A three-degree-of-freedom mobile decoupling parallel robot mechanism

A robot and degree of freedom technology, applied in the field of robotics, can solve the problems of incomplete decoupling of mechanism movement, difficult manufacturing and assembly, etc., and achieve the effect of simple manufacturing and installation, large working space and easy control

Inactive Publication Date: 2016-01-06
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structural performance and application occasions of these robot mechanisms are different, and some mechanisms are not completely decoupled, and some mechanisms contain some complex motion pairs such as ball joints and Hooke hinges, which are difficult to manufacture and assemble.

Method used

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  • A three-degree-of-freedom mobile decoupling parallel robot mechanism

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Embodiment Construction

[0010] exist figure 1 In the schematic diagram of the decoupling parallel robot mechanism with three free moving motions shown, the cylindrical pair 2 in the first branch is fixedly connected with the fixed platform 1, and the cylindrical pair is connected with the revolving pair R14 through the connecting rod 3, and the revolving pair is connected through the connecting rod 5 is connected with the rotating pair R26, which is connected with the rotating pair R38 through the connecting rod 7, and the rotating pair is connected with the moving platform 9, wherein the axes of the cylindrical pair, the rotating pair R1 and the rotating pair R2 are parallel to each other, and they are connected with the rotating pair R3 axis vertical. The rotating pair R416 in the second branch is connected with the fixed platform, and the rotating pair is connected with another rotating pair R514 through the connecting rod 15, and the rotating pair is connected with the moving pair P112 through th...

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Abstract

The invention discloses a three-degree-of-freedom motion decoupled parallel robot mechanism, which comprises a fixed platform, a moving platform and three branches connecting the two platforms. The first branch consists of a cylinder pair, three rotating pairs and connecting rods thereof. The second branch consists of two rotating pairs, two moving pairs and connecting rods thereof. The third branch consists of a cylinder pair, two rotating pairs and connecting rods thereof. The mechanism is easy to manufacture and mount, low in cost, large in working space and high in transmission property, and can be widely used for numerical control machine tools, measurers, pick-up and placement, machining operation and the like, three motions of the moving platform are completely decoupled, the control is easy, and trajectories are easy to plan.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot. Background technique [0002] Since Gough introduced the parallel robot into the fatigue test for the first time and was used by Stewart in the flight simulator, more and more scholars have studied and discussed the parallel mechanism. Because the parallel mechanism has the advantages of small inertia, high load capacity, and high rigidity, it can be used in many fields, such as virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. However, many occasions do not need to use the six-degree-of-freedom mechanism, so the parallel mechanism with less degrees of freedom, especially the three-degree-of-freedom parallel mechanism, is more and more widely used. Many scholars at home and abroad have conducted in-depth research on 3D mobile parallel mechanisms and achieved a series of results, such as Delta and Star mechanisms, which are widely ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08B23Q1/48
Inventor 曾达幸卢文娟张立杰
Owner YANSHAN UNIV
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