Flat horizontal type 2-DOF (two degrees of freedom) redundant actuation parallel translation robot mechanism
A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as limited bearing capacity and stiffness, application limitations, etc., to increase stiffness and bearing capacity, and overcome the effect of internal singularity
Inactive Publication Date: 2014-01-22
NORTH CHINA INST OF AEROSPACE ENG
View PDF5 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
For a planar two-degree-of-freedom parallel robot, the motion platform is generally connected to the fixed platform through two branch chains, and its carrying capacity and stiffness are also limited, all of which will bring certain restrictions to the application of the planar two-degree-of-freedom parallel robot mechanism
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0009] The following is attached figure 1 The illustrated embodiment is further detailed:
[0010] exist figure 1 In the shown embodiment: the overall mechanism is a large-span horizontal structure, and the moving platform 9 is connected to the fixed platform 1 through three branch chains. Wherein the first branch chain connects the moving platform 9 and the first slider 2 through a parallelogram mechanism, wherein the first slider 2, the first connecting rod 5, the second connecting rod 6 and the moving platform 9 form a parallelogram mechanism, the first Slider 2 is the driving member of the branch chain. In this parallelogram mechanism, the first connecting rod 5 is hinged with the motion platform 9 through the rotating pair 7, and the first connecting rod 5 is hinged with the first slider 2 through the rotating pair 3; the second connecting rod 6 is hinged through the rotating pair 8 It is hinged with the motion platform 9, and the second connecting rod 6 is hinged with...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a flat horizontal type 2-DOF redundant actuation parallel translation robot mechanism. The flat horizontal type 2-DOF redundant actuation parallel translation robot mechanism is characterized in that the mechanism is integrally of a long-span horizontal structure, and a motion platform is connected with a fixing platform through three branch chains, wherein the first branch chain is connected with the motion platform and a driving slider through a parallelogram mechanism, and the second branch chain and the third branch chain are of the same structure and are arranged symmetrically relative to the motion platform, each of which is connected with the motion platform and the driving slider through a corresponding connecting rod. The flat horizontal type 2-DOF redundant actuation parallel translation robot mechanism comprises three branch chains and four connecting rods, the four connecting rods are connected with the motion platform and the driving slider in a revolute pair mode and are identical in length. By adding one branch chain, redundant actuation can be achieved, particularity inside a working space can be overcome, and the rigidity and the bearing capacity can be enhanced. The flat horizontal type 2-DOF redundant actuation parallel translation robot mechanism can be applied to horizontal planer type milling machines and heavy-load robots.
Description
Technical field: [0001] The invention belongs to the field of industrial robots and machinery manufacturing, in particular to a plane horizontal two-degree-of-freedom drive redundant parallel translational robot mechanism. Background technique: [0002] Compared with the serial robot mechanism, the parallel robot mechanism has the advantages of high load capacity, high stiffness and easy kinematics inverse solution. It has been widely used in the fields of industrial robots, parallel machine tools and dynamic simulators. [0003] However, due to the limitation of the structure, there are some obvious deficiencies in the parallel robot mechanism, such as the small working space and more singularities inside the working space. Due to the existence of the internal singularity, the singularity curve divides the theoretical workspace into different sub-intervals, but the actual usable workspace is only one of the subspaces, which makes the originally small workspace even smaller....
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 王冰杨墨张莉英聂旭萌
Owner NORTH CHINA INST OF AEROSPACE ENG