Two-freedom-degree mobile decoupling parallel robot mechanism

A robot and degree of freedom technology, applied in the field of robots, can solve problems such as no degree of freedom of rotation, unfavorable processing and assembly, complex structure, etc., achieve good dynamic performance, simple processing and assembly, and reduce the difficulty of control.

Inactive Publication Date: 2012-10-03
YANSHAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some of these mechanisms are slightly complicated in structure, which is not conducive to processing and assembly, and some mechanisms are only applicable to the field of micro-motion, and the branches of these mechanisms do not contain rotational degrees of freedom

Method used

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  • Two-freedom-degree mobile decoupling parallel robot mechanism
  • Two-freedom-degree mobile decoupling parallel robot mechanism

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Embodiment Construction

[0007] exist figure 1 In the schematic diagram of the structure of a two-degree-of-freedom mobile decoupling parallel robot mechanism shown, the fixed platform 1 is connected to the moving platform 7 through two branches, and one end of the connecting rod 3 in the first branch is connected to the fixed platform 7 through the moving pair 2. The platform is connected, the other end of the connecting rod is connected with another connecting rod 5 through the moving pair 4, and the other end of the connecting rod is connected with the moving platform through the moving pair 6; one end of the connecting rod 9 in the second branch is connected through the moving pair 8 Linked to each other with moving platform, the other end of this connecting rod is equipped with rotating joint 10, and another connecting rod 11 is housed on the rotary axis of this rotating joint, and the other end of this connecting rod is connected with fixed platform through rotating joint 12. The axes of rotatio...

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Abstract

A two-freedom-degree mobile decoupling parallel robot mechanism mainly comprises a movable platform, a fixed platform and two branches for connecting the two platforms. The first branch comprises movable pairs mutually perpendicular in three directions and two connecting rods connecting the movable pairs. One end of one connecting rod is connected with the fixed platform through the movable pairs, the other end of the connecting rod is connected with the other connecting rod through the movable pairs, and the other end of the other connecting rod is connected with the movable platform through the movable pairs. The second branch comprises a movable pair, two rotating pairs and two connecting rods for connecting the movable pair and the two rotating pairs, one end of one connecting rod is connected with the movable platform through the movable pair, the other end of the connecting rod is provided with the rotating pairs, the other connecting rod is arranged on a rotation axis of the rotating pairs, and the other end of the other connecting rod is connected with the fixed platform through the rotating pairs. The two-freedom-degree mobile decoupling parallel robot mechanism is simple in structure, and moving of the movable platform is completely decoupled, thus the control difficulty is reduced, the dynamic property is good, and the assembling property in machine is simple.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot mechanism. Background technique [0002] The parallel mechanism is defined as a closed-loop mechanism that connects the motion platform and the fixed platform through two or more open-loop kinematic chains, has two or more degrees of freedom, and is driven in parallel. Compared with the series mechanism, the parallel mechanism has the following characteristics: compact structure; high rigidity; strong bearing capacity; small cumulative error and high precision. Compared with the 6-DOF parallel mechanism, the parallel mechanism with few degrees of freedom has the characteristics of simple structure, low manufacturing cost, and relatively simple kinematics solution. Therefore, the parallel mechanism with few degrees of freedom has attracted the attention of many international scholars, and has been widely used in virtual axis machine tools, micro-motion consoles, various mot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/64
Inventor 曾达幸卢文娟张立杰张一同
Owner YANSHAN UNIV
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