Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)

A degree of freedom, moving platform technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex kinematics, unfavorable production efficiency, improvement and other problems, achieve high-speed and high-acceleration dynamic response characteristics, and relatively simple kinematics , the effect of improving production efficiency

Active Publication Date: 2013-02-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The H4 parallel mechanism meets the application requirements for manipulators to realize SCARA motion on the production line, but the double-moving platform structure of this type of mechanism increases its structural comple

Method used

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  • Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
  • Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)

Examples

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Example Embodiment

[0016] Example 1:

[0017] The structure of a four-degree-of-freedom single-platform parallel mechanism capable of realizing SCARA motion in this embodiment is as follows: figure 1 As shown, it includes a fixed platform 17, a moving platform 11 and a first branch I, a second branch II, a third branch III and a fourth branch IV, which are respectively connected to the fixed platform 17 and the moving platform. 11, and form a closed-loop space mechanism with the fixed platform 17 and the movable platform 11.

[0018] The structures of the first branch I, the second branch II, the third branch III and the fourth branch IV are exactly the same, and the fourth branch IV is taken as an example in the figure, including: the driving arm 16, the left connecting rod 14 , the right link 15, the support rod 13, the connecting piece 12 and the kinematic pair. There are seven motion pairs, one is the rotating pair R connected between the fixed platform 17 and the drive arm 16, the other i...

Example Embodiment

[0020] Embodiment 2:

[0021] The structure of a four-degree-of-freedom single-platform parallel mechanism capable of realizing SCARA motion in this embodiment is as follows: figure 2 As shown, similar to Embodiment 1, it also includes the first branch I, the second branch II, the third branch III and the fourth branch IV with the same structure. The difference between this embodiment and the first embodiment is that the first branch I, the second branch II, the third branch III and the fourth branch IV all adopt the driving form of active driving of the mobile pair. The specific structure is as follows: the slider 23 of the fourth branch IV is connected with the left link 21 through a spherical hinge, the slider 23 is connected with the right link 22 through a spherical hinge, and the slider 23 is connected with the fixed platform. 24 is connected by a moving pair and the moving pair is actively driven. In this embodiment, the fixed platform is composed of four separate fi...

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Abstract

The invention relates to a four-freedom-degree single-action platform parallel mechanism capable of achieving motion of a selective compliance assembly robot arm (SCARA) and belongs to the technical field of parallel robots. The four-freedom-degree single-action platform parallel mechanism comprises a movable platform, a fixed platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein an actuator is installed on the movable platform, and the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected between the movable platform and the fixed platform and have the same structure. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain all contain movement pairs in active driving. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are respectively connected with the movable platform and the fixed platform to form a space parallel closed-loop mechanism, the space parallel closed-loop mechanism drives the movable platform to move through four input moving parts, and three-dimensional translational motion and one-dimensional rotation motion in a space are achieved. The parallel mechanism has the advantages of being simple in structure and relatively simple in kinematics, and the structural characteristics of a single platform are favorable for achieving high-speed and high-accelerating dynamic response characteristics.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a four-degree-of-freedom single-platform 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] SCARA (Selective Compliance Assembly Robot Arm) means an assembly robot arm with selective compliance. This robot arm was first realized through a series mechanism and is widely used in industrial fields such as automatic handling, spraying, welding and assembly. The parallel mechanism is a closed-loop mechanism composed of multiple branch chains opposite to the series mechanism. Its unique structure makes this type of mechanism have higher dynamic response performance, and it is easier to realize high-speed and high-acceleration motion. In this field, Clavel proposed a Delta parallel mechanism consisting of three symmetrical branch chains that can realize thr...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 刘辛军谢福贵王立平尤政
Owner TSINGHUA UNIV
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