Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive

A degree of freedom, robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of increasing inertia of moving parts, asymmetric distribution of branch drives, etc., and achieve easy layout, good isotropy, stiffness and bearing capacity. high effect

Inactive Publication Date: 2008-07-09
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

Although this kind of redundant drive achieves the purpose of overcoming the singularity in the working space, it increases the inertia of the moving parts at the same time, and the drive distribution of each branch is asymmetrical

Method used

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  • Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive

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Embodiment

[0012] In the spherical two-degree-of-freedom symmetric parallel robot mechanism with redundant drive, the composite revolving pair 1 is used as the output of the mechanism, and the regular triangular fixed platform 14 is connected with the compound revolving pair 1 through three branches with identical structures. Wherein, the first connecting rod 2, the second connecting rod 3 and the third connecting rod 4 have the same structure; the fourth connecting rod 8, the fifth connecting rod 9 and the sixth connecting rod 10 have the same structure; the first rotating pair 5, The structures of the second rotating pair 6 and the third rotating pair 7 are the same; the structures of the first base rotating pair 11 , the second base rotating pair 12 and the third base rotating pair 13 are the same. In one branch of the mechanism (see Fig. 2), the compound rotary joint 1 connects the first link 2, the second link 3 and the third link 4, and the first rotary joint 5 connects the first li...

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Abstract

The present invention discloses a spherical 2-degree-of-freedom symmetric parallel robot mechanism with redundant actuation. A composite turning pair, which is composed of three turning pairs hinged with the same axial line, is connected with a fixed platform via three branches with the same structure, the two connecting bars of each branch, between which one turning pair is connected, are respectively connected with the composite turning pair and the fixed platform via two turning pairs, all the kinematic pairs of the three branches are the turning pairs, and the axial lines of all the turning pairs are converged at a rotating spherical center. When three base turning pairs are selected as the input of the robot mechanism and the composite turning pair as the output of the mechanism, the composite turning pair has two degrees of freedom while moving along a spherical surface. The present invention has the advantages of symmetric distribution of the structure and driving, no singular configuration, high rigidity and bearing capacity, easy production and assembly, etc.

Description

technical field [0001] The invention belongs to the field of robot and machinery manufacturing, in particular to a spherical two-degree-of-freedom symmetrical parallel robot mechanism with redundant drive. Background technique [0002] The parallel robot mechanism belongs to the space multi-degree-of-freedom multi-loop closed-chain mechanism. Compared with the series mechanism, the parallel robot mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel robot mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators and sensors. [0003] Since redundant drives can improve some performances of parallel robot mechanisms such as reducing singularities in the workspace, they are widely used. However, most of the currently used redundant drive robot mechanisms are redundant drive mechanisms obtained by adding drive t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 张立杰
Owner YANSHAN UNIV
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