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Completely isotropic three-freedom degree spatial parallel robot mechanism

A degree of freedom and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex structures and parts that are difficult to achieve high-precision processing, and achieve broad application prospects, easy processing and production, and high practical value.

Inactive Publication Date: 2012-06-27
HENAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a completely isotropic three-degree-of-freedom space parallel robot mechanism to solve the problems in the prior art that the structure is relatively complex and some parts are difficult to achieve high-precision machining

Method used

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  • Completely isotropic three-freedom degree spatial parallel robot mechanism
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  • Completely isotropic three-freedom degree spatial parallel robot mechanism

Examples

Experimental program
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Embodiment 1

[0011] A completely isotropic three-degree-of-freedom space parallel robot mechanism, such as figure 1 As shown, the mechanism consists of a static platform 1, a dynamic platform 20 and three branches connecting the static platform 1 and the dynamic platform 20; between the static platform 1 and the dynamic platform 20, the first branch is formed by the first moving pair R1 , the second moving pair P2 perpendicular to the first moving pair P1, and the first rotating pair R1 parallel to the second moving pair P2 are sequentially connected in series. Between the first moving pair P1 and the second moving pair P2, the second moving pair The pair P2 and the first rotating pair R1 are respectively connected by the second member 2 and the third member 3; the second branch is composed of the third moving pair P3, the fourth rotating pair R4, the fifth rotating pair R5, the third rotating pair The pair R3 is connected in series, the axes of the above four moving pairs are parallel to ...

Embodiment 2

[0014] A completely isotropic three-degree-of-freedom space parallel robot mechanism, such as figure 2 As shown, the only difference from Embodiment 1 is that, firstly, the first revolving pair 1 and the third revolving pair 3 in Embodiment 1 are replaced by a compound hinge B1, and the first branch and the second branch occupy the compound hinge B1 respectively. Two degrees of freedom of the hinge B1; secondly, replace the third moving pair 3 and the rotating pair connected with it with a cylindrical pair C1. The specific structure is as follows:

[0015] The mechanism consists of a static platform 1, a dynamic platform 20, and two branches connecting the static platform 1 and the dynamic platform 20; the first branch is composed of a compound hinge B1 and two sub-branches connected in series, and the compound hinge B1 is installed on the dynamic platform. 20, the first sub-branch is composed of the first mobile pair P1 and the second mobile pair P2 perpendicular to the fir...

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Abstract

The invention relates to a completely isotropic three-freedom degree spatial parallel robot mechanism. The mechanism consists of a static platform, a mobile platform and three branch circuits connecting the static platform and the mobile platform, wherein between the static platform and the mobile platform, a first sliding pair is connected in series with a second sliding pair vertical to the first sliding pair and a first revolute pair parallel to the second sliding pair sequentially to form a first branch circuit; a third sliding pair is connected in series with a fourth sliding pair, a fifth sliding pair and a third revolute pair sequentially to form a second branch circuit; a third branch circuit is formed by connecting a second revolute pair, a first Hooke's joint, a sixth revolute pair and a second Hooke's joint sequentially; and three sliding pairs positioned on the static platform are driving pairs. The mechanism can be used as a terminal actuating mechanism of industrial robots, medical robots and micro-operation robots, and realizes actions of fetching and other operation of two-dimensional movement and one-dimensional rotation. The mechanism has the advantages of simpledesign structure, high kinematics decoupling performance and high moving performance.

Description

technical field [0001] The invention relates to a two-movement-rotation fully isotropic three-degree-of-freedom space parallel robot mechanism used in the field of industrial robots. Background technique [0002] The parallel robot mechanism generally consists of a moving platform, a fixed platform and several branches (generally 2-6). Compared with the traditional series mechanism, the parallel mechanism has the advantages of strong bearing capacity, high precision, high rigidity, fast speed response and small self-weight-to-load ratio. But for the general parallel robot mechanism, its kinematic coupling is very strong, such as the famous 6-DOF Steward parallel mechanism, which has 40 sets of kinematic solutions; another example is the 3-DOF mobile Delta parallel mechanism, which consists of Composed of 12 ball pairs, 3 revolving pairs and 14 rods, the structure is relatively complex, and there are 16 groups of kinematic solutions. Later, Tsai designed a new type of three...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 张彦斌何晓玲王慧萍吴鑫王燕霜张树乾
Owner HENAN UNIV OF SCI & TECH