Three-movement one-rotation four-freedom double-movable-platform parallel mechanism

Abstract

The invention relates to a three-movement one-rotation four-freedom double-movable-platform parallel mechanism, belonging to the field of industrial robots. The mechanism comprises a fixed platform, an upper movable platform and a lower movable platform, four branched chains, and four drive devices; the movable platform comprises an upper movable platform and a lower movable platform which are parallel to each other, a connection mechanism connected with the upper and movable platforms, and a transmission mechanism; the first branched chain and the third branched chain of the four branched chain are connected with the fixed platform and the upper movable platform; the second branched chain and the four branched chain are connected with the fixed platform and the lower movable platform; the transmission mechanism consists of a link rod slider mechanism and a slider swing rod mechanism which are connected with each other in series. According to the invention, the moving motion is output as rotating motion by the smart combination of the four-link rod mechanism, and the over-constrained characteristic and high rigidity of quadrangular close-loop mechanism are used, thus, the rigidity and stability of the whole parallel mechanism is enhanced and the structure is more compact.

Description

technical field [0001] The invention belongs to the field of industrial robots, and in particular relates to a parallel mechanism with three degrees of freedom of movement and one rotation. Background technique [0002] In the field of industrial robots, a class of robots is attracting more and more attention from many scholars and business circles, that is, parallel robots mainly composed of parallel mechanisms. Compared with the series mechanism, the parallel mechanism has many inherent characteristics, such as simple structure, high rigidity, no error accumulation, small mass of moving parts, and easy to realize high-speed movement. To a certain extent, it makes up for the shortcomings of traditional serial robots, and is very useful in some specific occasions. For example, in a light-load working condition, it is required that the end effector of the robot can realize positioning and grasping at high speed and high acceleration. At this time, the parallel robot can bett...

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, so that the structure of the moving platform is not compact enough, and the transmission precision of the screw mechanism is high. However, there are high requirements for the use environment, as a relatively weak link, such as under severe working conditions, the service life will be limited

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