Fork four-freedom parallel connection robot mechanism

Abstract

The invention discloses a parallel robot mechanism with four branched degrees of freedom and consists of a moving platform, a fixed platform and 2 to 4 movable branched chains which are provided with the same structure and is used for connecting the moving platform and the fixed platform; wherein, the movable branched chains comprises a moving pair, a first rotary pair, a kinematic pair with a single degree of freedom, a second rotary pair and a third rotary pair from the fixed platform to the moving platform respectively; the mechanism is provided with three moving degrees of freedom and two rotary degrees of freedom under the initial configuration; the moving platform can rotate around the axial lines of the two rotary pairs respectively and the axial lines are connected with the moving platform by winding two branches adjacent to the moving platform; when the moving platform begins to rotate along one direction, the other rotary direction is automatically locked, that is to say that the mechanism is provided with only three moving degrees of freedom and a rotary degree of freedom after the moving platform rotates from an initial position. The parallel robot mechanism can be widely applied to parallel robots, micro-motion worktables and virtual axial machine tools, etc. and has the advantages of high rigidity, simple structure, moving and rotary decoupling, easy control, good dynamic performance, good processing and assembling performance, etc.

Description

Technical field [0001] The invention relates to the field of robots, in particular to a five-degree-of-freedom self-locking parallel robot mechanism. Background technique [0002] Parallel robot mechanism is a multi-degree-of-freedom multi-loop closed-chain mechanism in space. Compared with series mechanism, parallel mechanism has the characteristics of large rigidity, large carrying capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. other than parallel robots. [0003] At present, 3, 6-degree-of-freedom parallel robot mechanisms are widely used, while 4-degree-of-freedom parallel robot mechanisms are less. Only ZL01114009.7, ZL200510052260.4, ZL200610012171.1, ZL200610151078.9, etc., have four degrees of freedom with bifurcation characteristics. The parallel robot mechanism has not been reported yet. Th...

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Problems solved by technology

[0003] At present, parallel robot mechanisms with 3 and 6 degrees of freedom are widely used, but there are few parallel robot mechanisms with 4 degrees of freedom. The parallel robot mechanism has not been reported yet. The so-called bifurcation characteristic means that the moving platform of the parallel robot mechanism can switch to two different degrees of freedom at a special configuration and remain unchanged, and the difference between the two different degrees of freedom Mutual exclusion, that is, after the moving platform switches to one degree of freedom through this configuration, it must return to this special configuration to switch to another degree of freedom

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