 3' with the same structure that are respectively fixed between the base 1 and the moving platform 4 and are perpendicular to each other; The rotary kinematic branch chain 2 described (see figure 2 ) includes the machine base rotary pair 21 mechanically connected in turn, the machine base Hooke hinge 23, the moving pair 25 and the platform Hooke hinge 27; The center of the hinge 23 intersects and is always perpendicular to a rotation axis of the Hooke hinge 23 of the base; Fixedly connected, its centerline passes through the center of the base Hooke hinge 23 and the platform Hooke hinge 27 respectively; The axis is parallel to the axis of the base rotary...

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Abstract

The invention discloses a three-freedom degree decoupling paralleling device, which comprises the following parts: frame, mobile platform, mutually vertical rotary moving branched chain and two same structure mobile moving branched chains fixed between frame and mobile platform, wherein the rotary moving branched chain contains the following mechanic connection parts: frame rotary pair, frame Hooke's hinge, moving pair and platform Hooke's hinge; the mobile moving branched chain concludes frame moving pair and platform moving pair connected by small connecting rod, platform rotary pair along the same direction of platform moving pair; two mobile moving branched chains possess joint square table and platform rotary pair with two chains vertical distribution on two vertical sides of one square table, which connect the mobile platform through the joint platform rotary pair.

Description

technical field [0001] The invention relates to a parallel mechanism in the field of mechanics, specifically a three-degree-of-freedom decoupling parallel mechanism, which has a continuously rotatable platform, and the international patent classification number is intended to be Int.Cl 7 B25J9 / 08. Background technique [0002] Parallel mechanisms are widely used in heavy-duty simulation equipment, robots, CNC machine tools, sensors and micro-manipulation and other fields. However, the drive units of the parallel mechanism are coupled, that is, the movement of the overall output platform of the parallel mechanism in any direction is the synthesis of the motions of all drive units, and the movement of each drive unit is combined with the overall movement of the parallel mechanism (i.e. input and output ) is non-linear. This characteristic leads to complex control of parallel mechanism, difficult calibration, and restricts the improvement of working accuracy. Therefore, how ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 张建军李为民孙建广于庆增
Owner HEBEI UNIV OF TECH
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