Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism

Abstract

The invention relates to a two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism. The mechanism is formed by connecting a 2T2R parallel mechanism with a rotating end R in series. The parallel mechanism is composed of a fixing platform, a moving platform and four branch chains connected to the middle of two platforms. A first branch chain is composed of a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among the four rotating pairs; a second branch chain is composed of a rotating pair, a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among three rotating pairs; configurations of a third branch chain and the second branch chain are the same to each other; a fourth branch chain is composed of two moving pairs with mutual perpendicular directions, two rotating pairs with perpendicular axial lines and three linking rods. Both the moving pair connected with the fixing platform and the rotating pair connected to the tail end are used as the active pair; the mechanism can be a series-parallel linking robot or the executing mechanism of the manipulator, so as to realize the two-dimensional movement, three-dimensional rotation, grabbing at five degree of freedom, or other operations. The design is completely decoupled, easy to control, and quick in responding speed.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a two-movement, three-rotation and five-degree-of-freedom fully decoupled hybrid robot mechanism. Background technique [0002] The development of space mechanism has gone through the development process from series mechanism to parallel mechanism and then to hybrid mechanism. computer system. At the same time, it has the advantages of large working space and easy control of the series robot, stable structure and good rigidity of the parallel robot, small cumulative error, good dynamic performance, and high precision. [0003] In the research of hybrid robot mechanism, five-degree-of-freedom hybrid robot has been widely concerned, and scholars have invented many new configurations, such as national invention patent documents CN102672709A, CN101049692, CN102699898A, but many hybrid mechanisms are based on the Tricept parallel mechanism model At the same time, some new progress has been mad...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a fully decoupled motion and easy-to-control output of a two-movement and three-rotation hybrid robot mechanism to solve the problem that the five-degree-of-freedom hybrid robot mechanism is kinematically coupled and the motion is difficult to control in the prior art

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