Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect

Abstract

A parallel robot mechanism with spatial three degrees of freedom and a complete movement decoupling effect comprises a fixed base, a movable platform and three branches. The fixed base is connected with the movable platform by the three branches, one end of each of two connecting rods of two branches with completely identical structures is connected with the fixed base by a moving pair, the other ends of the two connecting rods are respectively connected with two other connecting rods by rotating pairs, the other ends of the two other connecting rods are connected with the movable platform by rotating pairs, a moving pair, which is connected with the fixed base, of the third branch is a rotating pair, one end of a connecting rod is connected with the rotating pair while the other end of the connecting rod is connected with one end of another connecting rod by a moving pair, and the other end of the other connecting rod is connected with the movable platform by a moving pair. The parallel robot mechanism has the advantages that the complete movement decoupling effect is realized, a movement control system of the mechanism is developed easily, the mechanism is calibrated more simply and conveniently, and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a parallel robot. Background technique [0002] The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators and multi-dimensional force sensors because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Widely used in other industries. Compared with the serial robot mechanism, the parallel robot mechanism has a smaller working space, strong coupling between motions, and more difficult control, which limits the further promotion and application of the parallel mechanism in the industry. However, if the mechanism achieves motion decoupling, its working space will be enlarged, and the control will be easier. Under the same conditions, th...

AI Technical Summary

Problems solved by technology

However, the space three-degree-of-freedom parallel robot mechanism or motion involved in the patent application so far is only partially decoupled, not completely decoupled, or the branch contains kinematic pairs such as spherical joints and Hooke joints, the structure is relatively complex, and the processing and manufacturing is difficult

Images