A three-degree-of-freedom positioning mechanism and its multi-degree-of-freedom hybrid manipulator
A technology of positioning mechanism and degree of freedom, applied in the field of robotics, can solve problems such as poor carrying capacity, small working space and small range of motion, and achieve the effects of improving motion accuracy, easy high-speed motion, and compact structure
Inactive Publication Date: 2017-07-18
TIANJIN UNIV
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Problems solved by technology
The limitations of the above mechanism are: the active joint is driven by rotation, the mechanism has poor bearing capacity, and the working space and range of motion are small
Method used
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[0013] The technical solutions of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only to illustrate the present invention, and are not intended to limit the present invention.
[0014] Such as figure 1 and figure 2 As shown, a three-degree-of-freedom hybrid manipulator proposed in the present invention includes a base 1, a moving platform 9 and an end effector 19, and three branch chains with the same structure are arranged between the base 1 and the moving platform 9. , the branch chain includes a slide block 2, a lower Hooke hinge 3, a frame bar 4 and an upper Hooke hinge 5 which are sequentially connected from the base 1 to the moving platform 9.
[0015] The slider 2 is connected to the base 1 through a moving pair, and the lower Hooke hinge 3 and the upper Hooke hinge 5 have the same structure, and both are composed of an inner single fork ...
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The invention discloses a three-degree-of-freedom hybrid manipulator, which includes a base, a moving platform and an end effector. A parallel part and a series part are arranged between the base and the end effector, and the parallel part is arranged on the base and the end effector. Three branch chains with the same structure are formed between the moving platforms, and the series part is composed of three parallelogram mechanisms; each branch chain in the parallel part drives the slider and the base to move relative to each other through the driving motor, providing three-dimensional support for the moving platform. input of translational degrees of freedom. The moving platform is hinged with the rod Hooke in the series part, which converts the three-degree-of-freedom motion of the moving platform into two-dimensional translation of the end effector and one-dimensional rotation around the base, realizing three-degree-of-freedom positioning in space. The present invention adopts a series-parallel hybrid topology, which has a compact structure, reduces the mass of the moving parts, increases the working space, improves the motion precision, and is easy to realize high-speed motion. A three-degree-of-freedom hybrid manipulator with high-speed motion.
Description
technical field [0001] The invention relates to a robot, in particular to a hybrid mechanism with three degrees of freedom of the robot. Background technique [0002] At present, there are two main types of three-degree-of-freedom mechanisms used for robot space positioning: series joints and planar parallels. The serial articulated mechanism has large inertia, low motion speed and poor positioning accuracy. Although the parallel type can achieve high motion speed, the working range and working space are severely limited. [0003] There are a few three-degree-of-freedom parallel mechanisms that can be applied to material handling in the world. Patent US4976582 (or WO8703528, EP0250470, CH672089, JP63501860T) describes a spatially symmetrical three-translational parallel mechanism, which includes three active branch chains, each branch chain including two parts, a proximal rod and a far rod. One end of the proximal rod has only one degree of freedom of movement or rotation ...
Claims
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IPC IPC(8): B25J9/00
Inventor 王攀峰高骏赵学满
Owner TIANJIN UNIV