Three-degree-of-freedom decoupling hybrid robot

Abstract

The invention relates to a three-degree-of-freedom decoupling hybrid robot, which comprises a machine frame (0), a suspension frame (1), an installation arm (2) and a two-degree-of-freedom plane parallel mechanism manipulator (P3-R5-R6-R7-P4), wherein the installation arm (2) is fixedly connected to the suspension frame (1) of the machine frame (0) by a rotating pair I (R1); the two-degree-of-freedom plane parallel mechanism manipulator is also arranged on the installation arm (2); and two driving sources of the installation arm (2) can be movable pairs or rotating pairs, and also can be one movable pair and one rotating pair, and a motion plane of the installation arm (2) is perpendicular to the axis of the rotating pair I (R1). The three-degree-of-freedom hybrid manipulator has the advantages of forward and inverse kinematics analytic solutions, high control decoupling performance, large work space, compact structure, low manufacturing cost and the like, flexibly moves and can realize three-degree-of-freedom operation or machining in space.

Description

technical field [0001] The invention relates to a three-degree-of-freedom numerical control mixed motion operation equipment, in particular to provide a new type of high-efficiency numerical control device for numerical control cutting and various industrial operations. Background technique [0002] In industry, various planar CNC operations with simple structure and low manufacturing cost are often required, such as metal cutting, welding, non-metallic material cutting, measurement, spraying, engraving and other operations. The existing tandem robot operators have complex structures and poor rigidity. , The dynamic response performance is poor, and the general parallel structure manipulator with few degrees of freedom, such as various two-degree-of-freedom planar manipulators (such as patent application documents [200420083801.0], [200710177514.4], etc.), three-degree-of-freedom parallel manipulators (such as 3 -RPS, three-translation Delta mechanism, etc.), the working spa...

AI Technical Summary

Problems solved by technology

[0002] In industry, various planar CNC operations with simple structure and low manufacturing cost are often required, such as metal cutting, welding, non-metallic material cutting, measurement, spraying, engraving and other operations. The existing tandem robot operators have complex structures and poor rigidity. , The dynamic response performance is poor, and the general parallel structure manipulator with few degrees of freedom, such as various two-degree-of-freedom planar manipulators (such as patent application documents [200420083801.0], [200710177514.4], etc.), three-degree-of-freedom parallel manipulators (such as 3 -RPS, three-translational Delta mechanism, etc.), the working space is small; the two plane two-degree-of-freedom slider-driven parallel mechanisms invented by the applicant (patent documents [200910181312.6], [200910181313.0]) have the advantages of large-scale operations, but require Large working space can be achieved by adjusting the rod length

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