High-speed parallel manipulator with six degrees of freedom

Abstract

The invention discloses a high-speed parallel manipulator with six degrees of freedom. The high-speed parallel manipulator comprises a fixed rack, a movable platform and six branch chains with the same structures, wherein the fixed rack is provided with six driving devices; each branch chain consists of a near rack rod, an upper connecting shaft, two mutually-parallel far rack rods with equal length and a lower connecting shaft; the output ends of all the driving devices in the branch chains are respectively and fixedly connected with one end of one near rack rod and used for providing one degree of freedom for the corresponding near rack rod; the movable platform comprises an upper platform and a lower platform which are horizontally arranged and are mutually parallel; the upper platform and the lower platform are connected by virtue of a rotating mechanism with a screw rod; the six branch chains are classified into two groups of branch chains at sequential intervals, and the two groups of branch chains are used for respectively driving the upper platform and the lower platform; upper three-dimensional relative movement and lower three-dimensional relative movement are converted into three rotation movements of the screw rod by virtue of the rotating mechanism. The high-speed parallel manipulator is compact in structure, can be used for omitting an amplification mechanism, reducing the complexity of the mechanism, meanwhile reducing the quality of moving parts and improving the movement precision, and is easy for realization of complex picking and placing operations.

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 capable of 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; A driving device is fixedly connected t...

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

Images