Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod
A parallelogram and robot technology, applied in the field of robotics, can solve the problems of changing the attitude of the moving platform, difficult to guarantee the attitude accuracy of the moving platform, etc., and achieve the effect of avoiding attitude errors, large stiffness, and large angular range of motion.
Active Publication Date: 2015-06-03
ANHUI TIANYI HEAVY IND
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The disadvantage of this type of mechanism is that since the steel wire is a flexible unit, its length also changes when the degree of tightness is different, resulting in changes in the attitude of the moving platform, making it difficult to guarantee the attitude accuracy of the moving platform
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[0023] The present invention will be further described below in conjunction with accompanying drawing:
[0024] Such as Figure 1-Figure 7 As shown, a three-translational degree of freedom robot mechanism containing parallelogram near frame-far frame parallel rods includes a frame 1, a moving platform 6, and three identical structural forms evenly arranged between the frame 1 and the moving platform 6 The branch chain connects the frame 1 and the moving platform 6, and the branch chain includes a parallelogram near the frame and a parallel rod assembly structure on the far frame, which can limit the three rotational degrees of freedom of the moving platform 6.
[0025] Such as figure 1 , figure 2 As shown, one of the three branch chains with the same structural form is composed of the main arm 2, the secondary main arm 3, the double bushing joint 4, the first Hooke ball hinge 8, the far frame parallel rod 5, the second Hooke ball Hinge 9 forms.
[0026] Such as Figure 5...
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The invention discloses a three translational degree of freedom robot mechanism comprising a near plane parallelogram-far plane parallel rod, and belongs to the technical field of robots. The robot mechanism comprises a rack, a robotic mobility platform, and three branch chains with the same structure and form. The three branch chains connect the rack and the robotic mobility platform. Each branch chain consists of a drive arm, a vice-drive chain, double lining frame joints, a first hook ball hinge, a far plane parallel rod, and a second hook ball hinge. The three branch chains are arranged evenly, each branch chain is provided with a drive device which is fixed on the rack and connected with the drive arm. Turning freedom degree of the robotic mobility platform is limited by a branch chain structure of the near plane parallelogram and the far plane parallel rod, and the great overall rigidity is ensured through the structure of the near plane parallelogram and the far plane parallel rod, posture error caused by elasticity of steel wires is effectively avoided, and the three translational degree of freedom robot mechanism comprising the near plane parallelogram-far plane parallel rod is easy to produce, convenient to assemble and adjust, and low in production cost.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot mechanism with three translational degrees of freedom comprising parallelograms near a frame and parallelograms with a far frame. Background technique [0002] US Patent No. 4,976,572 discloses a spatially symmetrical three-translational parallel mechanism, which includes three active branch chains, and each branch chain includes two parts: a driving arm and a driven arm. There are two types of branch chains of this kind of mechanism. One is that the main arm and the driven arm are both in the form of a single rod, and the two ends of the driven arm are respectively connected with the main arm and the moving platform through the Hooke hinge; The arm is a single rod, while the slave arm is a double rod, and the double rod slave arm forms a parallelogram. The two ends of each rod are respectively connected with the active arm and the dynamic platform through ball...
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IPC IPC(8): B25J9/00
Inventor 张良安王鹏解安东单家正万俊
Owner ANHUI TIANYI HEAVY IND