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A degree of freedom and manipulator technology, applied in the direction of program control manipulators, joints, manipulators, etc., can solve the problems of unfavorable robot dynamics, cumbersome parts, lack of accuracy, and high realization.
Inactive Publication Date: 2011-02-16
FUNDACION FATRONIK +1
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It results in bulky parts that are not conducive to robot dynamics
This significant drawback makes it difficult to achieve high accelerations and thus short cycle times
Another consequence of this defect is the vibration induced by the planar structure, which causes a lack of precision
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[0036] With the figures in question, one possible embodiment of a two-degree-of-freedom parallel manipulator according to the invention is disclosed.
[0037] Figure 5 A general view of the manipulator according to the invention is shown. The manipulator comprises a frame 1, four frame arms 3, 3', 4, 4', four platform arms 5, 5', 5", 5"', a rigid platform 6 and an end effector. The end effector holds the object, while the manipulator does the "pick and place" work.
[0038] Both the frame arm and the platform arm have a first end and a second end. The four frame arms 3, 3', 4, 4' are coupled to the rigid frame by their first ends. Each frame arm is coupled to the first end of the platform arm by its second end having a ball joint 7, that is to say, the ball joint 7 links the first frame arm 3 and the first platform arm 5, similarly the ball joint 7 links the first The second frame arm 3' and the second platform arm 5', the third frame arm 4 and the third platform arm 5", ...
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Abstract
The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (1), four frame arms (3, 3', 4, 4' ), four platform arms (5, 5', 5'', 5'''), each frame and platform arm (3, 3', 4, 4', 5, 5', 5'', 5''') with a first end and a second end, a platform (6) and an end-effector, being the first end of each frame arm (3, 3', 4, 4') linked to the frame (1) and being the second end of each frame arm (3, 3', 4, 4') linked to a first end of a platform arm (5, 5', 5'', 5'''), being the second end of each platform arm (5, 5', 5'', 5''') linked to the platform (6), and being the platform (6) linked to the end-effector. In said manipulator a first platform arm (3) and a second frame arm (3') are actuated independently one from the other and a third frame arm (4) and a fourth frame arm (4') are linked to the frame (1) with revolute joints (8), being the rotation of the third and fourth frame arms (4, 4') coupled. Said first and second frame arms (3, 3') and third and fourth frame arm (4, 4') are contained in two different planes, being said planes orthogonal.
Description
【Technical field】 [0001] The present invention relates to a two-degree-of-freedom parallel manipulator, which is mainly used for the manipulation of objects, also named "pick-and-place". The degrees of freedom refer to both translations according to the vertical and horizontal axes. 【Background technique】 [0002] A two-degree-of-freedom robot for picking operations is designed with two translations. The mobile platform of the robot may or may not maintain this orientation, mainly depending on the application. [0003] Two-degree-of-freedom robots that perform two translations and keep the platform orientation constant are very widely used in industry. The constraint that keeps the platform orientation constant is achieved by a planar parallelogram that only allows circular translation between solids. This composed joint is called a Π joint (Hervé J.M., "Analyse structurelle des mécanismes par groups de placements", Principles of Mechanisms and Mechanics, vol. 13, pp. 437...
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