Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive

A technology of translational motion and revolving joints, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high-speed movement of unfavorable mechanisms, low static and dynamic stiffness, etc., and achieve the goal of ensuring dynamic and static stiffness and improving stress conditions Effect

Inactive Publication Date: 2008-07-23
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the structure proposed by CN1589191A requires that the active rod is equal to the first positioning rod, and the driven rod is equal to the second positioning rod, the positioning method is also guaranteed by the parallelogram mechanism, so there are also static and dynamic directions perpendicular to the motion plane. The disadvantage of low rigidity is not conducive to the high-speed movement of the mechanism

Method used

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  • Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive
  • Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive
  • Two degrees of freedom high speed translation parallel robot mechanism by rotating subsidiary drive

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Embodiment 1

[0019] Example 1. Combining Figures 1 to 3, the two-degree-of-freedom high-speed translational motion parallel robot mechanism driven by the rotating pair of the present invention, the positioning mechanism is composed of three passive branch chains, and each passive branch chain is connected in series by a Hooke hinge, a connecting rod and a Hooke hinge composition; the first, second and third passive branch chains 21a, 31, 21b; 32 and 33 are equal in length and arranged as follows: the first, second and third passive branch chains 21a, 31 and 21b; 22a, 32 and 22b; Passive branch chains 23a, 33, 23b are on one side, first and second passive branch chains 21a, 31, 21b; 22a, 32, 22b are on the other side, first and second passive branch chains on the same side Chain 21a, 31, 21b; Two connecting rods 31, 32 of 22a, 32, 22b are parallel to each other, and are not parallel to the connecting rod 33 of the third passive branch chain 23a, 33, 23b on the other side; The second and t...

Embodiment 2

[0020] Example 2. 5 and 6, the positioning mechanism of the two-degree-of-freedom high-speed translational motion parallel robot mechanism driven by the rotating pair of the present invention can also constrain the position of the intermediate member 4 by forming a parallelogram mechanism with the positioning connecting rod 13, the rotating pair 9 and the active rod 8. The attitude is the same as that of the base 1 .

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Abstract

The invention discloses a two degrees of freedom (DOFs) high speed translation motion parallel robot mechanism which is driven by a rotation pair. A base of the parallel robot mechanism is connected with a motion platform which motions in two DOFs through two motion branched chains so as to form a closed structure; each motion branched chain consists of a drive rod, a middle component and a driven rod group which are connected with each other in series; the drive rod is respectively connected with the base and the middle component through the rotation pair; a positioning mechanism is arranged between the middle component and the base. The two DOFs translation motion parallel robot mechanism component which is driven by the rotation pair of the invention does not motion in planes which are fully parallel to or coincident with each other, but forms a space constraint through a hook hinge, thus improving the forcing condition of the component, and ensuring the dynamic rigidity and static rigidity of the mechanism in high speed operation.

Description

a technical field [0001] The invention belongs to industrial robot technology, in particular to a two-degree-of-freedom translational motion parallel robot mechanism driven by a rotating pair. Two background technology [0002] In industries such as automation, light industry, food and medical treatment, robots are usually required to complete operations such as insertion, packaging and packaging, and the number of degrees of freedom required for their movement is small. The characteristics of these operations are: high accurate repeat positioning, high movement speed High, the action is reciprocating and does not change posture during the movement. Nowadays, manipulators composed of series mechanisms are often used to complete these tasks. This type of manipulator is an open-loop structure. One movement arm is connected to one movement arm in series. The movement inertia of each movement arm is relatively large and the specific stiffness is low. Therefore, the movement arm ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/10B25J19/00
Inventor 彭斌彬孙宇武凯王栓虎
Owner NANJING UNIV OF SCI & TECH
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