Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom

A three-dimensional translation and degree of freedom technology, applied in the field of robotics, can solve problems such as difficult to achieve high-speed movement, increase the mass and inertia of moving parts of the mechanism, and affect the dynamic performance of the mechanism, so as to avoid uneven force, rigidity and stability Good, even force effect

Inactive Publication Date: 2013-03-20
TIANJIN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Its limitation is that it increases the mass and inertia of the moving parts of the mechanism, which affects

Method used

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  • Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom
  • Parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom

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Embodiment Construction

[0015] The present invention will be further described in detail below in combination with specific embodiments.

[0016] Such as figure 1 As shown, a parallel manipulator with three-dimensional translation and two-dimensional rotational degrees of freedom in the present invention includes a fixed frame 2, a moving platform 7, and five structures arranged between the fixed frame 2 and the moving platform 7 and arranged symmetrically in the center. The same branch chain; five driving devices 1 are fixedly connected to the fixed frame 2 respectively.

[0017] Each branch chain comprises a near frame rod 3 and two parallel and equal long far frame rods, one end of the near frame rod 3 is fixedly connected with the output shaft of one of the driving devices 1, and the other end of the near frame rod 3 is fixed. Connected with the upper connecting shaft 4; one end of the two parallel far frame rods is respectively ball-hinged with the upper connecting shaft 4, and the other end of...

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Abstract

The invention discloses a parallel manipulator with three-dimensional translation and two-dimensional rotation degree of freedom. The parallel manipulator comprises a fixed mount, a movable platform and five branched chains, wherein the branched chains are arranged between the fixed mount and the movable platform, are arranged in a centrally symmetric way, and have the same structure; the movable platform comprises five angle plates and five groups of connecting rods; the angle plates are used for connecting the five groups of connecting rods into planar closed ring-shaped structures in sequence, so that five groups of planar parallelogram structures are formed; an angle dividing mechanism is arranged between two groups of connecting rods; the entire movable platform performs three-dimensional translation and two-degree-of-freedom deformation movement in an own plane under the driving actions of the branched chains and the movement limiting actions of the angle dividing mechanism and the five groups of planar parallelogram structures; and deformation movement is transformed into two-degree-of-freedom rotation of a robot wrist through a two-degree-of-freedom rotating mechanism. The parallel manipulator has the advantages of uniform stress, long service life, high rigidity and stability of an entire structure, easiness in realizing high-speed movement, and capability of meeting the requirement of complex gripping and placing operation.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel mechanism of a robot with three-dimensional translation and two-dimensional rotation degrees of freedom in space. Background technique [0002] At present, the domestic five-degree-of-freedom parallel mechanism is mostly used in the fields of machining, measurement, spraying, assembly, etc., but in the field of high-speed material picking and placing, there is still a lack of five-degree-of-freedom parallel manipulators that can achieve high-speed movement. Most of them use serial manipulators or three-translational parallel mechanisms as the main body to connect two-degree-of-freedom rotors in series to realize material pick-and-place operations. Its limitation is that it increases the mass and inertia of the moving parts of the mechanism, which affects the dynamic performance of the mechanism, making it difficult for the mechanism to achieve high-speed movement. Contents of the invention...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 王攀峰赵学满
Owner TIANJIN UNIV
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