High-speed parallel manipulator capable of realizing four degrees of freedom

Abstract

The invention discloses a high-speed parallel manipulator capable of realizing four degrees of freedom. The high-speed parallel manipulator comprises a fixed frame, a movable platform and four branched chains with the same structure, wherein the four branched chains are arranged between the fixed frame and the movable platform; four driving devices are arranged on the fixed frame; each branched chain consists of a near frame rod, an upper connecting shaft, two far frame rods which are parallel to each other and have equal length as well as a lower connecting shaft; the upper and lower connecting shafts and the two far frame rods of each branched chain form a parallelogram structure; the movable platform comprises a center plate, four swing rods, two nuts and a screw; the four swing rods are radially and uniformly distributed at the periphery of the center plate to form two pairs of swing rods at opposite positions; each pair of swing rods at the opposite positions, two connecting rods and the center plate which are connected with the swing rods at the opposite positions, and one nut connected with the two connecting rods form a plane six-rod mechanism. Under the action of the driving devices, the movable platform can realize space three-dimensional translation and can generate rotating degree of freedom of the screw through self deformation.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel mechanism of a robot with three-dimensional translation and one-dimensional rotation degrees of freedom. Background technique [0002] In the field of high-speed material picking and placing, four-degree-of-freedom parallel manipulators that can realize high-speed motion are often used. Patent documents US20090019960 and EP1084802 disclose a parallel mechanism capable of three-dimensional translation and one-dimensional rotation, including four active branch chains and a moving platform. The moving platform of the mechanism has only two driven parts, which are equivalent to a set of opposite sides of a parallelogram. Such a driving method is inflexible, and the stress is uneven, which is not conducive to the smooth operation of the mechanism. Contents of the invention [0003] In order to solve the technical problems in the known technology, the present invention provides a dynamic platfo...

AI Technical Summary

Problems solved by technology

There are only two driven parts on the moving platform of this mechanism, which are equivalent to a set of opposite sides of a parallelogram. This kind of driving method is inflexible and the stress is uneven, which is not conducive to the smooth operation of the mechanism.

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