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2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism

A robot and parallel technology, applied in the field of robotics, can solve the problems of high manufacturing cost, complex structure, poor workmanship, etc., and achieve the effect of easy processing and manufacturing, simple mechanism, and improved structural rigidity

Inactive Publication Date: 2015-06-03
柳州市金旭节能科技有限公司
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  • Abstract
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Problems solved by technology

However, there are still some shortcomings in the existing parallel robot mechanism, such as poor manufacturability, complex structure, high manufacturing cost, etc.

Method used

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  • 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism

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Embodiment Construction

[0016] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0017] The embodiment of the present invention provides a 2PRU&CRS space parallel robot mechanism, such as figure 1 As shown, it consists of a moving platform 1, a fixed platform 11 and three branch chains connecting the above two platforms. The first branch chain and the second branch chain in the three branch chains have the same structure, and the two branch chains are from top to bottom It is composed of a universal joint pair, a rotating pair, a moving pair and the connecting rod between them. The third branch chain in the three branch chains is composed of a ball pair, a rotating pair, a cylindrical pair and The link between them consists of;

[0018] One end of the upper link L3 of the first branch chain is connected with the motion platform 1 through the ...

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Abstract

The invention relates to a 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism. The 2PRU and CRS spatial parallel robot mechanism is formed by a motion platform, a fixed platform and three branch chains, wherein the three branch chains are used for connecting the motion platform and the fixed platform, the first branch chain and the second branch chain in the three branch chains are the same in structure and are respectively formed by a universal joint pair, a rotating pair, a moving pair and connecting rods among the universal joint pair, the rotating pair and the moving pair from top to bottom, and the third branch chain in the three branch chains is formed by a ball pair, a rotating pair, a cylinder pair and connecting rods among the ball pair, the rotating pair and the cylinder pair from top to bottom. According to the 2PRU and CRS spatial parallel robot mechanism disclosed by the invention, three movable motion output can be realized, the mechanism is simple, processing and manufacturing are easy, a kinematic model is simple, kinematic calibration and control can be easier, meanwhile, joints of the mechanism are less, and the structure rigidity is increased.

Description

technical field [0001] The invention relates to the field of robots, in particular to a 2PRU&CRS space parallel robot mechanism. Background technique [0002] The parallel robot mechanism is connected by more than two branch chains between the fixed platform and the motion platform. Each branch chain is composed of a connecting rod and a motion pair. The motion platform has more than two degrees of freedom and is driven in parallel. , which is very different from the transmission series robot in terms of mechanism, kinematics, and dynamics. [0003] Parallel robot mechanisms are widely used in technical fields such as robots, CNC machine tools, sensors, micro-operations, manufacturing and processing, and researchers have also invented many parallel mechanisms. However, there are still some deficiencies in the existing parallel robot mechanism, such as poor manufacturability, complex structure, and high manufacturing cost. Contents of the invention [0004] The object of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 熊庆华史永凯
Owner 柳州市金旭节能科技有限公司
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