High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism

Abstract

The invention relates to a fewer-degree-of-freedom robot mechanism. The aim of the invention is to provide a mechanism which has the characteristic of improved rigidity and bearing capacity. The invention adopts a technical scheme that the high-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism comprises a dynamic platform, a machine frame, a first branch, a second branch and a third branch, wherein each of the first branch and the second branch is connected with a first single-degree-of-freedom kinematic pair, a second single-degree-of-freedom kinematic pair and a universal hinge in turn. The fewer-degree-of-freedom robot mechanism is characterized in that: the third branch is divided into two parallel branch chains; each branch chain is connected with the first single-degree-of-freedom kinematic pair, the second single-degree-of-freedom kinematic pair and a rotation pair in turn; the first rotation axis line of the universal hinge of the first branch and the first rotation axis line of the universal hinge of the second branch are in the same line and pass through the central point of the T-shaped hinge of the third branch; and the first rotation axis line of the T-shaped hinge of the third branch is vertical or parallel to the rotation axis line of the universal hinge of the first branch and the rotation axial line of the universal hinge of the second branch.

Description

technical field [0001] The invention relates to a robot mechanism with few degrees of freedom, in particular to a three-degree-of-freedom parallel mechanism with high rigidity redundant drive. Background technique [0002] Parallel robots with few degrees of freedom and less than 6 degrees of freedom are currently the focus of international parallel robotics academia and industry. In practical applications, there are a considerable number of operating tasks that require less than 6 degrees of freedom. At this time, the application of a suitable parallel robot with fewer degrees of freedom can effectively save the cost of system design, manufacturing, control and maintenance. [0003] The 3-DOF parallel mechanism with two rotation degrees of freedom and one movement degree of freedom (referred to as 2 rotations and 1 movement) is a very important class of parallel robots with few degrees of freedom. The 3-PRS / RPS type parallel mechanism is a typical representative of the two...

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Problems solved by technology

[0005] The two-transfer-one-transfer three-degree-of-freedom parallel mechanism disclosed in several patent applications submitted by the applicant (CN102126216A, CN102126217A) and the approved patent (CN101518898A) does not have accompanying motion, and has the characteristics of simple structure and low manufacturing cost; However, due to the special structure of the third branch, the force on the front direction is in the form of a cantilever beam, which cannot achieve high rigidity in this direction, and is suitable for occasions with small loads. Insufficient rigidity, resulting in poor bearing capacity of the mechanism

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