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Three-translational-degree-of-freedom robot mechanism

A technology of robots and degrees of freedom, applied in the field of robots, can solve problems such as difficulty in ensuring the attitude accuracy of the moving platform and changes in the attitude of the moving platform, and achieve the effects of simple structure, guaranteed attitude accuracy, and convenient installation

Inactive Publication Date: 2011-11-02
TIANJIN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this type of mechanism is that since the steel wire is a flexible unit, its length also changes when the degree of tightness is different, resulting in changes in the attitude of the moving platform, making it difficult to guarantee the attitude accuracy of the moving platform

Method used

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Examples

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Embodiment Construction

[0013] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0014] The basic idea of ​​the present invention is: a parallelogram structure is formed near the frame on the branch chain, and the quadrilateral structure is combined with the pivot hinge on the branch chain to form a parallel relationship between the frame and the moving platform to limit the degree of freedom of rotation of the moving platform. And drive the moving platform to ensure its position and attitude accuracy.

[0015] see Figure 1 to Figure 5 , a robot mechanism with three translational degrees of freedom, comprising a frame 1, a moving platform 6 and three branch chains with the same structure, each branch chain is provided with a driving device 7, and the driving device is fixedly connected to the frame 1, and the above three...

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Abstract

The invention discloses a three-translational-degree-of-freedom robot mechanism. The robot mechanism comprises a stand, a movable platform and three branching chains with the same structure, wherein each branching chain is provided with a driving device and comprises a secondary driving arm, a supporting frame, a driving arm, a driven arm and a crank shaft hinge; the upper end, the lower end and the middle part of the supporting frame are provided with hinge parts respectively; one end of the driving arm is connected with an output shaft of the driving device, and the other end of the drivingarm is connected with the middle hinge part of the supporting frame through a third hinge shaft; the hinge part of the upper end of the supporting frame is connected with one end of the secondary driving arm through a second hinge shaft, and the other end of the secondary driving arm is connected with the stand through a first hinge shaft; the hinge part of the lower end of the supporting frame is connected with one end of the driven arm through the crank shaft hinge, and the other end of the driven arm is hinged with the movable platform through the crank shaft hinge; and a parallelogram is formed among the secondary driving arm, the supporting frame, the driving arm and the stand. The robot mechanism effectively guarantees the posture accuracy of the movable platform, has a simple structure and is convenient to mount.

Description

technical field [0001] The invention relates to a robot, in particular to a robot mechanism with three translation degrees of freedom. Background technique [0002] US Patent US4976572 (or WO7703527, EP0250470, CH672079, EP0250470, JP63501760T) discloses a spatially symmetrical three-translation parallel mechanism, which includes three active branch chains, and each branch chain includes two parts: a driving arm and a driven arm. There are two types of branch chains of this kind of mechanism. One is that the main arm and the driven arm are both in the form of a single rod, and the two ends of the driven arm are respectively connected with the main arm and the moving platform through the Hooke hinge; The arm is a single rod, while the slave arm is a double rod, and the double rod slave arm forms a parallelogram. The two ends of each rod are respectively connected with the active arm and the dynamic platform through ball joints, and one end of the active arm has only one movem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
Inventor 梅江平张良安
Owner TIANJIN UNIV
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