Series-parallel robot with five degrees of freedom

A robot and degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to meet complex working conditions, and achieve compact structure, accurate positioning, and light weight.

Active Publication Date: 2014-09-24
JAKA ROBOTICS CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] However, with the widespread promotion of Delta robots, only fou

Method used

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  • Series-parallel robot with five degrees of freedom
  • Series-parallel robot with five degrees of freedom
  • Series-parallel robot with five degrees of freedom

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Embodiment Construction

[0039] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0040] Such as figure 1 , 2 As shown, this embodiment provides a five-degree-of-freedom hybrid robot, including a power drive system, a positioning system and an orientation system, such as figure 1 Shown is a schematic diagram of the branch, such as figure 2 Shown is the overall three-dimensional schematic diagram; specifically:

[0041] The positioning system includes: a driving arm mechanism, a driven arm mechanism, and a moving platform mechanism, wherein:

[0042] Described driving arm m...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/10
CPCB25J9/0051
Inventor 付庄刘文红闫维新赵言正
Owner JAKA ROBOTICS CO LTD
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