High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation

Abstract

The invention discloses a high-speed parallel manipulator with three-dimensional translation and one-dimensional rotation. The manipulator comprises a fixing frame, a moving platform and four branch chains which have the same structure and are arranged between the fixing frame and the moving platform symmetrically, wherein four drive devices are fixedly connected with the fixing frame, the moving platform comprises four gear handles, four bevel sectors, two bevel gears, a base and an end effector, the end effector is hinged with the base in a rotary mode, two bevel gears have opposite spin directions, the bevel gears and the end effector are fixed coaxially, the four gear handles are arranged at an angle of 90 degrees and are respectively connected with the base through rotary shafts in a rotary mode, each of the bevel sectors is fixedly connected with the rotary shaft of one of the gear handles respectively, and the two pairs of bevel sectors which are arranged opposite and the two bevel gears mesh respectively. By the aid of the meshing constraint action between the bevel sectors and the bevel gears of which the spin directions are opposite, the three-dimensional translation of the base and the end effector rotation relative to the base can be achieved when the drive devices drive corresponding branch chains to move.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel manipulator with three translations and one rotation in space. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose a parallel mechanism that can realize three-dimensional translation and one-dimensional rotation, including four active branch chains and a moving platform, and each branch chain includes two parts: a near frame bar and a far frame bar. One end of the proximal rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected to one end of the far rod through a hinge with only two degrees of freedom; the other end of the far rod has only two degrees of freedom. The hinge of the degree of freedom is connected with the moving platform to ensure the translational movement of the mechanism; the moving platform is composed of four parts, two of which must be parallel to each other, and the ...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that there are only two parts driven by the moving platform of the mechanism, and these two parts are equivalent to a set of opposite sides of a parallelogram. run smoothly

The limitations of the above mechanism are: the moving platform is divided into upper and lower platforms, and all the lower connecting axes are not in the same plane, and the moving pair is used as the guiding mechanism, which will cause uneven force and relatively high friction during movement. Large and other deficiencies, so it will lead to poor force transmission, unsmooth movement of the mechanism, and low service life.

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