Two-dimensional translation and one-dimensional rotation high-speed parallel manipulator

Abstract

The invention discloses a two-dimensional translation and one-dimensional rotation high-speed parallel manipulator, which comprises a fixing bracket, a moving platform and four movement branch chains which are in the same structure and symmetrically arranged between the fixing bracket and the moving platform, wherein three driving devices are fixedly connected with the fixing bracket; each movement branch chain comprises a near bracket rod and two far bracket rods which are parallel and equal in length; the moving platform comprises a primary platform, a secondary platform, and two connection rods which are parallel and equal in length, an impeller, a pinion and a performer; the moving platform is in a parallelogram structure, and can convert a parallel dislocation between the primary platform and the secondary platform into rotation of the performer, and the near bracket rods of two adjacent movement branch chains are in meshing transmission through a pair of bevel gears with the same structure, so the primary platform swiveled at the tail end of one far bracket rod performs two-dimensional translation in symmetric surfaces of the two movement branch circuits. Lateral rigidity of the manipulator is greatly increased by a symmetric branch chain layout disclosed by the invention, and the branch chains are simple and light in structure, long in service life, low in manufacturing cost and easy to achieve high-speed movement, and meet quick catching and releasing requirements.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel robot with two-dimensional translation and one-dimensional rotation. Background technique [0002] U.S. patent document US 7090458B2 and Chinese patent ZL 01145160.2 disclose a parallel mechanism capable of two-degree-of-freedom translation, including a frame, a moving platform, and two pairs of branch chains; two servo motors are installed on the frame, and the moving platform passes through The two branches are connected with the frame to form a parallel closed-loop structure; each of the two branch chains contains two parallelogram mechanisms, which are respectively used as the driving rod group and the driven rod group, and the moving parts are completely connected by rotating hinges; the parallelogram The branch chain structure realizes the two-dimensional translation of the moving platform. The limitations of the above mechanism are: each branch chain of the mechanism conta...

AI Technical Summary

Problems solved by technology

The limitations of the above mechanism are: each branch chain of the mechanism contains two sets of parallelogram mechanisms, and the structure is complex; all moving components are in the same plane or parallel planes, and the stiffness in the normal direction of the plane is poor; only two-dimensional Translation, unable to achieve two-dimensional translation and one-dimensional rotation

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