High-speed six-degree of freedom parallel manipulator

Abstract

The invention discloses a high-speed six-degree of freedom parallel manipulator which comprises a fixed frame, a movable platform, a three-degree of freedom wrist and six moving branched chains that are arranged between the fixed frame and the movable platform and have the same structure; the fixed frame is fixedly connected with six driving devices; the movable platform comprises a centre plate, three subangle gear sets and six connecting rods, wherein each subangle gear set comprises a center bevel gear and two subangle bevel gears; the center bevel gears are rotatablely connected with the centre plate; the subangle bevel gears are rotatablely connected with the centre plates; every two subangle bevel gears are arranged at the two sides of each center bevel gear and are meshed and connected with the center bevel gear; one ends of the connecting rods are fixedly connected with a lower connecting shaft, and the other ends of the connecting rods are fixedly connected with one subangle bevel gear in the subangle gear sets; the three-degree of freedom wrist is fixedly connected on the center plate; three groups of gear transmission mechanisms are arranged around the three-degree of freedom wrist; and the three center bevel gears are respectively used for providing three power input for the three groups of gear transmission mechanisms, so that the three-degree of freedom wrist is driven to realize three-dimensional controllable rotation.

Description

Technical field [0001] The invention relates to a robot, in particular to a high-speed parallel mechanism with six degrees of freedom in space. Background technique [0002] At present, domestic research on spatial six-degree-of-freedom parallel mechanisms is still focused on mechanisms for mechanical processing, measurement, and simulation training purposes, while there is less research on spatial six-degree-of-freedom parallel mechanisms that can achieve high-speed movement for material handling. There are only a few spatial six-degree-of-freedom parallel mechanisms that can be applied to material handling in the world. Patent document US20110097184 A1 discloses a parallel mechanism that can realize three-dimensional translational and three-dimensional rotation, including a fixed frame, a moving platform, a three-degree-of-freedom wrist, and three branches with the same structure symmetrically arranged between the fixed frame and the moving platform. The fixed frame is fixedly...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the driving end of the three-degree-of-freedom wrist is fixed between the two remote frame rods, which increases the mass and inertia of the moving parts of the mechanism, affects the dynamic performance of the above-mentioned mechanism, and makes it difficult for the mechanism to achieve high-speed movement

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