Parallel mechanism containing prr open-loop subchain and prrrp closed-loop subchain

A closed-loop sub-chain and sub-chain technology, applied in the field of robotics, can solve problems such as difficult control and complex structure of parallel mechanisms, and achieve the effects of good dynamic performance, small motion inertia, and simple connection structure

Inactive Publication Date: 2013-07-31
GUANGXI UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a parallel mechanism containing closed-loop sub-chains, which

Method used

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Example Embodiment

[0016] The technical solution of the present invention will be further described below in conjunction with the drawings and embodiments.

[0017] Control figure 1 , figure 2 , image 3 with Figure 4 , A parallel mechanism including prr open-loop sub-chain and prrrp closed-loop sub-chain, including open-loop sub-chain, five-bar mechanism closed-loop sub-chain and actuator sub-chain.

[0018] The open-loop sub-chain is formed by connecting the first connecting rod 7, the first sliding block 5 and the first upright column 3. The first upright column 3 is connected to the frame 1 through the first rotating pair 2, and the first sliding block 5 passes through the A moving pair 4 is connected to the first column 3, and one end of the first connecting rod 7 is connected to the first sliding block 5 through the second rotating pair 6,

[0019] The five-bar mechanism closed-loop sub-chain is formed by connecting the second slider 14, the second connecting rod 16, the third connecting rod 18,

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Abstract

The invention discloses a parallel mechanism containing a prr (pulse repetition rate) open-loop subchain and a prrrp closed-loop subchain. The parallel mechanism comprises an open-loop subchain, a five-rod mechanism closed-loop subchain and an actuating mechanism subchain, wherein the open-loop subchain can control a first hooke hinge to make motion; the five-rod mechanism closed-loop subchain can control a second hooke hinge to make motion; and the motion of the first hooke hinge and the second hooke hinge can achieve space motion of a movable platform. According to the parallel mechanism, the space motion of the two hooke hinges is controlled by the open-loop subchain and the closed-loop subchain, so that the space motion of the movable platform is achieved, and the parallel mechanism has the advantages of compact structure and simplicity in control, and is small in motion inertia and good in dynamics performance.

Description

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Claims

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Application Information

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Owner GUANGXI UNIV
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