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(2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism

A dual-action platform and robot technology, applied in the field of robotics, can solve the problems of motion coupling and difficult motion control, and achieve the effects of broad application prospects, easy controllability and high practical value.

Inactive Publication Date: 2015-09-02
JIANGNAN UNIV
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a (2T1R) & (2R) dual-action platform decoupling hybrid robot mechanism, which is used to solve the kinematic coupling of the two-shift, three-rotation, five-degree-of-freedom hybrid robot mechanism in the prior art, and the movement is difficult to control. question

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Embodiment Construction

[0017] A (2T1R)&(2R) fully decoupled hybrid robot mechanism, such as figure 1 , 2 As shown, the mechanism consists of a (2T1R) parallel mechanism connected in series with a (2R) parallel mechanism. The (2T1R) parallel mechanism consists of a fixed platform, a moving platform 28 and three branch chains connecting the two platforms. In the branch chain one, one end of the connecting rod 3 is connected with the connecting rod 1 on the fixed platform through the rotating pair 2, the other end of the connecting rod 3 is connected with the second connecting rod 5 through the rotating pair 4, and the other end of the connecting rod 5 is moved by The pair 6 is connected with the third connecting rod 7, the connecting rod 7 is connected with the fourth connecting rod 9 through the rotating pair 8, and the other end of the connecting rod 9 is connected with the moving platform 28 through the rotating pair 10, wherein the first connecting rod 3 has two The axes of the rotating pairs 2 ...

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Abstract

The invention provides a (2T1R)&(2R) double-acting platform decoupling parallel serial robot mechanism. The robot mechanism is mainly composed of a three-branch chain (2T1R) parallel mechanism and a two-branch chain (2R) parallel mechanism, the two of which are connected in series; the three-branch chain parallel mechanism is composed of a fixed platform, a movable platform and three branch chains connected between the two platforms, wherein the first and second branch chains are completely the same in structure, and both composed of a movable pair, four rotating pairs and four connecting rods; the third branch chain is composed of movable pairs perpendicular to each other in two directions, two rotating pairs having the axes perpendicular to each other, and three connecting rods. The fourth branch chain in the two-branch chain parallel mechanism is connected with the platform at the tail end of the mechanism by use of three rotating pairs having the axes parallel to each other and a rotating pair having the axis perpendicular to the axes of the rotating pairs; the fifth branch chain is connected with the tail-end platform by use of two rotating pair having the axes perpendicular to each other. The driving pairs of the mechanism are the rotating pairs of the branch chains on the platform, and the decoupling of five-degree-of freedom input and output actions of two-dimensional motion and three-dimensional rotation is realized. The (2T1R)&(2R) double-acting platform decoupling parallel serial robot mechanism is applicable to the fields of high precision, high speed, demand on point control and the like.

Description

Technical field [0001] The invention belongs to the field of robots, and in particular relates to a two-movement and three-rotation decoupling hybrid robot mechanism of a double-action platform. Background technique [0002] The parallel robot mechanism is a closed-loop structure composed of multiple branch chains, so it has the advantages of good rigidity, high precision, and fast response, such as the Delta three-movement parallel robot and the Stewart six-degree-of-freedom parallel robot widely used in industry. , but there is a shortcoming that the movement space is small compared with the tandem robot. So people combine the series mechanism and the parallel mechanism to learn from each other, and then get the hybrid machine. [0003] At present, most of the hybrid robot mechanisms are in the form of a series mechanism connected in series with the parallel mechanism, such as Chinese invention patent documents CN101966500A, CN101966502A, CN103909518A, CN103624774A. Inst...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 曹毅秦友蕾陈海何帆李保坤
Owner JIANGNAN UNIV
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