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Two-degree-of-freedom plane parallel robot mechanism

A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in eliminating the influence of the positioning accuracy of the rotating bearing, limiting the acceleration of the end effector, etc., achieving low inertia, simple structure, and high drive. Effects of stiffness and thrust-to-weight ratio

Inactive Publication Date: 2009-05-20
SHANGHAI QINGKE ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is difficult to eliminate the impact of the backlash, clearance, friction, etc. of the rotating bearing on the positioning accuracy of the platform by using a rotating motor in the planar parallel mechanism, and it limits the improvement of the acceleration of the end effector.

Method used

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  • Two-degree-of-freedom plane parallel robot mechanism
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  • Two-degree-of-freedom plane parallel robot mechanism

Examples

Experimental program
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Effect test

Embodiment 1

[0028] like figure 1 , 2As shown, the present embodiment includes: fixed platform 1, moving platform 17, three link mechanisms connecting fixed platform 1 and moving platform 17: first link mechanism 13, second link mechanism 14, third link mechanism 19 and six rotating hinges, two linear motors that can realize high-precision linear motion are installed on the fixed platform 1: the first linear motor 2 and the second linear motor 9, and the first linear motor 2 and the second linear motor 9 are symmetrical Placed in parallel, one end of the moving platform 17 is connected to the second linear motor 9 through a kinematic branch chain: the fifth rotating hinge 16, the first linkage mechanism 13, and the third rotating hinge 12, and the other end is respectively passed through two kinematic branch chains: the first The kinematic branch chain that four rotary hinges 15, the second link mechanism 14 and the second rotary hinge 6 constitute and the kinematic branch chain that the ...

Embodiment 2

[0038] like Figure 7 , 8 As shown, on the basis of Embodiment 1, a fourth linkage mechanism 36 and two rotary hinges can be added without changing the movement form of the mechanism: the seventh rotary hinge 35 and the eighth rotary hinge 37 constitute redundant drive The two-degree-of-freedom planar parallel robot mechanism includes: a fixed platform 1, a symmetrical dynamic platform 38 (that is, the dynamic platform 17 in Embodiment 1) and four linkage mechanisms connecting the fixed platform 1 and the symmetrical dynamic platform 38: the first linkage Rod mechanism 13, second link mechanism 14, third link mechanism 19 and fourth link mechanism 36 and eight rotary hinges. One end of the symmetrical moving platform 38 is passed through two kinematic branch chains: the kinematic branch chain formed by the fourth rotary hinge 15, the second link mechanism 14, and the second rotary hinge 6; the sixth rotary hinge 18, the third link mechanism 19, the second rotary hinge A kine...

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Abstract

Disclosed is a mechanism of two-degree-of-freedom planar parallel connected robots, belonging to the field of industrial robots. The invention comprises a fixed platform, a movable platform, three connecting rod mechanisms and six rotary hinges, wherein the fixed platform is connected with the movable platform though the three connecting rod mechanisms to form a closed-loop parallel connected mechanism. Two linear motors are parallel arranged on the fixed platform. One end of the movable platform is connected with one linear motor through one connecting rod mechanism and two rotary hinges and the other end of the movable platform is connected with the other linear motor through a parallelogram branch chain structure which is parallel to the fixed platform and is formed by two connecting rod mechanisms and four rotary hinges so as to improve the rigidity which is perpendicular to the movable platform as well as to shield the rotary degree of freedom, and then the mechanism of two-degree-of-freedom planar parallel connected robots is formed. The invention has simple structure; driven by the linear motor, the rigidity and the thrust and weight ratio are high and dynamic performance is good; movers of the linear motor mover are supported by the aerostatic slide way and all the connecting hinges are rotary hinges which are designed as the aerostatic rotary joint, so that the drive of non-friction and non- abrasion can be achieved.

Description

technical field [0001] The invention relates to a mechanism in the technical field of industrial robots, in particular to a two-degree-of-freedom planar parallel robot mechanism. Background technique [0002] Robotic mechanisms widely used at present can be divided into two categories: serial robotic mechanisms and parallel robotic mechanisms. The parallel robot mechanism is a closed-loop mechanism. The upper and lower platforms (fixed platform and motion platform) are connected by two or more independent motion branch chains. The motion platform has two or more degrees of freedom and is driven in parallel. institutions are called parallel institutions. The characteristic of the parallel mechanism is that all the branches can accept the driver input at the same time, and finally give the output together. The parallel mechanism is a multi-channel closed-loop mechanism in terms of mechanism. In the large-scale integrated circuit manufacturing industry, there are applications...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/08
Inventor 丁汉刘品宽张刚朱向阳董泽光王禹林吴均
Owner SHANGHAI QINGKE ROBOT TECH CO LTD
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