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

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...

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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 accuracy. The above invention Although the mechanism realizes motion decoupling, it can realize three-dimensional movement and two-dimensional rotation. This type of decoupled hybrid mechanism is very rare, and the decoupling and motion isotropy of most mechanisms are not well resolved.

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