Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation

Abstract

The invention discloses a parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation. The parallel mechanism comprises a fixed frame and a movable platform, wherein the fixed frame is fixedly connected with six driving devices, the movable platform comprises a central plate and a rocking rod, the central plate and the rocking rod are rotatably connected by utilizing a hooke joint, and the upper part and the lower part of the rocking rod are respectively a first lead screw and a second lead screw with different rotation directions; three first branch chains are connected between the fixed frame and the central plate, and three second branch chains are connected with the fixed frame and three bulb rods; the rocking rod is driven by the three first branch chains to realize the three-dimensional translation, and the rocking rod is driven by the three second branch chains to realize two-dimensional rotation relative to the central plate by the hooke joint; the rocking rod realizes autorotation by the relative movement of a nut and a hooke inner ring; and therefore, the rocking rod has three translation degrees of freedom and also has three rotation degrees of freedom. The parallel mechanism capable of realizing the three-dimensional translation and the three-dimensional rotation, which is disclosed by the invention, has the advantages that the structure is simple and compact, six degrees of freedom by utilizing the hooke joint and a screw pair are smartly realized, the mechanism complexity is reduced and the high-speed, high-precision complex grabbing is easily realized.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with six 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 with...

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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