Novel parallel manipulator with five freedom degrees

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 ...

AI Technical Summary

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

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