Parallel robot

A robot and parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor stiffness and complex structure, and achieve the effect of reducing weight and improving overall stiffness.

Inactive Publication Date: 2013-08-07
GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Problems solved by technology

[0012] The existing mechanism has limitations. Each branch chain of the mechanism contains two sets of parallelogram mechanisms, and the structure is complex; all movi

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Embodiment Construction

[0033] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] An embodiment of the present invention provides a parallel robot, see figure 1 , the parallel robot includes a static platform 1, a dynamic platform 2 matching the static platform 1, and three kinematic branch chains installed in parallel between the static platform 1 and the dynamic platform 2.

[0035] Specifically, the static platform 1 is provided with a first driving device 11 , a second driving device 12 and a third driving device 13 . Wherein, the first driving device 11 , the second driving device 12 , and the third driving device 13 are installed on the static platform 1 at an angle of 120° to each other. The angles between the two of them are the same, which can make the force on the static platform 1 more uniform, im...

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Abstract

The invention discloses a parallel robot and belongs to the field of industrial robots. The parallel robot comprises a static platform, a dynamic platform and three branched chains installed between the static platform and the dynamic platform. The three branched chains are formed by a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain, the second branched chain and the third branched chain are of the same structure. The first branched chain, the second branched chain and the third branched chain are provided with a first driving rod, a second driving rod and a third driving rod respectively, every two of the first branched chain, the second branched chain and the third branched chain form the same angle, the first branched chain, the second branched chain and the third branched chain are distributed on a plane in an equant mode, and the first driving rod, the second driving rod and the third driving rod are respectively provided with a first lightening hole, a second lightening hole and a third lightening hole. The parallel robot achieves two-dimensional movement of a tail end dynamic platform of the three branched chains through spatial arrangement, effectively improves mechanism overall stiffness, simultaneously is provided with the lightening holes, and effectively reduces weight of the branched chains.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a parallel robot. Background technique [0002] Parallel Mechanism (PM for short) can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, have two or more degrees of freedom, and are driven in parallel. [0003] Parallel robots and traditional industrial serial robots have a philosophical relationship of unity of opposites. Compared with serial robots, parallel robots have the following characteristics: [0004] (1) No cumulative error, high precision; [0005] (2) The driving device can be placed on or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; [0006] (3) Compact structure, high rigidity and large bearing capacity; [0007] (4) The completely symmetrical parallel mechanism has better isotropy; [0008] (...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0051
Inventor 王卫军申东翼顾星林宁
Owner GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI
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