Three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement

Abstract

The invention provides a three-dimensional translation and one-dimensional rotation parallel mechanism capable of realizing high-speed movement, comprising a fixed frame, a movable platform and four branched chains which are symmetrically arranged between the fixing frame and the movable platform and have same structures. The movable platform comprises an upper platform and a lower platform, which are horizontally arranged and are connected through a rotating mechanism. The rotating mechanism comprises a lead screw nut fixed on the upper platform and a lead screw connected with the lead screw nut, and the lead screw is supported by a bearing installed on the lower platform. In the three-dimensional translation and one-dimensional rotation parallel mechanism, the movement of the upper platform and the lower platform is converted into rotation round the axis of the lead screw through the rotating mechanism, and the upper platform and the lower platform are respectively and fixedly connected with a pair of opposite lower connecting shafts. In the invention, the upper platform and the lower platform which are horizontally arranged are adopted for the movable platform, and the upper platform and the lower platform are connected through the rotating mechanism, thereby the three-dimensional translation and one-dimensional rotation parallel mechanism has compact structure, avoids using a steering mechanism and an amplifying mechanism, reduces the mechanism complexity and the movement quality, is easy to realize high-speed capture, and meets the requirement of complex catching and releasing operation.

Description

technical field [0001] The invention relates to a robot, in particular to a three-dimensional translation and one-dimensional rotation parallel mechanism capable of high-speed movement of the robot. Background technique [0002] U.S. Patent No. 4,976,582 proposes a parallel mechanism capable of three-dimensional translation and one-dimensional rotation, including a moving platform and three active branch chains, and each branch chain includes two parts, a near frame bar and a far frame bar. The far frame rod is a parallelogram formed by double rods, and the two ends of each rod are respectively connected with the near frame rod and the moving platform through ball joints, wherein one end of the near frame rod has only one degree of freedom of movement or rotation relative to the fixed frame, The other end is connected with one end of the far frame rod through a ball joint, thereby restricting three degrees of freedom of rotation of the moving platform relative to the fixed f...

AI Technical Summary

Problems solved by technology

The disadvantage of the above-mentioned four-degree-of-freedom mechanism is that the mass of the moving parts of the mechanism is increased, and the structure for realizing one-dimensional rotation is relatively complicated.

The disadvantage of the above mechanism is that the size of the moving platform is relatively large, and the amplifying mechanism arranged on it increases the weight of the moving platform

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