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Revolute joints non-overconstraint four-freedom parallel robot mechanism

A technology of rotating pairs and degrees of freedom, applied in the field of robots, can solve the problems of inconvenient assembly of the mechanism, and achieve the effects of large working space, symmetrical structure and easy assembly.

Inactive Publication Date: 2009-07-29
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the mechanism synthesis of this type of fully symmetrical 4-DOF parallel robot has always been one of the open mechanism problems
The existence of the closed-loop structure causes inconvenience to the assembly of the mechanism

Method used

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  • Revolute joints non-overconstraint four-freedom parallel robot mechanism
  • Revolute joints non-overconstraint four-freedom parallel robot mechanism

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Embodiment Construction

[0015] Robot mechanism of the present invention is made of fixed platform (1), moving platform (4) and two secondary platforms (2) and (3), rotating pair (5) and (6) and four kinematic branch chains (I, II, III) and IV) composition. The fixed platform (1) and the moving platform (4) are respectively arranged at the top and the bottom of the mechanism, and the moving platform (4) is provided with secondary platforms (2), (3), and the movement branch chains (I, II, III and IV) Connect the secondary platforms (2), (3) and the fixed platform (1). The structures of the four kinematic branch chains are exactly the same, and all the kinematic branch chains are a kind of four-bar mechanism with a symmetrical structure, and each kinematic branch chain is composed of revolving pairs.

[0016] The kinematic branch chain (I) and the kinematic branch chain (III) connect the secondary platform (3) and the fixed platform (1):

[0017] The kinematic branch chain (1) is made up of five rotat...

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Abstract

The present invention relates to one kind of rotating pair non-overconstrained four freedom degree parallel robot mechanism, which consists of one fixed platform, one movable platform, one secondary platform, branched motion chains and rotating pairs. All the branched motion chains are in identical structure, and all the motion pairs in the mechanism are rotating pairs. When the mechanism moves, the movable platform is subjected to two independent constrains, and the mechanism is one non-overconstrained mechanism with four freedom degrees. The present invention has the advantages of symmetrical structure, easy assembling, low design and manufacture cost, great work space, etc, and may be applied in parallel robot, parallel machine tool and other industrial fields.

Description

technical field [0001] The invention relates to robot technology, in particular to a non-overconstrained four-degree-of-freedom parallel robot mechanism composed of revolving pairs. Background technique [0002] A parallel robot consists of a moving platform, a fixed platform, and two or more branch chains connecting the two. Each kinematic branch chain is formed by several kinematic pairs connecting rods. [0003] A 4-DOF robot with 3 translations and 1 rotation can realize arbitrarily complex space grasping and placement operations. The SCARA robot widely used on the assembly line is a tandem robot with this motion characteristic. However, the industry has always hoped to develop a parallel robot mechanism that can achieve the same motion but has higher load capacity, symmetrical work space, and stable structure and control. However, the mechanism synthesis of this type of fully symmetrical 4-DOF parallel robot has always been one of the open mechanism problems. [0004...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J9/08
Inventor 郭盛方跃法房海蓉
Owner BEIJING JIAOTONG UNIV