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Three-translational spatial parallel robot mechanism

A robot, three-translation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low running speed of the mechanism, large inertia of the execution part, and many motion pairs, and achieve simplified trajectory planning, large working space, low cost effect

Inactive Publication Date: 2014-01-01
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0004] At present, the 3-translational parallel mechanism robot mechanism has broad application prospects as a picking mechanism. In order to overcome the problems that the positioning parts of the parallel structure form have many rods, many motion pairs, and the inertia of the execution part is large, resulting in low operating speed of the mechanism, It is necessary to create a new model that meets the requirements of the motion form, has fewer motions, and runs at a higher speed

Method used

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Embodiment Construction

[0020] The three translational parallel mechanism provided by the present invention is composed of a fixed platform 1, a moving platform 2 and three branch chains connecting the two platforms; among them,

[0021] The first chain includes a first guide rail (D1) arranged on a fixed platform, a first cylinder pair (C1) sleeved on the first guide rail, a first connecting rod (L11) fixed on the first cylinder pair, and The second connecting rod (L12) connected by the first rotating pair (R1), the other end of the second connecting rod is connected with the moving platform through the first hook hinge (U1), and a rotation axis of the first hook hinge is connected with the first rotating pair The axis is parallel and at the same time parallel to the axis of the first guide rail;

[0022] The second branch chain includes a second guide rail (D2) arranged on the fixed platform, a second cylinder pair (C2) sleeved on the second guide rail, a third link (L21) fixed on the second cylinder pa...

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Abstract

The invention discloses a three-translational spatial parallel robot mechanism, relates to the technical field of robots and advanced manufacturing, and particularly relates to a spatial three-degree-of-freedom parallel robot mechanism which can achieve spatial three-translation. The mechanism is composed of a moving platform, a fixed platform, and three branched chains which are connected with the two platforms, wherein each branched chain is composed of a guide rail, a cylinder pair, a rotary pair, a Hooker hinge and a connecting rod from the fixed platform to the moving platform, and the connecting rods are arranged between the fixed platform and the moving platform. According to the three-translational spatial parallel robot mechanism, three-dimensional translational motion output under the Cartesian coordinate system can be achieved by a working platform of the mechanism, the structure is simple, manufacturing and installation are easy, transmission accuracy is high, and cost is low; the work space is large, and the transmission characteristic is good; meanwhile, the kinematic positive solution and kinematic negative solution of the mechanism are simple, and trajectory planning, controlling and correcting are simplified.

Description

technical field [0001] The invention relates to the field of robot mechanism and advanced manufacturing technology, in particular to a space three-degree-of-freedom parallel robot mechanism realizing three-translational motion. Background technique [0002] A parallel mechanism is a group of two or more branches connected in parallel. Its characteristic is that all branches can accept the driver input at the same time, and finally give the output together, which belongs to the multi-channel closed-loop mechanical system in terms of mechanism. Numerical control machine tools, robot manipulators and manufacturing units composed of parallel mechanisms as transmission and feed mechanisms are collectively referred to as parallel configuration equipment, which is a new type of manufacturing equipment developed in recent years with broad application prospects. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine t...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 李彬李杨民赵新华刘磊
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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