2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF)
A degree of freedom and robot technology, applied in metal processing machinery parts, large fixed members, metal processing equipment, etc., can solve the problems of insufficient rigidity, too many rods, too many kinematic pairs, etc., to improve deflection and torsional deformation, mechanism The effect of less joints and simple mechanism
Inactive Publication Date: 2011-06-01
TIANJIN UNIVERSITY OF TECHNOLOGY
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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 machining. The positioning parts of the parallel structure have the problem of insufficient rigidity caused by many rods and many kinematic pairs. It is necessary to create a new model that meets the requirements of the kinematic form and has fewer kinematic pairs and high rigidity.
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[0021] A spatial parallel robot mechanism that uses fewer motion pairs and both are low pairs to realize one translation and two rotations. The mechanism is composed of a moving platform 1, a fixed platform 2 and three branch chains connecting the two platforms: branch chain M1, branch chain M2, and branch chain M3; among them, branch chain M1 and branch chain M2 are each composed of a Hooke from top to bottom. Hinges T1, T2, two rotating hinges R1, R2, R4, R5 and the connecting rods L1, L2, L4, L5 between them; branch chain M3 is made up of a ball hinge S1 and 1 rotating from top to bottom. The hinges R3, R6 and the connecting rods L3, L6 between them are composed. The connecting rods L4, L5, L6 and the rotating hinges R4, R5, R6 of the fixed platform 2 are the driving pair of the mechanism, and the axes of the rotating hinges R1, R2, R3 adjacent to the driving pair are parallel to the axis of the driving pair. The hinges T1, T2 and the ball hinge S1 connect the rods L1, L2, ...
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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, two rotating joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the hooke joint and the two rotating joints; and the other branched chain comprises a ball joint, two rotating joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the ball joint and the two rotating joints. 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...
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IPC IPC(8): B23Q1/50
Inventor 李彬赵新华魏璇
Owner TIANJIN UNIVERSITY OF TECHNOLOGY