Redundant drive planar two-degree-of-freedom parallel manipulator with parallelogram branches

Abstract

The invention discloses a redundancy drive plane two-degree-of-freedom parallel-connection mechanical arm comprising parallelogram branch chains. The mechanical arm comprises two parallelogram motion chains and four servo motors arranged on the two sides of a shaft. The two servo motors are arranged on each side of the shaft. The two servo motors on each side are arranged vertically, wherein the central axes of the two servo motors are coaxial. An output shaft of each servo motor is fixedly connected with the input end of one speed reducer. Each parallelogram motion chain is formed by one main body branch chain and one auxiliary branch chain. On the basis of a traditional plane 5R parallel-connection mechanical arm, the two redundancy auxiliary branch chains are guided to construct a redundancy drive mechanism to obtain a redundancy drive mechanism comprising the parallelogram motion chains, on the condition of not changing the size of the original body branch chain structure of the mechanism, drive singularity in work space is avoided, the defects that the rigidity, close to the singularity part, of the traditional plane 5R parallel-connection mechanical arm is poor and the mechanism is out of control easily can be overcome, and the no-singularity high-speed motion in the work space is achieved.

Description

technical field [0001] The invention relates to the field of planar parallel robots, in particular to a redundantly driven planar two-degree-of-freedom parallel manipulator with parallelogram branch chains. Background technique [0002] Due to its simple structure and low cost, the planar parallel mechanism is widely used in food, electronics and other light industrial positioning, packaging and packaging fields. Among them, the most classic and representative one is the planar 5R parallel mechanism (R stands for rotating pair). The mechanism consists of five connecting rods (including the base), and the connecting rods are connected end to end through five rotating pairs. For example, a control arm assembly proposed in US Patent No. 4,712,971A, its main mechanism is a plane 5R parallel mechanism. Although the planar 5R parallel mechanism has a simple structure and has been studied and applied for many years, there are many singular points in its workspace, and the singular...

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Problems solved by technology

[0006] Compared with the planar 5R parallel manipulator of transmission, the beneficial effects of the large workspace redundantly driven planar two-degree-of-freedom parallel manipulator of the present invention are as follows: (1) The present invention introduces two Redundant auxiliary branch chains and redundant drive mechanisms are constructed to obtain redundant drive mechanisms with parallelogram kinematic chains, which can avoid driving singularities in the workspace without changing the structure size of the original main branch chains of the mechanism, and overcome The traditional planar 5R parallel manipulator has the defects of poor rigidity near its singular position and the mechanism is easy to get out of control, so as to realize the high-speed movement without singularity in the working space

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