Two-degrees-of-freedom translation parallel robot mechanism

Abstract

The invention provides a two-degrees-of-freedom translation parallel robot mechanism, comprising a substrate, a movable platform and a branched chain which is connected with the substrate and the platform respectively. The branched chain comprises a first active branched chain, a second active branched chain and a third passive branched chain, wherein a movable plane of the second active branchedchain and a movable plane of the first active branched chain are of the same plane or two parallel planes; and a movable plane of the third passive branched chain is crossed with a movable plane of the first active branched chain. The robot mechanism has the advantages that the third passive branched chain is adopted to connect the substrate and the movable platform to improve the attitude duration of the movable platform, and enables the robot mechanism to realize higher operation accuracy; the third passive branched chain is adopted, so that the first active branched chain and the second active branched chain have the same structure, simple design and symmetric kinematics and dynamic properties; and the first active branched chain and the second active branched chain respectively use a first master arm and a second master arm as dynamic input, thus the operation velocity of the robot mechanism is further improved.

Description

【Technical field】 [0001] The invention relates to the technical field of industrial robots, in particular to a two-degree-of-freedom translational parallel robot mechanism. 【Background technique】 [0002] A parallel robot with few degrees of freedom refers to a parallel robot with 2, 3, 4 or 5 degrees of freedom, which is suitable for industrial occasions that require less than 6 degrees of freedom. Compared with parallel robots with 6 degrees of freedom, parallel robots with fewer degrees of freedom have the characteristics of simple structure, low cost, and easy control. Therefore, they have good application prospects and are currently a research hotspot in the world. [0003] Usually, in the light industry, food, pharmaceutical packaging and electronic packaging industries, four degrees of freedom are required to complete the pick-and-place operation (Pick-and-Place) in space, that is, three translational degrees of freedom and One rotational degree of freedom. However,...

AI Technical Summary

Problems solved by technology

[0004] To realize the translation of two degrees of freedom, one method is to vertically arrange two series-connected moving pairs in the plane, and the linear drive device of one moving pair is assembled on the motion platform formed by the other moving pair. This series structure increases the The quality of the motion platform limits the speed and acceleration of the end motion, making it difficult to perform high-speed operations

Another method is to use a parallel mechanism to achieve two-degree-of-freedom translation in the plane, so that the driving device is assembled on the fixed platform, and the rods are made of light materials to reduce the inertia of the moving platform, so that high-speed movement can be performed. For example, the design ideas of the existing patents CN2511447Y, CN1355087A, CN1589191A, and CN201275760Y, the whole robot is composed of a base, two branch chains, and a moving platform. Movement to realize the movement of the moving platform, but this structure still has the problem of low attitude retention of the moving platform

The design of the branch chain is complex, the assembly requirements are high, and the kinematics and dynamics of the two active branch chains are asymmetrical.

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