Series-parallel robot with five degrees of freedom

Abstract

The invention provides a series-parallel robot with five degrees of freedom. The series-parallel robot comprises a power-driven system, a positioning system and an orientation system, wherein the power-driven system is arranged on the top end of the positioning system, the orientation system comprises a supporting mechanism and a power steering mechanism, the supporting mechanism comprises three groups of inverting sub-mechanisms, the three groups of inverting sub-mechanisms are linearly and symmetrically distributed between a fixed platform and a movable platform, the rotation torque of the power-driven system is transmitted to the power steering mechanism by virtue of the three groups of inverting sub-mechanisms, the power steering mechanism comprises a rotating mechanism and a swinging mechanism, and the rotation torque transmitted by the supporting mechanism is converted into the rotation of the orientation system around a Z axis and swinging of the orientation system by virtue of the rotating mechanism and the swinging mechanism. The degree of freedom of the robot is added to five degrees of freedom by virtue of a series-parallel mode, so that the translational motion of the three coordinate axes and the rotation around the Z axis can be realized; the swinging of an operation tail end can be applied to the high-rigidity high-precision or high-load field without need of great working space.

Description

technical field [0001] The present invention relates to the field of industrial robots, in particular to a five-degree-of-freedom hybrid robot, which is used for research on the control, motion, and dynamics of parallel and serial robots, and can be further applied to the industrial field for packaging, sorting, Welding, assembly, etc. Background technique [0002] Parallel robot is a brand-new robot, which has a series of advantages such as high rigidity, strong bearing capacity, small error, high precision, small weight-to-load ratio, good dynamic performance, and easy control. Constitute a complementary relationship, thus expanding the application field of the entire robot. [0003] At present, the research on parallel robots mainly focuses on the control, kinematics analysis and dynamics analysis of parallel robots. The emergence of parallel mechanisms can be traced back to the 1930s. In 1931, Gwinnett proposed an entertainment device based on a spherical parallel mech...

AI Technical Summary

Problems solved by technology

[0005] However, with the widespread promotion of Delta robots, only four degrees of freedom can no longer meet more complex working conditions

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