Translational parallel mechanism comprising three legs, in which each leg is a kinematic chain which comprises: a first cardan joint comprising a first revolute pair and a second revolute pair, a first member connected, at a first end thereof, to a frame by means of the first cardan joint in such a manner that the rotation axis of the first revolute pair is fixed to the frame, and connected, at a second end thereof, to a first end of a second member by means of a third revolute pair, a second cardan joint comprising a fourth revolute pair and a fifth revolute pair, the second member which is connected, at a second end thereof, to a mobile platform by means of the second cardan joint in such a manner that the rotation axis of the fifth revolute pair is fixed to the mobile platform, wherein the first revolute pairs and the fifth revolute pairs define the ends of the respective kinematic chains and for each leg the rotation axis of the first and fifth revolute pairs are parallel and the rotation axis of the second, third and fourth revolute pairs are parallel. The rotation axes of the first revolute pairs of each leg are arranged in such a way that they are neither coplanar nor parallel to a single plane and in such a way that they are incident at a single fixed point in the frame or that the distance between any two of these rotation axes is less than or equal to 20% of the diameter of the circumference passing through the centers of the first cardan joints of the three legs. The rotation axes of the fifth revolute pairs of each leg are arranged in such a way that they are neither coplanar nor parallel to a single plane and in such a way that they are incident at a single fixed point in the mobile platform or that the distance between any two of these rotation axes is less than or equal to 20% of the diameter of the circumference passing through the centers of the first cardan joints of the three legs.
- TRANSLATORISCHER PARALLELMECHANISMUS - TRANSLATIONAL PARALLEL MECHANISM - MÉCANISME PARALLELE DE TRANSLATION
Di Gregorio, R
2023
Abstract
Translational parallel mechanism comprising three legs, in which each leg is a kinematic chain which comprises: a first cardan joint comprising a first revolute pair and a second revolute pair, a first member connected, at a first end thereof, to a frame by means of the first cardan joint in such a manner that the rotation axis of the first revolute pair is fixed to the frame, and connected, at a second end thereof, to a first end of a second member by means of a third revolute pair, a second cardan joint comprising a fourth revolute pair and a fifth revolute pair, the second member which is connected, at a second end thereof, to a mobile platform by means of the second cardan joint in such a manner that the rotation axis of the fifth revolute pair is fixed to the mobile platform, wherein the first revolute pairs and the fifth revolute pairs define the ends of the respective kinematic chains and for each leg the rotation axis of the first and fifth revolute pairs are parallel and the rotation axis of the second, third and fourth revolute pairs are parallel. The rotation axes of the first revolute pairs of each leg are arranged in such a way that they are neither coplanar nor parallel to a single plane and in such a way that they are incident at a single fixed point in the frame or that the distance between any two of these rotation axes is less than or equal to 20% of the diameter of the circumference passing through the centers of the first cardan joints of the three legs. The rotation axes of the fifth revolute pairs of each leg are arranged in such a way that they are neither coplanar nor parallel to a single plane and in such a way that they are incident at a single fixed point in the mobile platform or that the distance between any two of these rotation axes is less than or equal to 20% of the diameter of the circumference passing through the centers of the first cardan joints of the three legs.I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
