(2T1R)&(2R) Completely isotropic parallel serial robot mechanism

Abstract

The invention relates to a (2T1R)&(2R) completely isotropic parallel serial robot mechanism. The (2T1R)&(2R) completely isotropic parallel serial robot mechanism comprises a parallel mechanism (2T1R) and a serial branch chain 2R; the parallel mechanism (2T1R) is composed of a fixed platform, a movable platform and three branches connected between the two platforms. The first branch is composed of a movable pair, a rotating pair, a parallelogram hinge, a universal hinge, and connecting rods for connecting the movable pair, the rotating pair, the parallelogram hinge and the universal hinge; the second branch is composed of a movable pair, a parallelogram hinge, two rotating pairs, and connecting rods for connecting the movable pair, the parallelogram hinge and the two rotating arms; the third branch is composed of three rotating pairs, a movable pair, and connecting rods for connecting the three rotating pairs and the movable pair; the serial branch chain branch connected with the movable platform is composed of two rotating pairs. The motion pair connected with the fixed platform and the fourth branch are driving pairs; the (2T1R)&(2R) completely isotropic parallel serial robot mechanism is stable in structure, capable of realizing the motion of twice movement and spatial three-dimensional rotation of the movable platform in the horizontal direction, completely isotropic in kinematics, easy to control and good in transmissibility.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a fully isotropic hybrid robot mechanism in space. Background technique [0002] At the same time, the hybrid robot has the advantages of large working space and easy control of the serial robot, and the parallel robot has the advantages of stable structure, high rigidity, less error accumulation, good dynamic performance, and easy kinematic inverse solution. , Parallel configuration disadvantages, more practical in modern manufacturing. It has been applied in welding, painting, handling, automobile assembly, medical treatment and other fields. [0003] In the research of the five-degree-of-freedom hybrid robot, Harbin Measuring Tools Group Co., Ltd. launched a new structure of the machining center LINKS-EXE700. The entire parallel part 3T and the series part 2R constitute a hybrid robot with 5 degrees of freedom. Some progress has been made in the research on the decoupling of three-degr...

AI Technical Summary

Problems solved by technology

The above-mentioned invention mechanism has not been able to realize the hybrid robot mechanism of two movements and three rotations, and the decoupling and kinematic isotropy have not been well solved.

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