Parallel mechanism of four-degree-of-freedom dual acting platform

Abstract

The invention relates to a parallel mechanism of a four-degree-of-freedom dual acting platform, belonging to the field of industrial robots. The parallel mechanism comprises a fixed platform, a movable platform, and four branches for connecting the fixed platform and the movable platform, wherein the movable platform comprises an upper movable platform and a lower movable platform, which are parallel, and further comprises a connecting mechanism for connecting the upper movable platform and the lower movable platform, a rotating mechanism, and an end effector; the connecting mechanism comprises three or four planar quadrilateral mechanisms, which are uniformly arranged and connected between the peripheries of the upper movable platform and the lower movable platform. According to the invention, by adopting the planar quadrilateral mechanisms, the upper movable platform and the lower movable platform are reasonably connected, and the mechanism has effective supporting and guiding actions; by utilizing the over-constrained characteristic and the high rigidity characteristic, when the upper platform and the lower platform move relatively, the directional stress is uniform and the rigidity is unchanged, and the rigidity and the stability of the parallel mechanism of the integrated machine are improved; furthermore, the motions of the quadrilateral mechanisms are in the respective plane, so that the structure is more compact.

Description

Technical field [0001] The invention belongs to the field of industrial robots, and specifically relates to a parallel mechanism with three movements and one rotation degree of freedom. Background technique [0002] In the field of industrial robots, the mechanical structure of traditional robots mostly uses a series connection method, which makes the end effector of the robot prone to error accumulation and the overall rigidity is not high. With people's continuous in-depth understanding of parallel mechanisms, more and more industrial robots composed of parallel mechanisms have received everyone's attention and attention. Parallel mechanism has the advantages of simple structure, high rigidity, error-free accumulation, low mass of moving parts, easy to realize high-speed movement, etc., which makes up for the shortcomings of traditional series robots to a certain extent. In short, industrial robots composed of parallel mechanisms have high research value, and their application...

AI Technical Summary

Problems solved by technology

The above-mentioned mechanism relatively ingeniously realizes three degrees of freedom of movement and one degree of freedom of rotation, but its limitation lies in that multiple parts of the moving platform of the mechanism are in the same plane, making the size of the moving platform larger, The structure is not compact, and the enlarged mechanism increases the weight of the moving platform, which is not conducive to improving the efficiency and dynamic performance of the mechanism

This mechanism has some advantages of the parallel mechanism, but also has certain limitations. For example, the guiding mechanism of the connecting rod group will be extended outward during the movement, which makes the structure of the moving platform not compact enough.

Images