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Two freedom space parallel mechanism

A technology with degrees of freedom and space, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low flexibility, poor practicability, and large size, and achieve broad application prospects, high load capacity, and simple inverse solutions. Effect

Inactive Publication Date: 2007-04-11
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The six-degree-of-freedom parallel robot mechanism is the most ideal mechanism, but this type of mechanism has disadvantages such as small working space, low flexibility, unclosed kinematics positive solution, and difficulty in dimensional synthesis, as well as high manufacturing costs.
However, there are few parallel mechanisms that realize directional motion in two-dimensional space, such as a two-degree-of-freedom rotating parallel robot mechanism in Patent No. 200310115537.4, but its volume is large and its practicability is poor, and it is difficult to adapt to small multi-degree-of-freedom joints. Arm or leg design

Method used

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Examples

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Embodiment 1

[0032] 1, this embodiment includes a fixed platform 1, a Hooke hinge 2, a moving platform 3, sliding rods 4 and 5, moving pairs 6 and 9, connecting rods 8 and 11, and spherical pairs 6, 10, 12, 13, Vertical rods 14 and 15, two moving pairs 6 and 9 are arranged on the moving platform 3, and are connected with the fixed platform 1 through three branches; two of the three branches have the same structure, and one of the two same structure branches The branch includes a sliding rod 4 and a connecting rod 8, the sliding rod 4 is connected with the moving platform 3 through the moving pair 6, one end of the connecting rod 8 is connected with the sliding rod 4 through the spherical pair 7, and the other end of the connecting rod 8 is connected with the fixed platform 1 Connected by a spherical pair 13; the other branch of the two identical structural branches includes a sliding rod 5 and a connecting rod 11, the sliding rod 5 is connected with the moving platform 3 through a moving pa...

Embodiment 2

[0035] 2, this embodiment replaces the spherical pair 12 and 13 connected between the connecting rods 8 and 11 and the fixed platform 1 in the first embodiment with Hooke hinges 17 and 16, and other structures are the same as the first embodiment.

Embodiment 3

[0037] 3 , in this embodiment, the spherical pairs 7 and 10 connected between the connecting rods 8 and 11 and the sliding rods 4 and 5 in Embodiment 1 are replaced by Hooke hinges 18 and 19 , and other structures are the same as in Embodiment 1.

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Abstract

The present invention provides one kind of 2D directional space parallel mechanism, which includes one static platform, one movable platform with two motion pairs, and three branches connecting between the static platform and the movable platform. Of these three branches, two have the same structure, which includes one sliding rod connected via a motion pair to the movable platform and one link rod with one end connected via a motion pair to one end of the sliding rod and the other end connected via a motion pair to the static platform; and the third includes two Hooke hinged vertical rods including the first one with one end connected vertically to the static platform and the second one with one end connected vertically to the movable platform. The present invention has small size, high rigidity, high precision, determined motion mode and other features.

Description

(1) Technical field [0001] The invention belongs to the field of robot and machine manufacturing, and in particular relates to a two-degree-of-freedom space parallel mechanism. (2) Background technology [0002] In recent years, space parallel robots have aroused widespread interest of scholars at home and abroad. Compared with series robots, parallel robots have the characteristics of high rigidity, high load-to-weight ratio, and no accumulation of position errors. It is widely used under the conditions of processing and high bearing strength. The earliest parallel robot with six degrees of freedom in space is based on the 6-SPS mechanism proposed by Stewart in 1965. In order to enrich and develop the structural forms of parallel robots, scholars from many research institutions have started useful work. The six-degree-of-freedom parallel robot mechanism is the most ideal mechanism, but this type of mechanism has disadvantages such as small working space, low flexibility, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 王立权俞志伟孟庆鑫何锋焦钰
Owner HARBIN ENG UNIV
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