Four-branch three-level one-rotation high-speed parallel manipulator

Abstract

The invention discloses a four-branch-chain three-platform one-rotor high-speed parallel connection mechanical hand, which comprises a fixing frame, a movable platform and four moving branch chains, wherein the four moving branch chains are arranged between the fixing frame and the movable platform, are in central symmetry arrangement and have the same structures, the movable platform comprises an upper platform, a lower platform, a tail end executer, four swinging rods, a spiral shaft and two support rods, the four swinging rods are arranged around the movable platform in a radial shape, and the two adjacent swinging rods are in rotational connection or hooke hinging or ball hinging to a connecting element, so the adjacent swinging rods realize the movement in opposite directions, one end of a spiral rod is rotationally connected with the upper platform, the middle of the spiral rod is spirally connected with the lower platform, the other end of the spiral rod is fixedly connected with the tail end executer, under the driving effect of a driving device, the lower platform moves in the spiral shaft direction, and the tail end executer fixedly connected with the spiral shaft realizes the rotation around the self axial line through screw thread connection effects. The four-branch-chain three-platform one-rotor high-speed parallel connection mechanical hand has the advantages that the force transmission effect of the movable platform is good, the movement of the mechanism is smooth, and the service life is long.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel manipulator capable of three translations and one rotation in space. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose a high-speed parallel mechanism that can realize three-dimensional translation and one-dimensional rotation. The fixed frame and the moving platform are connected by four active branch chains with the same structure. Each branch chain includes a near frame bar and a far frame bar. two parts. The active branch near frame rod is connected with the far frame rod through a hinge with two degrees of freedom of rotation, the other end of the near frame rod is connected with the fixed frame for movement or rotation, and the other end of the far frame rod is connected through a hinge with only two rotation degrees of freedom Connected with the moving platform, the moving platform has the ability of three-dimensional translation in space;...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the moving platform of the mechanism includes four parts, and there are only two driven parts. These two parts are equivalent to a set of opposite sides of a parallelogram. Uniform, not conducive to the smooth operation of the mechanism

The limitations of the above mechanism are: the upper and lower platforms of the moving platform use the moving pair as the guiding mechanism, and all the lower connecting axes are not in the same plane, and there will be uneven force and large friction during the movement, so it will It leads to poor force transmission effect, unsmooth movement of the mechanism, and low service life.

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