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Three freedoms parallel robot mechanism with different structure drive branches

A technology of driving branches and degrees of freedom, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of high sensitivity to manufacturing errors, complex driving branch structures, and poor bearing capacity of kinematic pairs, so as to achieve large mechanism bearing capacity and mechanism No self micro-motion, simple mechanism effect

Inactive Publication Date: 2010-06-23
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since most limited-degree-of-freedom parallel mechanisms contain structural coupling constraints, such constraints are highly sensitive to manufacturing errors, causing the parallel mechanism to micro-motion and affecting normal motion; some limited-degree-of-freedom parallel mechanisms have small working spaces and complex driving branch structures. poor carrying capacity

Method used

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  • Three freedoms parallel robot mechanism with different structure drive branches

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Embodiment Construction

[0012] As an embodiment disclosed by the present invention, such as figure 1 As shown, this three-degree-of-freedom parallel robot mechanism with different structural drive branches includes base 1, upper platform 2 and three linear drive branches with different structures connecting base 1 and upper platform 2, base 1 and platform 2 are equilateral triangles; the structures of the three linear drive branch kinematic chains are different, and they are distributed at the triangular vertices of base 1 and platform 2; the kinematic chain structures of the three linear drive branches are SPR, SP and SPS respectively. The SPR branch includes a spherical joint 3 - 1 , a linearly driven moving pair 4 - 1 and a rotating pair 5 . The rotating pair 5 connects the upper end of the linear drive moving pair 4-1 rod with the upper platform 2, and the ball joint 3-1 connects the lower end of the linear driving moving pair 4-1 cover with the base 1. The SP branch includes a ball joint 3-2 an...

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Abstract

The invention discloses a three degrees of freedom parallel robot mechanism with different driving branches, comprising a base (1), an upper platform (2) and three linear driving branches with different structures connected with the base (1) and the upper platform (2); the base (1) and the upper platform (2) are both equilateral triangle, which is characterized in that the three linear driving branches with different structures are respectively arranged on the three points of the base (1) and the upper platform (2); the kinematic chain structure of the linear driving branches with different structures are respectively SPR branch, SP branch and SPS branch; wherein, the moving assembly comprises a sleeve and a post. Comprehensive adopting the structure limitation of three driving branches with different structures, the three degrees of freedom parallel robot mechanism has the advantages that the redundancy for mechanism is effectively eliminated and the working space is increased; meanwhile, the advantages for spherical hinge of compact structure, large bearing capacity and high precision is adopted to simplify the driving structure, to increase the bearing capacity and kinematic accuracy.

Description

technical field [0001] The invention relates to the technical field of robots and machinery manufacturing, in particular to a three-degree-of-freedom parallel robot mechanism with different structural drive branches. technical background [0002] The Stewart six-DOF 6-SPS parallel mechanism includes 6 SPS (spherical joint-drive moving pair-spherical joint) linear drive branches. Because the spherical joint has the advantages of compact structure, large bearing capacity and high precision, this kind of parallel robot has the characteristics of high mechanical rigidity, strong bearing capacity, light weight at the end, small inertia, and no accumulation of position errors. It is complementary to serial robots in application. , so the 6-SPS parallel mechanism is widely used. For the convenience of explanation, use n (n=1, 2, 3, 4, 6) to represent the number of branches, and use S, T, P and R to represent the spherical joint, universal joint, moving joint and rotating joint in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 路懿胡波
Owner YANSHAN UNIV
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