Decoupled three-rotational-degree-of-freedom parallel mechanism

A technology with three rotations and degrees of freedom, applied to manipulators, manufacturing tools, joints, etc., can solve problems such as complex control of parallel mechanisms, weak coupling of pose parameters, and changes in pose parameters, and achieve fast motion response, simple control, and low moment of inertia. small effect

Inactive Publication Date: 2009-12-02
DONGHUA UNIV
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Problems solved by technology

The "sun tracking device based on spherical mechanism" reported in Chinese patent document CNO3258423.7 uses a three-degree-of-freedom spherical mechanism, but its three rotations are fully coupled, that is, it cannot be decoupled; this leads to complicated control of the parallel mechanism and difficult calibration. And restrict the improvement of precision
The two-degree-of-freedom spherical mechanism proposed by US Patent USOO596699IA can only be decoupled instantaneously at the initial position, and cannot be decoupled at other positions
Literature [Ha

Method used

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  • Decoupled three-rotational-degree-of-freedom parallel mechanism

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Embodiment 1

[0012] A decoupled three-rotation-degree-of-freedom parallel mechanism consists of a frame 1, a moving platform 3, and a first kinematic branch chain 2a, a second kinematic branch chain 2b, and a third kinematic branch chain fixedly connected between the frame and the moving platform. The first motion branch chain 2a includes a Z-axis rotation pair 21, an X-axis rotation pair 22, and a Y-axis rotation pair 23. The second motion branch chain 2b includes a first ball joint 24, a first movement pair 25. The second ball joint 26, the third motion branch chain 2c includes the third ball joint 27, the second moving joint 28, the fourth ball joint 29, the Z-axis rotating joint 21, the first ball joint 24, The 3rd ball hinge 27 is installed on the frame 1, and the three rotary axes of the first kinematic branch chain 2a meet at the central point of the platform 3, and the ball hinges (26), (29) link to each other with the moving platform (3), The ball center of the ball hinge (26), th...

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Abstract

The invention relates to a decoupled three-rotational-degree-of-freedom parallel mechanism, which consists of a machine frame (1), a dynamic platform (3), a first motion branch chain (2a), a second motion branch chain (2b) and a third motion branch chain (2c), wherein the first motion branch chain (2a), the second motion branch chain (2b) and the third motion branch chain (2c) are fixedly connected between the machine frame (1) and the dynamic platform (3); and the axes of three rotation pairs of the first motion branch chain (2a) meet at the central point of the platform (3). As few motion pairs are used and all driving electric motors are arranged on the machine frame, the motion-decoupled spherical rotation parallel mechanism of the invention has the advantages of simple structure, convenient installation, small rotation inertia and quick motion response. In addition, the spherical rotation parallel mechanism of the invention has linear motion decoupling, easy calibration and simple control, thereby reducing development cost.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a parallel mechanism with three rotation degrees of freedom for the decoupling of wrist, shoulder and waist joints of robots. Background technique [0002] Industrial robots are usually composed of three parts: mechanical system, control system and intelligent system. The mechanical system is further divided into an actuator and a drive mechanism. The actuator is generally composed of a hand, a wrist, an arm, a waist and a frame. The robot wrist (wrist) is the connection part between the arm and the hand, the adjustment mechanism of the robot, and the most complicated part in the industrial robot manipulator. Wrists can be divided into single-degree-of-freedom wrists, two-degree-of-freedom wrists, and three-degree-of-freedom wrists according to the number of degrees of freedom. The wrist is at the end of the arm, and it is required to have a compact structure and light weight; ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 杨建国李蓓智张帆
Owner DONGHUA UNIV
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