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Novel parallel manipulator with five freedom degrees

A degree of freedom, manipulator technology, applied in the field of robotics, can solve the problems of unfavorable mechanism high stiffness/mass ratio, affecting the fast-forward capability and dynamic performance of the mechanism, and large weight of the end effector, and achieves the realization of modular structure design and positioning accuracy. With high repeat positioning accuracy and good dynamic performance

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

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Problems solved by technology

[0003] This kind of manipulator, because the servo motor and reducer are installed in the A / C double swing head, its disadvantages are: the weight of the end effector is too large, which affects the fast forwarding ability and dynamic performance of the mechanism; because the carrying capacity of the mechanism is completely determined by The branch chain bearing of the parallel mechanism with few degrees of freedom is not conducive to the pursuit of high stiffness / mass ratio of the mechanism

Method used

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  • Novel parallel manipulator with five freedom degrees
  • Novel parallel manipulator with five freedom degrees
  • Novel parallel manipulator with five freedom degrees

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Embodiment Construction

[0013] Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention will be further described:

[0014] As shown in the accompanying drawings, the novel five-degree-of-freedom parallel manipulator of the present invention includes a fixed mount 2, a first main kinematic chain, a second main kinematic chain, a third main kinematic chain, and a driven branch chain 8. The first described A main kinematic chain includes a first active branch chain 1, the second main kinematic chain includes second and third active branch chains 3, 4, and the third main kinematic chain includes fourth and fifth active branch chains 9, 10, the driven branch chain is located in the driven branch chain seat set in the central opening of the fixed frame, the first, second and third main kinematic chains are placed symmetrically with respect to the driven branch chain and mutually The phase between them is 120°, the first active branch chain is located...

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Abstract

The invention discloses a novel parallel manipulator with five freedom degrees, comprising a fixed frame, a first main kinematic chain, a second main kinematic chain, a third main kinematic chain and a driven branch chain, wherein the first main kinematic chain comprises a first drive branch chain; the second main kinematic chain comprises a second drive branch chain and a third drive branch chain; the third main kinematic chain comprises a fourth drive branch chain and a fifth drive branch chain; the driven branch chain is located in a driven branch chain seat disposed in the central hole of the fixed frame; each drive branch chain seat is rotationally connected with the inner wall of the corresponding hole of the fixed frame via a first rotary shaft; each drive branch chain is rotationally connected with the correspondingly-disposed drive branch chain seat via a second rotary shaft; the second main kinematic chain conveys a motion to a first transmission system, and then the first transmission system conveys the motion to a location head; and the third main kinematic chain conveys a motion to a second transmission system, and then the second transmission system conveys the motion to a rotating shaft. In the structure, the double drive branch chains can increase rigidity / mass ratio, so that mechanism is good in dynamic performance, as well as high in positioning accuracy and repositioning accuracy.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel manipulator capable of realizing five-degree-of-freedom operations. Background technique [0002] According to patents US4732525 and ZL200510015095.5, it is known that the existing multi-coordinate manipulator with a positioning head is generally realized in the form of a parallel mechanism with few degrees of freedom and a hybrid structure with A / C double swing heads. 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 A / C double swing head realizes the attitude positioning of the end effector by adjusting the servo motor installed on the double swing head , so as to realize the multi-coordinate machining capability of the mechanism. [0003] This kind of manipulator, because the servo motor and reducer are installed in the A / C double swing ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/06
Inventor 宋轶民孙涛董罡连宾宾
Owner TIANJIN UNIV
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