High-speed five-freedom-degree parallel mechanical arm

Abstract

The invention discloses a high-speed five-freedom-degree parallel mechanical arm. According to the high-speed five-freedom-degree parallel mechanical arm, five drive devices are fixedly connected to a fixed frame, and five branch chains which have the same structure are connected between the fixed frame and a movable platform; each branch chain is composed of a near frame bar, an upper connecting shaft, two far frame bars and a lower connecting shaft, the two far frame bars are parallel and identical in length, and each branch chain is of a parallelogram structure; the movable platform comprises an upper platform and a lower platform, the upper platform and the lower platform are horizontally arranged, the lower connecting shafts of three branch chains are arranged on the lower platform, the lower connecting shafts of the other two branch chains are arranged on the upper platform, a rocking bar which is perpendicular to the upper platform and the lower platform is arranged and penetrates through the upper platform and the lower platform, the rocking bar is connected with the upper platform in a rotating mode through a hooke joint, and the rocking bar is connected with the lower platform in a rotating mode through a hooke joint; the lower platform is driven by the three branch chains to achieve three-dimension translation, and the upper platform achieves three-dimension translation under the combined action of the rocking bar and the other branch chains; the hooke joints convert relative movement between the upper platform and the lower platform into two-dimension rotation of the rocking bar, and therefore the rocking bar has three translation freedom degrees and two rotation freedom degrees.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with five degrees of freedom in space. Background technique [0002] At present, domestic research on spatial six-degree-of-freedom parallel mechanisms is still focused on mechanisms for mechanical processing or measurement purposes, while there is less research on spatial six-degree-of-freedom parallel mechanisms that can achieve high-speed motion for material pick-and-place. [0003] There are a few spatial six-degree-of-freedom parallel mechanisms that can be applied to material pick-and-place in the world. Patent document US20110097184A1 discloses a parallel mechanism that can realize three-dimensional translation and three-dimensional rotation, including a fixed frame, a moving platform, a three-degree-of-freedom wrist, and three branch chains with the same structure symmetrically arranged between the fixed frame and the moving platform. ; The fixed frame is affixed wit...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the driving end of the three-degree-of-freedom wrist is fixed between the two remote frame rods, which increases the mass and inertia of the moving parts of the mechanism, affects the dynamic performance of the above-mentioned mechanism, and makes it difficult for the mechanism to achieve high-speed movement

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