Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion

A technology with independent control and degrees of freedom, applied in the field of robotics, can solve the problems of poor rigidity, accumulation of joint errors, and difficulty in control of five-degree-of-freedom series mechanisms, achieving the effects of convenient control, small inertia, and easy solution.

Inactive Publication Date: 2012-11-14
JIANGXI MECHANICAL SCI RES INST
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  • Abstract
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Problems solved by technology

[0005] The purpose of the present invention is to provide a space five-degree-of-freedom mechanism controlled separately by rotational motion and translational motion, which can solve problems such as poor rigidity, large in

Method used

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  • Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion
  • Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion
  • Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion

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Embodiment Construction

[0024] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] control figure 1 , figure 2 with image 3 , a five-degree-of-freedom mechanism in space that is independently controlled by rotational and translational motions, including frame 1, the first kinematic branch chain, the second kinematic branch chain, the third kinematic branch chain, the fourth kinematic branch chain, the fifth kinematic branch chain, Translation platform 39 and spherical kinematic chain.

[0026] The first motion branch chain is composed of the first servo motor 2, the first active rod 10, the first connecting rod 19 and the second connecting rod 20. The first servo motor 2 installed on the frame 1 passes through the first rotating pair 7 Drive the first active rod 10 to move, and the first active rod 10 drives the first connecting rod 19 and the second connecting rod 20 through the first Hooke hing...

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Abstract

A space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion comprises a rack, a first motion fork chain, a second motion fork chain, a third motion fork chain, a fourth motion fork chain, a fifth motion fork chain, a translational table and a spherical motion chain. The first motion fork chain, the second motion fork chain and the third motion fork chain together drive the translational table to carry out three-dimensional translational motion; the fourth motion fork chain and the fifth motion fork chain together drive the spherical motion chain to move, and the spherical motion chain can realize two-dimensional rotation around the centre of sphere. The translational motion and the rotational motion in the mechanism are independently controlled by different fork chains; the normal and inverse solutions in kinematics of mechanism are easy to solve; the mechanism is convenient to control; driving motors are all arranged on the rack; member bars can be manufactured into light bars; and therefore, according to the mechanism, the mechanism weight is efficiently reduced, the mechanism rigidity is good, the inertia is small, and the dynamic performance is good.

Description

technical field [0001] The invention relates to the field of robots, in particular to a space five-degree-of-freedom mechanism controlled independently by rotational motion and translational motion. Background technique [0002] The existing five-degree-of-freedom mechanisms are divided into three types: series, parallel and hybrid. The serial mechanism has the advantages of simple structure, flexible movement, and large working space. However, because the mechanism is connected in series and the drive motor needs to be installed at the joints, it has disadvantages such as heavy weight of the mechanical arm, large moment of inertia, and large error accumulation. Compared with the series mechanism, the parallel mechanism is driven by multiple motion branch chains to realize the pose output of the end effector. Therefore, this type of mechanism has the advantages of high precision, compact structure, high rigidity, and strong bearing capacity. , but also has the disadvantages...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 王红州
Owner JIANGXI MECHANICAL SCI RES INST
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