2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF)

Inactive Publication Date: 2010-05-12
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, a 5-degree-of-freedom hybrid robot is constructed by connecting a 2-degree-of-freedom rotating head in series based on a 3-degree-of-freedom parallel robot mechanism as a positioning component, which has broad application prospects in the field of high-speed mac

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  • 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF)
  • 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF)

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Embodiment 1

[0019] A spatial parallel robot mechanism with one translation and two rotations realized by using fewer kinematic pairs. The mechanism is composed of a moving platform 1, a fixed platform 2 and three branch chains M3, M4 and M5 connecting the above two platforms; the branch chains M3 and M4 are respectively composed of a Hooke hinge T1, T2 and a moving hinge P1 from top to bottom. , P2, a rotating hinge R1, R2 and connecting rods L1, L2, L3, L4 between them; branch chain M5 consists of a ball hinge S1, a moving hinge P3, a rotating hinge R3 and their Between the connecting rod L5, L6 composition. The connecting rods L2, L4, L6 and the movable hinges P1, P2, P3 of the fixed platform 2 are the driving pairs of the mechanism, and the axes of the rotating hinges R1, R2, R3 adjacent to the driving pair are respectively perpendicular to the axis of the driving pair, passing through Hooke The hinges T1, T2 and the ball hinge S1 connect the rods L1, L3, L5 to the motion platform 1, ...

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Abstract

The invention discloses a spatial parallel robotic mechanism with three degrees of freedom (DOF). The mechanism consists of a motion platform, a fixed platform and three branched chains for linking the two platforms; two of the three branched chains have the same structure and respectively comprise a hooke joint, a rotating joint, a prismatic joint and connecting rods from top to bottom, wherein the connecting rods are arranged among the hooke joint, the rotating joint and the prismatic joint; and the other branched chain comprises a ball joint, a rotating joint, a prismatic joint and connecting rods from top to bottom, wherein the connecting rods are arranged among the ball joint, the rotating joint and the prismatic joint. A working platform of the mechanism can realize motion output with one translational DOF and two rotations; and the mechanism has less joints and a motion pair only has 13 DOFs in total, thereby effectively solving the problem that a parallel mechanism is easy to bend, reverse and deform due to overabundance of DOFs of the motion pair. In addition, a rotating head with two DOFs is connected in series to the motion platform, and therefore, a hybrid robot with five DOFs, which can be used in occasions of machining at high speed, can be designed.

Description

【Technical field】 [0001] The invention relates to the technical field of robots and advanced manufacturing, in particular to a parallel robot mechanism with few degrees of freedom that realizes space-translation and two-rotation. 【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 me...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 李彬赵新华魏璇
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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