Three-degree-of-freedom decoupling hybrid robot

A degree of freedom and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor dynamic response performance, poor rigidity, and small working space

Inactive Publication Date: 2011-06-08
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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 manipulato

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Embodiment Construction

[0008] attached figure 1 It is a schematic diagram of the first structure of the embodiment of the present invention. A three-degree-of-freedom decoupling hybrid robot, including a frame 0, a suspension frame 1, a mounting arm 2, and a two-degree-of-freedom planar parallel mechanism operator P 3 -R 5 -R 6 -R 7 -P 4 , the mounting arm 2 is rotated by a R 1 Connect and fix the suspension frame 1 fixed on the frame 0, and install a two-degree-of-freedom planar parallel mechanism operator on the mounting arm 2, that is, component one 3, component two 4, component three 5, and component four of the planar parallel mechanism operator 6 respectively to rotate the second R 5 , rotating pair three R 6 , rotating pair four R 7 After the connection, component 1 3 and component 4 6 are respectively moved by the pair of P 3 , mobile deputy second P 4 Connected with the mounting arm 2, the movement plane of the operator of the two-degree-of-freedom planar parallel mechanism and th...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 沈惠平王玮孟庆梅邓嘉鸣朱小蓉唐玲
Owner CHANGZHOU UNIV
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