Fully decoupled three-degree-of-freedom parallel robot mechanism

A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of many rods, many motion pairs, insufficient stiffness, etc., achieve simple mechanism, improve deflection and torsional deformation, and achieve long-term stability. The effect of distance movement

Inactive Publication Date: 2010-06-09
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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[0019] A spatial parallel robot mechanism with one translation and two rotations realized by using fewer kinematic pairs. The mechanism consists of a moving platform 1, a fixed platform 2, and three branch chains connecting the above two platforms: branch chain M1, branch chain M2, and branch chain M3; the branch chain M1 and branch chain M2 are composed of a Hooke from top to bottom. Hinges T1, T2, a rotating hinge R1, R2, a moving hinge P1, P2 and connecting rods L1, L4, L2, L5 between them; branch chain M3 consists of a ball hinge S1, a rotating hinge from top to bottom R3, a mobile hinge P3, and the connecting rods L3 and L6 between them. The connecting rods L4, L5, L6 and the movable hinges P1, P2, P3 of the fixed platform 2 are the driving pair of the mechanism, the axis of the driving pair is perpendicular to the fixed platform, and the axes of the rotating hinges R1, R2, R3 adjacent to the driving pair are respectively Perpendicular to the axis of the drive axis, the ...

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Abstract

The invention discloses a fully decoupled three-degree-of-freedom parallel robot mechanism, which consists of a motion platform, a fixed platform and three fork chains connecting the two platforms, wherein two of the three fork chains have the same structure and each of the two fork chains consists of a hooke hinge, a rotary hinge, a moveable hinge and a connecting rod between the two fork chains from top to down; and the other fork chain consists of a spherical hinge, a rotary hinge, a moveable hinge and a connecting rod between the fork chains from top to down. The working platform of the mechanism of the invention can realize a one-translation two-rotation fully decoupled motion output; and the mechanism can effectively solve the problems of easy flexure and torsional deformation of the parallel mechanism caused by excessive freedom degrees of a motion pair and increase the whole load/weight ratio of the mechanism because the mechanism has few joints and only 13 freedom degrees of motion pair in total. In addition, a five-degree-of-freedom hybrid robot can be designed by connecting a two-degree-of-freedom rotary head with the motion platform in series and can be applied to complex curved surface machining and on other occasions.

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 fully decoupled motion output of 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 an...

Claims

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Application Information

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