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Redundant parallel robot system

A robot system and parallel technology, applied in the field of robot systems, can solve problems such as poor rigidity and out-of-control mechanism, and achieve the effects of simple structure, overcoming the out-of-control mechanism and improving movement speed.

Inactive Publication Date: 2010-09-29
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In response to the above problems, the purpose of the present invention is to provide a redundant parallel robot system that can overcome the shortcomings of poor rigidity and mechanism loss of control when the robot is in a singular position.

Method used

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Embodiment Construction

[0014] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0015] Such as figure 1 , figure 2 As shown, the present invention comprises a static platform 1, and four drive motors 2 are fixedly arranged on the static platform 1, and each drive motor 2 is fixedly connected with an active rod 3, and the other end of each active rod 3 passes through a rotating pair respectively. A driven rod 4 is connected to form a branch chain, and the other end of each driven rod 4 is fixedly connected to a sensor 5 by screws, and each sensor 5 is connected to a moving platform 6 through a rotating pair. The four driving motors 2 and the four sensors 5 are electrically connected to the same controller (not shown in the figure). Each drive motor 2 has two modes of position control and force control, and can output its own position signal, angle signal and torque signal to the controller, so as to control the angular displace...

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Abstract

The invention relates to a redundant parallel robot system. The redundant parallel robot system is characterized by comprising a static platform, wherein four drive motors are fixedly arranged on the static platform; the four drive motors are in common connection with a controller; each drive motor is fixedly connected with a driving lever respectively; each driving lever is connected with a driven lever through a revolute pair to form a branched chain respectively; each driven lever is fixedly connected with a sensor respectively; and each sensor is in common connection with a moving platform through a revolute pair respectively. The redundant parallel robot system has the advantages of simple structure, large work space, high stiffness and high dynamic property, and can be used for manufacturing a plurality of types of mechanical equipment such as manipulators, machine tools, experimental platforms for researching force control and the like, so the redundant parallel robot system has a wide application prospect and a development potentiality in the fields of machining, assembly, mechanical kinetics scientific research and the like.

Description

technical field [0001] The invention relates to a robot system, in particular to a redundant parallel robot system. Background technique [0002] As a new mechanical structure, parallel mechanism has shown strong vitality since its generation. Because it has many advantages over traditional tandem mechanisms, it has been widely used in many fields such as machine tool design, virtual reality and mechanical equipment. At present, in the robot system, the 3RRR (three branch chain) parallel mechanism has been widely studied by many scholars at home and abroad. Although the 3RRR parallel mechanism has many advantages, it is severely limited by its inherent shortcomings in practical applications. Among these shortcomings, the numerous singular positions caused by strong nonlinearity are particularly prominent. It causes the rigidity of the robot to be too low near the singular position, and even makes the entire robot system out of control due to the loss of degrees of freedom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J13/00
Inventor 李铁民刘辛军唐晓强徐博强吴军刘大炜
Owner TSINGHUA UNIV
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