Space three-dimensional translation parallel robot mechanism only containing revolute pairs
A revolving pair and three-translational motion technology, which is applied in the direction of manipulators, program-controlled manipulators, and manufacturing tools, can solve the problems of low operating speed, large inertia of the execution part, and large work space, and achieve simplified trajectory planning and large work space. , low cost effect
Inactive Publication Date: 2014-07-02
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0005] The purpose of the present invention is to solve the problem that the existing 3-translational parallel mechanism robot has too many rods, too many kinematic pairs, and the inertia of the execution part causes the mechanism to run at a low speed. It provides a simple structure, easy manufacture and installation, and a transmission High precision and running speed, low cost; and a large working space, good transmission characteristics, only the three-translation space parallel robot mechanism can be realized by the rotating pair
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[0019] The three-translational parallel mechanism provided by the present invention, which only includes rotating pairs, is composed of a fixed platform 1, a moving platform 2, and three branch chains with the same structure connecting the above two platforms; each branch chain (such as the first branch chain L1) is composed of The fixed platform to the moving platform are composed of motor 3, reducer 4, active arm 5, upper joint 6, driven arm 7 and lower joint 8;
[0020] The motor 3 and the reducer 4 are installed on the fixed platform 1, the active arm 5 is connected with the motor 3 through the reducer 4, the driven arm 7 is connected with the active arm 5 through the upper joint 6, and connected with the moving arm 5 through the lower joint 8. The platforms 2 are connected together; the upper joint 6 is composed of two revolving pairs, namely the first revolving pair and the second revolving pair, the axes of the two revolving pairs are R1 and R2 respectively and R1 and R2...
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The invention discloses a space three-dimensional translation parallel robot mechanism only containing revolute pairs and belongs to the technical field of robots and advanced manufacturing. The space three-dimensional translation parallel robot mechanism is composed of a moving platform, a fixed platform and three branched chains connected with the two platforms. Each branched chain is composed of a motor, a speed reducer, a drive arm, an upper end joint, a driven arm and a lower end joint (totally five revolute pairs are included) from the fixed platform to the moving platform. According to the space three-dimensional translation parallel robot mechanism, the working platforms of the space three-dimensional translation parallel robot mechanism can be used for achieving movement output of three-dimensional translation under the Cartesian coordinate system, due to the fact that the branched chain moving pairs of the mechanism are the revolute pairs, the mechanism is simple and easy to manufacture and install, the transmission precision is high, and cost is low. In addition, the working space is large, and the transmission characteristics are good. The kinematics positive and negative solutions of the mechanism are simple, and a series of technical problems of track planning, controlling, correcting and the like 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 mechanism that realizes space three-translation. Background technique [0002] A parallel mechanism is a group of institutions formed by parallel connection of two or more branches. 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, ro...
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Inventor 李彬李杨民赵新华赵磊杨玉维
Owner TIANJIN UNIVERSITY OF TECHNOLOGY