Three-move one-rotation four-freedom degree space parallel connection mechanism

Abstract

The invention discloses a three-move one-rotation four-freedom degree space parallel connection mechanism and belongs to the technical field of parallel connection robots. The mechanism comprises a moving platform, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the moving platform and the fixed platform are used for installing an actuator, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the moving platform and the fixed platform and provided with the same structure, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain all contain a moving pair which is driven actively; and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected with the fixed platform and the moving platform to form a space parallel connection closed-loop mechanism, the space parallel connection closed-loop mechanism moves through four output moving driving platforms, three-dimensional translation and one-dimensional rotation in the space can be achieved, the space parallel connection mechanism has a structural characteristic of a single platform, a high-speed high-dynamic response characteristic is achieved, and mechanism can be used in a sorting production line to achieve rapid capture motion.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a four-degree-of-freedom space parallel mechanism that can realize high-speed motion and is applied to production lines such as packaging, manufacturing, assembly, and material picking. Background technique [0002] The parallel mechanism is a closed-loop mechanism composed of multiple branch chains. The corresponding traditional mechanism mostly uses a single open-chain structure to achieve multiple degrees of freedom of the terminal. This type of mechanism is usually called a series mechanism. In the parallel mechanism, the mechanism with less than six degrees of freedom is called a parallel mechanism with few degrees of freedom, and the four-degree-of-freedom parallel mechanism of the present invention belongs to this type of mechanism. In recent years, parallel mechanisms with few degrees of freedom have been more and more valued and favored by researchers. Clavel first propose...

AI Technical Summary

Problems solved by technology

However, due to the double-platform structure of the H4 mechanism, its structure is complicated, and at the same time, the complexity of kinematics is increased, which has an adverse effect on its high-speed and high-dynamic response characteristics, which is not conducive to further improvement of production efficiency when applied on the production line.

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