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Three degree of freedom parallel robot mechanism

A robot and degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult working points, achieve simple kinematics, easy control and calibration, and reduce complexity.

Inactive Publication Date: 2010-09-29
ZHEJIANG SCI-TECH UNIV
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  • Abstract
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Problems solved by technology

However, it is worth noting that this point is in the kinematic pair, so it is difficult to be the actual working point in the work

Method used

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Examples

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Embodiment Construction

[0019] Further description will be given below through the embodiments shown in the accompanying drawings.

[0020] The embodiments shown in the three drawings all include a moving platform 4, a fixed platform 6, and three branches connecting the moving platform and the fixed platform; the three branches have identical structures, and the motion planes of the left and right branches overlap and are symmetrical about the moving platform Distribution, the movement plane of the middle branch coincides with the symmetry plane of the left and right branches; each branch is provided with at least one revolving pair, a connecting rod and a spherical hinge; the tool 5 is located below the moving platform and is perpendicular to the moving platform; on this basis, each The differences of the examples are:

[0021] Add A: Each branch is also equipped with a moving pair driven by a motor; the moving pair is directly installed on the fixed platform, and the moving platform is connected wi...

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Abstract

The invention relates to a three degree of freedom parallel mechanism and provides a three degree of freedom parallel robot mechanism which reduces the complexity degree of motion compensation and has a simpler kinematics. The technical scheme is that the three degree of freedom parallel robot mechanism comprises a moving platform, a fixed platform and three branches which connect the moving platform and the fixed platform, wherein structures of the three branches are completely the same; motion planes of the left branch and the right branch are superposed and are symmetrically distributed in relation to the moving platform; a motion plane of the central branch is superposed with symmetrical planes of the left branch and the right branch; and each branch is provided with a revolute pair, a connecting rod and a spherical hinge.

Description

technical field [0001] The invention belongs to the field of mechanical manufacturing, in particular to a three-degree-of-freedom parallel mechanism. Background technique [0002] The number of degrees of freedom of the mechanism of the parallel robot with few degrees of freedom is less than 6. For a large number of operational tasks that require less than 6 degrees of freedom in practical applications, the extra degrees of freedom increase the complexity of system hardware, software, and post-maintenance, and the cost also increases accordingly. A typical example is the currently widely used Delta 3 (Delta) degree of freedom mobile robot. The research and application of three-degree-of-freedom parallel robots have been highly concerned by the relevant international academic and industrial circles in the past 10 years, especially the configuration synthesis theory and design method in the mechanism of few-degree-of-freedom parallel robots has become a hot issue. Wang Lipin...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 李秦川陈志陈巧红王茹张铁牛孙晓东
Owner ZHEJIANG SCI-TECH UNIV
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