Moving parallel robot mechanism with three freedom degrees

Abstract

The invention discloses a moving parallel robot mechanism with three freedom degrees. The moving parallel robot mechanism comprise a moving platform (1), a fixed platform (8) and three branch moving chains, wherein the branch moving chains are connected with the moving platform (1) and the fixed platform (8). The moving parallel robot mechanism is characterized in that each branch moving chain comprises a spiral pair H (7), a rotating pair R (5) and a cylindrical pair C (2), wherein an axis of the spiral pair H (7) is vertical to an axis of the rotating pair R (5); and the axis of the rotating pair R (5) is mutually parallel to the axis of the cylindrical pair C (2). With the adoption of the moving parallel robot mechanism with the three freedom degrees, spatial three-dimensional moving can be realized; and the moving parallel robot mechanism with the three freedom degrees has the characteristics of a parrel structure, including being strong in rigidity and high in bearing, and the characteristics of being relatively simple in structure and symmetrical in structure and the like, so that high-speed precision transmission can be realized. With the adoption of the moving parallel robot mechanism with the three freedom degrees, spatial parallel robots with multiple purposes, parallel virtual axis machine tools, and the like can be designed.

Description

technical field [0001] The invention relates to a space parallel robot mechanism, in particular to a three-degree-of-freedom space parallel robot mechanism capable of realizing three movements, and belongs to the field of mechanical design. Background technique [0002] Space parallel robot is one of the research hotspots in the field of robotics at home and abroad. Compared with serial robots, parallel robots have the characteristics of high rigidity and high load-to-weight ratio. The earliest parallel robot with six degrees of freedom in space is the 6-SPS platform mechanism adopted by Swewart in 1965. This kind of spatial parallel mechanism was first used in flight simulators, and in recent years has been designed into parallel virtual axis machine tools, micro-movement robots and sensing elements, etc. [0003] Parallel robots have wide application prospects, especially parallel robots with two, three, four, and five degrees of freedom, which are relatively simple in s...

AI Technical Summary

Problems solved by technology

[0004] At present, the three-translational parallel mechanism robot mechanism has broad application prospects as a sorting mechanism. In order to overcome the problem that the positioning parts of the parallel structure form have many rods, many motion pairs, and the inertia of the execution part is large, resulting in low operating speed of the mechanism, It is necessary to create a new model that meets the requirements of the motion form, has fewer motions, and runs at a higher speed

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