Three-freedom-degree parallel robot wrists with aligning mechanisms

Abstract

The invention relates to three-freedom-degree parallel robot wrists with aligning mechanisms. Each three-freedom-degree parallel robot wrist comprises a base, a mobile platform, three movement branched chains with the aligning mechanisms, three spherical pair structures and three power sources, wherein the three movement branched chains with the aligning mechanisms are movably connected with the mobile platform respectively; the three power sources directly drive the movement branched chains to enable the mobile platform to do three-freedom-degree movement; and particularly, as each aligning mechanism is arranged in the middle of each movement branched chain of each robot wrist, the positions of axial lines of three revolute pairs in the middle are adjusted conveniently, and the axial lines of the revolute pairs are enabled to intersect at one point as required, so that processing and assembling errors are reduced, and operation accuracy of each robot wrist is improved. The three-freedom-degree parallel robot wrists are easy in processing and assembling, flexible in movement, compact in structure and good in rigidity, and can be applied to parallel robots, micro-motion robots and other robots.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel robot wrist, in particular to a three-freedom parallel robot wrist with an aligning mechanism. Background technique [0002] The three-degree-of-freedom parallel mechanism is a very important few-degree-of-freedom parallel mechanism, and its moving platform can realize three-degree-of-freedom movement. Compared with the series mechanism, the parallel mechanism has the characteristics of compact structure, good bearing capacity, high motion precision and good mechanism rigidity. At least six degrees of freedom are required for a robot to be able to achieve any pose in the workspace, and three degrees of freedom are often required for the wrist or waist. Nowadays, most of the robots used in industry are series robots. Although the workspace of series robots is relatively large, there are Some congenital defects, such as relatively small stiffness, small load-carrying capacity, low precisio...

AI Technical Summary

Problems solved by technology

At least six degrees of freedom are required for a robot to be able to achieve any pose in the workspace, and three degrees of freedom are often required for the wrist or waist. Nowadays, most of the robots used in industry are series robots. Although the workspace of series robots is relatively large, there are Some congenital defects, such as relatively small rigidity, small bearing capacity, low precision, and large moment of inertia, are greatly restricted in some occasions that require precision

In addition, due to processing and assembly errors of the traditional robot wrist, the axes of the three rotation pairs in the middle of the wrist cannot be accurately intersected at one point, which greatly affects the operation accuracy of the robot wrist.

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