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Three-dimensional transformational parallel robot mechanism with large workspace

A three-dimensional moving and working space technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of complex kinematics positive solution, strong motion coupling, small working space, etc., to achieve simplified trajectory planning, good transmission characteristics, The effect of a large workspace

Inactive Publication Date: 2010-05-05
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been well resolved, such as strong kinematic coupling, complex kinematics solutions, small working space, poor transmission characteristics, etc.

Method used

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  • Three-dimensional transformational parallel robot mechanism with large workspace
  • Three-dimensional transformational parallel robot mechanism with large workspace

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Embodiment Construction

[0018] The large working space three-dimensional mobile parallel robot mechanism of the present invention is composed of a moving platform 3, a fixed platform 4 and three branch chains with the same structure connecting the above two platforms. Each branch chain consists of three revolving pairs and a Hooke hinge. The first rotating pair (D1, D2, D3) connected to the fixed platform is the driving pair, the axes of the second rotating pair (C1, C2, C3) adjacent to the driving pair are respectively parallel to the axis of the driving pair, and the third rotating pair ( B1, B2, B3) axes are perpendicular to the axes of the first two revolving pairs. The axis of one axis of the Hooke hinge (A1, A2, A3) connected to the motion platform is parallel to the axis of the driving pair, and the axis of the other axis of the Hooke hinge is parallel to the axis of the third rotating pair. The axes on the moving platform 4 and the fixed platform 5 are all on the same plane of the platform, ...

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Abstract

The invention discloses a three-dimensional transformational parallel robot mechanism with a large workspace. The mechanism comprises a motion platform, a fixed platform and three branched chains in the same structure, wherein the motion platform and the fixed platform are connected by the three branched chains each of which comprises three revolute pairs, a hook joint and a connecting rod in between from bottom to top. The working platform of the mechanism can realize three-dimensional transformational motion output. The mechanism is simple, realizes high-speed motion without passive constraint, has low kinematic pairs with easy manufacture and mounting, high transmission precision and low cost, has great workspace, good transmission characteristic and analytic normal and inverse motion solutions and simplifies the technical problems of trajectory planning, control, correction, and the like.

Description

【Technical field】 [0001] The invention relates to the field of advanced manufacturing, in particular to a three-dimensional mobile parallel robot mechanism with a large working space. 【Background technique】 [0002] The parallel robot mechanism can be defined as: the upper and lower platforms (fixed platform and moving platform) are connected by two or more kinematic branch chains, each kinematic branch chain is composed of connecting rods and kinematic pairs, and the kinematic platform has two or more A mechanism with more than two degrees of freedom driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots and CNC machine tools. parallel mechanism. [0003] Due to structural limitatio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 赵新华李彬
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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