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2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism

A degree of freedom and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as small working space, poor transmission characteristics, and complex kinematics solutions, achieve less joints in the mechanism, and improve deflection and torsional deformation , the effect of simple mechanism

Active Publication Date: 2011-08-31
NANTONG ZHONGYI BOILER EQUIP
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] However, due to structural constraints, technical problems such as strong kinematic coupling, complex kinematics solutions, small working space and poor transmission characteristics of the six-degree-of-freedom parallel mechanism have not been well resolved.

Method used

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Embodiment Construction

[0016] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with specific embodiments and illustrations.

[0017] Such as figure 1 As shown, a 2-PRR&PPRR three-degree-of-freedom space parallel robot mechanism is composed of a moving platform 1, a fixed platform 2, and three branch chains connecting the above two platforms: branch chain M1, branch chain M2, and branch chain M3. Among them, the branch chain M1 is composed of two rotating pairs R11, R12, two moving pairs P11, P12 and the connecting rods L1, L2, L3 between them from top to bottom; the branch chain M2 is composed of two A rotating pair R21, R22, a moving pair P2 and connecting rods L4, L5 between them; branch chain M3 consists of two rotating pairs R31, R32, a moving pair P3 and the connection between them from top to bottom. Composed of rods L6 and L7. The connecting r...

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Abstract

The invention discloses a three-degree-of-freedom spatial parallel robot mechanism, which consists of a motion platform, a fixed platform and three branched chains connected with the two platforms, wherein two branched chains have the same structure and consist of two rotating pairs, a movable pair and a connecting rod therebetween from top to bottom respectively; and the other branched chain consists of two rotating pairs, two movable pairs and a connecting rod therebetween from top to bottom. The motion platform of the mechanism can realize three movable motion outputs. The mechanism has a few joints and 10 degrees of freedom of the motion pairs in total only, so that the mechanism can effectively improve the problem that the parallel mechanism is easy to bend, twist and deform due to excessive degrees of freedoms of the motion pairs. In addition, a two-degree-of-freedom rotating head is serially connected with the motion platform, so a five-degree-of-freedom mixed robot can be designed, and the mechanism can be used for high-speed machining machine tools, laser impact forming equipment and other occasions.

Description

Technical field: [0001] The invention relates to a space parallel robot mechanism, in particular to a three-degree-of-freedom space parallel robot mechanism capable of realizing three movements, and belongs to the field of mechanical design. Background technique: [0002] The parallel robot mechanism can be defined as: the static platform (fixed platform) and the moving platform (moving platform) are connected by more than two kinematic branch chains, each kinematic branch chain is composed of a connecting rod and a kinematic pair, and the kinematic platform has two Or more than two degrees of freedom and driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, measuring instruments, sensors, micro-manipulators, and multi-dimensional vibration equipment. In addition to the classic six-degree-of-freedom Stewart platform, researchers have also invented many six-degree-of-freedom mechanis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 王成军沈豫浙
Owner NANTONG ZHONGYI BOILER EQUIP
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