Six- free-degree 3-3 orthogonal type parallel robot

Abstract

The invention discloses a six-free-degree 3-3 orthogonal type parallel robot which comprises a motion platform, a fixed framework and a mechanical branch chain set, wherein the mechanical branch chain set is arranged between the motion platform and the fixed framework and connected with the motion platform and the fixed framework, the mechanical branch chain set comprises six mechanical branch chains in 3-3 orthogonal arrangement. The 3-3 orthogonal arrangement refers to that the six mechanical branch chains are divided into two sets, and each set comprises three mechanical branch chains. The axes in the three driver directions of the three mechanical branch chains in the first set are positioned in the same plane surface, and each two axes form a 120-degree angle but do not cross at one point; the axes in the three driver directions of the three mechanical branch chains in the other set are parallel to one another, but do not in the same surface, and the axes are in pairwise orthogonal with the axes in the direction of the three mechanical branch chains in the first set. The six-free-degree 3-3 orthogonal type parallel robot provided by the invention has the advantages of high system rigidity, high positioning accuracy, excellent dynamic response property, excellent isotropy of mechanical properties such as rigidity, bearing and the like, small occupied space, low energy consumption, long service life, low manufacturing cost, less maintenance cost, zero contamination and the like.

Description

technical field [0001] The invention relates to a six-degree-of-freedom parallel robot in the technical field of mechanics, in particular to a six-degree-of-freedom 3-3 orthogonal type parallel robot. Background technique [0002] Multi-degree-of-freedom parallel robots are widely used, and can be used in parallel processing machine tools, micro-manipulation robots, motion simulators (such as aircraft training simulation systems, earthquake simulation test systems) and other fields. At present, the Stewart (Stewart) mechanism is widely used, (see the literature "A Six Degrees of Freedom Parallel Platform") (D.Stewart.Aplatform with Six Degrees of freedom.Proc.of the Institution of Mechanical Engineers.London, UK, 1965 , 180(15):371-386)), six output degrees of freedom are obtained from six inputs. This type of platform has the characteristics of large bearing capacity, high rigidity, stable structure, high precision and high acceleration. [0003] Analyzing the Stewart str...

AI Technical Summary

Problems solved by technology

[0004] 1. Due to the limitation of the layout of the drive, the six drive forces are highly coupled, which brings difficulties to the decoupling calculation and is not conducive to the control of the mechanism;

[0005] 2. Since the branch chains are located below the motion platform, the isotropy of the mechanism is poor;

[0006] 3. Due to institutional limitations, it is generally driven by a large servo cylinder and equipped with a large energy storage device, so the equipment is huge, the cost of manufacturing and maintenance is high, and the hydraulic oil is easy to leak, causing environmental pollution;

[0007] 4. Due to the relatively low stiffness of the hydraulic cylinder itself, the dynamic response delay is relatively large, which affects the overall stiffness and response characteristics of the system;

[0008] 5. During the movement of the motion platform of the parallel robot, the drive system with a large mass will also swing accordingly. This part of the additional mass and moment of inertia not only consumes energy, but also reduces the dynamic response characteristics of the overall system;

[0009] 6. Due to the limitation of the layout of the drive branch chain, the floor space is relatively large

Images