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Six-degree-of-freedom parallel micro platform

A micro-platform, degree of freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large weight size, few degrees of freedom, poor stiffness, etc., to reduce bending deformation, reduce weight, reduce The effect of inertia

Inactive Publication Date: 2014-08-27
XIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a six-degree-of-freedom parallel micro-platform to solve the problems of the existing micro-platforms with few adjustment degrees of freedom, low precision, poor stiffness, large weight and size

Method used

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Embodiment Construction

[0025] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] refer to figure 1 with figure 2 , the structure of the six-degree-of-freedom parallel micro-platform of the present invention is to include a static platform 1 and a dynamic platform 2, and three groups of fixed bearing seats are evenly installed on the lower surface of the dynamic platform 2, and each group of fixed bearing seats passes through two branch chains and the static platform downwards. 1 Transmission connection, that is, there are three sets of fixed bearing seats and six branch chains between the static platform 1 and the dynamic platform 2;

[0027] refer to image 3 , the static platform 1 has a plurality of micro-platform installation holes 1-1 in the groove of the inner ring along the axial direction, and the static platform 1 has a plurality of groove-type slideways 1-2 in the outer ring of the axial direction, and...

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Abstract

The invention discloses a six-degree-of-freedom parallel micro platform which comprises a fixed platform body and a movable platform body. The lower surface of the movable platform body is evenly provided with three sets of fixing bearing bases, and each fixing bearing base is connected with the fixed platform body downwards in a transmission mode through two branch chains, namely, the three sets of the bearing bases and six branch chains are arranged between the fixed platform body and the movable platform body. According to the six-degree-of-freedom parallel micro platform, the fixed platform body is fixed to the installation end face at the tail end of a macro robot through a micro platform installation hole, a tail end actuator is fixed to the movable platform body through a gripper installation hole in the movable platform body, the size is small, the weight is low, rigidity and precision are high, six-degree-of-freedom precise trimming of space postures of a workpiece in the assembly process is achieved, and the aim of precise assembly is achieved.

Description

technical field [0001] The invention belongs to the technical field of industrial assembly robots and is installed at the end of a manipulator of a macro-micro industrial assembly robot, in particular to a six-degree-of-freedom parallel micro-platform. Background technique [0002] With the continuous expansion of the application field of assembly robots and the continuous deepening of the research on assembly robot control, assembly robots are required to have a certain degree of compliance. The compliance of assembly robots is mainly divided into passive compliance and active compliance. Passive compliance is incompetent in some special cases, such as assembly without chamfers and two-point contact. Assembly precision. Active compliance is a monitoring device that adds force on the basis of passive compliance to form a force feedback servo link. During assembly operations, the force generated by contact collisions can actively adjust the state of the workpiece to the torq...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 王雯张海山傅卫平魏明明
Owner XIAN UNIV OF TECH
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