Two-degree of freedom translational parallel manipulator by redundant actuation

Abstract

The invention relates to a two-DOF redundant translational parallel mechanism in the industrial robot field, which comprises a fixed platform, an upper sliding block, a cylinder body, a push rod, a lower sliding block, supporting rods and an end effector, wherein, the upper sliding block is arranged at the upper side of the fixed platform, the lower sliding block is arranged at the lower side of the fixed platform, one end of the cylinder body is connected with the upper sliding block through a revolute pair, the other end of the cylinder body is connected with the push rod through a sliding pair, one end of the push rod is connected with the cylinder body and simultaneously the other end thereof is connected with the end effector through the revolute pair, ends of the two supporting rods are connected with the lower sliding block, other ends thereof are connected with the end effector, and the movement of the entire device and the transmission of force are realized through the end effector. The two-DOF redundant translational parallel mechanism combines redundant driving and parallelogram structure, thereby the performances of the operating space, the rigidity, the force bearing capability, and the like, of the final two-DOF redundant translational parallel mechanism are optimum or better simultaneously, in addition, the two-DOF redundant translational parallel mechanism has the advantages of stable structure of the overall mechanism, high transmission efficiency, easy control, high kinematic accuracy and low cost.

Description

technical field [0001] The invention relates to a device in the technical field of industrial robots, in particular to a redundantly driven two-degree-of-freedom mobile parallel mechanism. Background technique [0002] Parallel mechanism refers to the mechanism in which two or more drive units are set in parallel and complete the action together. The parallel mechanism has the advantages of high rigidity, high bearing capacity, high motion precision, and good dynamic characteristics. It is widely used in heavy-duty simulation equipment, Robots, CNC machine tools, sensors and micro-manipulation and other technical fields. Most of the existing parallel robots adopt 3-6 degrees of freedom symmetrical structure, and generally use spherical joints, Hooke hinges or moving pairs as kinematic pairs to realize 3-6 degrees of freedom space movement, and the working space generally does not have a dominant direction, and the structure is complex. Manufacturing costs are higher. Howev...

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Problems solved by technology

[0004] After searching the literature of the prior art, it is found that the existing redundant mechanism with few degrees of freedom, such as "a three-degree-of-freedom redundant parallel mechanism that realizes two-dimensional translation and one-position rotation" (see Chinese Invention Patent, Publication No. CN1586807A), "a two-rotation-translational three-degree-of-freedom redundant parallel mechanism for parallel machine tools" (see Chinese invention patent, publication number CN1586806A), etc., by using redundant parallel mechanisms to expand the working space and increase the mechanism Accuracy and stiffness; however, once the pose of the end effector of the mechanism is determined, the pose of each member is also determined accordingly. At this time, the overall stiffness and force bearing characteristics of the mechanism are determined, and cannot be optimized again. Therefore, to a certain extent, it is still limited workspace

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