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Parallel manipulator capable of realizing five-coordinate machining capacity

A processing capability and manipulator technology, applied in the field of robotics, can solve the problems that affect the response ability and dynamic performance of the mechanism, the rigidity of the mechanism is small, and the overall rigidity is difficult to guarantee, so as to improve the positioning accuracy and repetitive positioning accuracy of the mechanism, high dynamic performance, Stiffness effect

Active Publication Date: 2014-04-30
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The shortcomings of this type of manipulator are: the positioning head is equipped with a servo motor and a reducer, etc., and the weight is too large, which affects the response ability and dynamic performance of the mechanism. The rigidity and mass of the mechanism are relatively small, and the overall rigidity is difficult to guarantee.

Method used

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  • Parallel manipulator capable of realizing five-coordinate machining capacity
  • Parallel manipulator capable of realizing five-coordinate machining capacity
  • Parallel manipulator capable of realizing five-coordinate machining capacity

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Embodiment Construction

[0013] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0014] see Figure 1 to Figure 4 , a parallel manipulator capable of five-coordinate processing, consisting of a fixed frame 1, a moving platform 8, and the first, second, third, fourth, and fifth active branch chains connecting the fixed frame 1 and the moving platform 8 2,3,4,5,6, driven branch chain 7 forms. There is an opening in the center of the base of the fixed frame 1 , and the driven branch chain 7 is slidably connected with the fixed frame through a moving pair 9 . The first active branch chain 2 is the first kinematic chain, the second and third active branch chains 3 and 4 are the second kinematic chain, the fourth and fifth active branch chains 5 and 6 are the third kinematic chain, and the The first, second and third kinemati...

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Abstract

The invention discloses a parallel manipulator capable of realizing five-coordinate machining capacity, which comprises a holder. The center of a base of the holder is connected with a driven branch chain through a sliding pair, a first kinematic chain, a second kinematic chain and a third kinematic chain are evenly distributed on the periphery of the driven branch chain and fixedly connected onto the holder, a movable platform is arranged below the holder and comprises a first platform and a second platform which are rotatably connected with each other through a bearing, the lower end of the driven branch chain is connected with the first platform through a third hinge with two rotational degrees of freedom, the lower end of the first kinematic chain is rotatably connected with the first platform through a fourth hinge with three rotational degrees of freedom, and the second kinematic chain and the third kinematic chain are connected onto the first platform through the same connecting structure. The parallel manipulator is fine in fast-forward capacity and dynamic performance, high in overall rigidity, fast in speed and high in positioning precision and repeated positioning precision.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel robot capable of realizing five-coordinate processing. Background technique [0002] According to patents US4732525 and ZL200510015095.5, it is known that the existing multi-coordinate manipulators are generally implemented in the form of a hybrid structure with a few degrees of freedom parallel mechanism supplemented by a positioning head. The multi-coordinate processing capability includes the position positioning of the moving platform and the attitude positioning of the end effector. Among them, the position positioning of the moving platform of the mechanism is realized by a parallel mechanism with few degrees of freedom, which is mainly performed by adjusting the servo motor installed on the active branch chain; the attitude positioning of the end effector is realized by the positioning head (such as A / C double swing head), It is performed by adjusting a servo motor mounted on a doubl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 宋轶民连宾宾孙涛董罡
Owner TIANJIN UNIV