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Input-output complete decoupling three-freedom-degree moving parallel robot mechanism

A completely decoupling and degree of freedom technology, applied in the field of robotics, can solve the problems of small working space of parallel robot mechanism, limited control algorithm application, complex dynamic model, etc., and achieve the effect of easy trajectory planning, simple structure and low manufacturing cost

Inactive Publication Date: 2015-04-08
YANSHAN UNIV
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Problems solved by technology

[0003] However, compared with the serial robot mechanism, the parallel robot mechanism has the disadvantages of small working space, strong coupling between motions, and difficult control.
The kinematics problem of the forward solution of the parallel mechanism is usually very complicated due to the strong coupling between its poses, and the corresponding dynamic model is more complicated, which limits the application of the control algorithm, and the manufacturing cost of the mechanism is relatively high

Method used

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  • Input-output complete decoupling three-freedom-degree moving parallel robot mechanism

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Embodiment Construction

[0011] exist figure 1 A schematic diagram of the structure of a three-degree-of-freedom mobile parallel robot mechanism with fully decoupled input-output is shown. It consists of two connecting rods, wherein one end of a connecting rod 3 of the first branch is connected to the fixed platform 1 through the moving pair 2, and one end of the other connecting rod 5 is connected to the moving platform 7 through the moving pair 6. The above two connecting rods The other end is connected through mobile pair 4. One end of a connecting rod 11 of the second branch links to each other with the fixed platform through the moving pair 13, and one end of the other connecting rod 10 links to each other with the moving platform through the moving pair 9, and the other ends of the above-mentioned two connecting rods link through the moving pair 12. The normal directions of the moving pairs 2 and 12 in the above two branches are parallel to each other, the normal directions of the moving pairs ...

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Abstract

An input-output complete decoupling three-freedom-degree moving parallel robot mechanism comprises a fixed platform, a movable platform and three branches for connecting the fixed platform and the movable platform. The first branch and the third branch are composed of three moving pairs and two connecting rods. The third branch is composed of five rotating pairs and four connecting rods. The input-output complete decoupling three-freedom-degree moving parallel robot mechanism is simple in structure, easy to control, high in flexibility, low in cumulative error, fast in response, large in operation space and high in bearing capacity, is widely applicable to parallel machine tools, walking machines, parallel pressing machines, error compensators, high-precision electronic element encapsulation, food, packing and medical industries, and realizes complete decoupling of three motions of the movable platform.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot mechanism. Background technique [0002] Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Due to these excellent characteristics, parallel mechanisms are widely used in parallel machine tools, medical equipment, micro-motion consoles, various motion simulators, sensors, parallel mechanism presses, etc. [0003] However, compared with the serial robot mechanism, the parallel robot mechanism has the disadvantages of small working space, strong coupling between motions, and difficult control. The forward kinematics problem of parallel mechanism usually becomes very complicated due to the strong coupling between its poses and poses, and the corresponding dynamic model is more complex, which limits the application of control al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 曾达幸卢文娟常威张超
Owner YANSHAN UNIV
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