Novel four-degree-of-freedom parallel manipulator

A degree of freedom, manipulator technology, applied in the field of robotics, can solve problems affecting the fast-forward capability and dynamic performance of the mechanism, and the weight of the end effector is large, and achieve high positioning accuracy and repeatable positioning accuracy, good dynamic performance, and stiffness/mass ratio. big effect

Active Publication Date: 2012-06-13
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] This kind of manipulator, because the servo motor and reducer are installed in the active swing head, its disadvantage is: the weight of the end effector is too large, which affects the fast forward ability and dynamic performance of the mechanism

Method used

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  • Novel four-degree-of-freedom parallel manipulator
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  • Novel four-degree-of-freedom parallel manipulator

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Embodiment Construction

[0013] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0014] The novel four-degree-of-freedom parallel manipulator of the present invention comprises a fixed frame 5, on which an opening is opened at intervals of 90° along the same circumferential direction, and passes through the first and second holes respectively in the four openings. Two, the third, the fourth hinge 2, 17, 16, 4 are connected with the first, second, third, and fourth active branch chains 1, 18, 15, 3 in rotation, wherein the first and the third active branch chains 1 , 15 are arranged oppositely, the second and fourth active branch chains 18, 3 are arranged oppositely, and the first and third hinges 2, 16 respectively include the first outer ring 23 connected to the fixed frame through a hinge with one rotational degree of freedom -1 and the first inner ring 24-1 connected to the first outer ring 23-1 through a hinge with on...

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Abstract

The invention discloses a novel four-degree-of-freedom parallel manipulator, which comprises a fixed frame, wherein four holes in the fixed frame are connected with first, second, third and fourth active branched chains through first, second, third and fourth hinges in a rotation mode respectively; a moving platform is arranged below the fixed frame; the first, second, third and fourth active branched chains are connected with the moving platform through fifth, sixth, seventh and eighth hinges respectively; one end of a first connecting rod, one end of a second connecting rod, one end of a third connecting rod and one end of a fourth connecting rod are connected with hinge shafts of the fifth, sixth, seventh and eighth hinges respectively, and the other ends of the first, second, third and fourth connecting rods are respectively connected with first, second, third and fourth sliding blocks on which guide rail grooves are formed; the bottoms of all the sliding blocks are fixedly connected with a screw nut pair respectively; and each screw is connected with a gear. The manipulator has a good feeding direction, low positioning head mass, a high rigidity-to-mass ratio, a high dynamic property, high positioning accuracy and high repeated positioning accuracy.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel manipulator capable of realizing four-degree-of-freedom operations. Background technique [0002] According to patents US4732525 and ZL200510015095.5, the existing multi-coordinate manipulator with a positioning head is generally realized in the form of a hybrid structure with a parallel mechanism with less degrees of freedom and an active swing head. Among them, the parallel mechanism with few degrees of freedom realizes the positioning of the moving platform of the mechanism by adjusting the servo motor installed on the active branch chain, and the active swing head realizes the attitude positioning of the end effector by adjusting the servo motor installed on the swing head, thereby realizing the mechanism Multi-coordinate machining capability. [0003] Since the servo motor and reducer are installed in the active swing head of this type of manipulator, its disadvantage is that the weigh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/08
Inventor 宋轶民孙涛董罡连宾宾
Owner TIANJIN UNIV
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