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

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...

AI Technical Summary

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 inertia, and accumulation of joint errors in a five-degree-of-freedom series mechanism and the forward and inverse kinematics solutions of a five-degree-of-freedom parallel mechanism Difficulty, difficulty in controlling etc.

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