Three-translation spatial parallel robotic mechanism

A robot, three translation technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low running speed of the mechanism, large inertia of the execution part, and many motion pairs, etc., to reduce the motion inertia, the mechanism is simple, and the mechanism less joint effect

Inactive Publication Date: 2010-12-08
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0004] At present, the 3-translational parallel mechanism robot mechanism has broad application prospects as a picking mechanism. In order to overcome the problems that the positioning parts of the parallel structure form have many rods, many m

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Embodiment Construction

[0019] A space-parallel robot mechanism with one translation and two rotations is realized by using fewer kinematic pairs, and the driving part of the mechanism is completely placed on a fixed platform, which greatly reduces the overall motion inertia of the mechanism. The mechanism is composed of a moving platform 1, a fixed platform 2 and three branch chains A1B1, A2B2, A3B3 connecting the above two platforms; the branch chains A1B1 and A2B2 are composed of rotating hinges R12, R22 and Hooke hinges T1 and T2 respectively from top to bottom. , rotating hinges R11, R21 and connecting rods L11, L12, L21, L22 between them; branch chain 3 consists of rotating hinge R32, ball hinge S1, rotating hinge R31 and connecting rod L31 between them from top to bottom , composed of L32; where:

[0020] Said connecting rod L12, L22, L32 are respectively connected with the motion platform 1 through the rotary hinge R12, R22, R32, and the axis of the rotary hinge R12 is perpendicular to the co...

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Abstract

The invention discloses a three-translation spatial parallel robotic mechanism, and relates to the technical fields of robots and advanced manufacturing, in particular to a spatial three-degrees-of-freedom parallel robotic mechanism capable of realizing spatial three-translation. The mechanism consists of a moving platform, a fixed platform and three branched chains for coupling the two platforms, wherein two branched chains are respectively composed of a revolute joint, a hooke joint and a revolute joint from the moving platform to the fixed platform, and connecting rods among the joints; and the other branched joint is composed of a revolute joint, a ball joint and a revolute joint from top to bottom, and connecting rods among the joints. The working platform of the mechanism can realize three-dimensional translational motion output under Cartesian coordinates; and the mechanism has a few joints, and the total number of the degrees of freedom of kinematic pairs is only 13, so that the mechanism can effectively solve the problems of easy deflection and torsional deflection of the parallel mechanism due to excessive degrees of freedom of the kinematic pairs. The three driving pairs (revolute joints) of the mechanism are directly connected with the fixed platform, so the motion inertia of the mechanism is greatly reduced, and the high-speed motion of the mechanism can be realized.

Description

【Technical field】 [0001] The invention relates to the technical field of robots and advanced manufacturing, in particular to a space three-degree-of-freedom parallel robot mechanism that realizes space three-translation. 【Background technique】 [0002] A parallel mechanism is a group of two or more branches connected in parallel. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. Numerical control machine tools, robot manipulators and manufacturing units composed of parallel mechanisms as transmission and feed mechanisms are collectively referred to as parallel configuration equipment, which is a new type of manufacturing equipment developed in recent years with broad application prospects. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, ...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 李彬赵新华魏璇
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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