Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism

A completely isotropic, three-movement technology, applied in the field of hybrid robots with degrees of freedom, can solve the problems of scarce decoupling hybrid mechanisms, and the isotropy of decoupling motion of the mechanism is not well solved, and achieves a simple and good structure. The effect of mechanical transfer performance, good motion characteristics

Inactive Publication Date: 2015-09-02
JIANGNAN UNIV
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Problems solved by technology

Chinese patent document CN102133560A proposes a multi-spray gun cooperative spraying five-axis hybrid robot. This five-axis hybrid spraying robot has the advantages of simple structure, easy manufacture, control decoupling, large motion working space, and high positioning accurac

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  • Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism
  • Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism

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Embodiment Construction

[0017] A fully isotropic hybrid robot mechanism with three movements and two rotations, such as figure 1 , 2 As shown, the fixed platform 1 passes through the moving pair P whose direction is parallel to the static plane 1 Connected to the bottom platform 2, the moving platform 14 is connected to the bottom platform 2 through three branch chains, and the end 15 of the mechanism passes through the rotating pair R 4 Connect with moving platform. The bottom platform 2, the upper platform 14 and three branch chains connecting the two platforms form a (2T1R) parallel mechanism. In branch chain 1, one end of the first connecting rod 3 passes through the moving pair P perpendicular to the fixed platform 1 11 Connected with the bottom platform 2, the other end of the connecting rod 3 passes through the moving pair P 12 It is connected with the second connecting rod 4, the other end of the connecting rod 4 is connected with the third connecting rod 5 through the rotating pair R11, ...

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Abstract

The invention discloses a fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot in the technical field of robots. The fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot comprises a fixed platform, a bottom platform, a movable platform, a parallel mechanism for connecting three branched chains (2T1R) between two platforms, and a mechanism end, wherein the bottom platform is connected with the fixed platform by a movement pair 1T; a branched chain I is composed of two movement pairs, two rotating pairs with perpendicular axes, and connecting rods; a branched chain II is composed of one rotating pair, one movement pair, three rotating pairs with parallel axes, and connecting rods; the branched chain III is composed of one movement pair, a parallelogram hinge, three rotating pairs and connecting rods; the movable platform is connected with the mechanism end through the rotating pair. According to the three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism, the five movement pairs connected with the bottom platform and the mechanism end are subjected to active driving, so as to realize the three-dimensional movement, two-dimensional rotational movement and the one-to-one control for speeds of active joints and outputs of the end; the mechanism realizes movement decoupling, is fully isotropic so as to have excellent movement transmission property, and can be used as an end execution mechanism of a coordinate measuring machine.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a fully isotropic three-dimensional moving two-dimensional rotating five-degree-of-freedom hybrid robot. 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 shortcomings, more practical in modern manufacturing, has been applied in welding, painting, handling, automobile assembly, medical and other fields. [0003] Since the hybrid robot includes a parallel structure, the parallel mechanism has the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 曹毅秦友蕾陈海刘凯李保坤
Owner JIANGNAN UNIV
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