Controllable mechanism type parallel robot platform with six degrees of freedom

Abstract

A controllable mechanism type parallel robot platform with six degrees of freedom comprises a fixed platform, a movable platform and six branched chains. The fixed platform and the movable platform of the robot platform are connected by the six branched chains, and the six branched chains are respectively driven by six servo motors mounted on the fixed platform. The robot platform has the six degrees of freedom and is high in flexibility, carrying capacity of the robot platform is high due to the fact that the various servo motors are mounted on the fixed platform, and the controllable mechanism type parallel robot platform can be widely applied to places with multi-degree-of-freedom experiment platforms, antenna pedestals, machine tools, flight simulators and the like.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a six-degree-of-freedom parallel robot platform with a controllable mechanism. Used in structural systems such as multi-degree-of-freedom experimental platforms, antenna bases, parallel machine tools, and flight simulators, the control of six-degree-of-freedom parallel robot platforms is realized through the control of servo motors. Background technique [0002] Generally, robot mechanisms are divided into two types: open-loop mechanism and closed-loop mechanism. The open-loop mechanism is called a series mechanism, and the closed-loop mechanism is a parallel mechanism. Compared with the series mechanism, the parallel robot is not only rigid. The structure is stable, the carrying capacity is large, and the fretting precision is high, and the motion load is small, so the parallel robot has been widely used in the industrial field. The six-degree-of-freedom parallel mechanism is a...

AI Technical Summary

Problems solved by technology

[0003] Traditional parallel robot mechanisms, especially six-degree-of-freedom mechanisms, generally use 6 independent telescopic struts to ensure that the moving platform has 6 degrees of freedom. In practical applications, hydraulic transmission, linear motors and other drive technologies are generally used, often resulting in six degrees of freedom. Robot manufacturing costs increase, maintenance is more difficult, and because the drive device is also a load-bearing device, the reliability of this type of robot platform is poor and the load-carrying capacity is small

In some other parallel robots, the motors are placed at the joints in practical applications, which leads to a decrease in the load-carrying capacity of the parallel robot and excessive motion inertia of the branch chain.

Images