1T&(1T2R)&1R completely isotropic parallel serial robot mechanism

Abstract

The invention provides a 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism. The 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism comprises a fixed platform, a bottom platform, an upper platform, and a (1T2R) parallel mechanism or a mechanical tail end composed of three branches connected between the two platforms, wherein the fixed platform is connected to the bottom platform by use of a movable pair 1T; the first branch chain is composed of a movable pair, two rotating pairs having the axes perpendicular to each other, and a connecting rod; the second branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod. The third branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod; the upper platform is connected with the mechanical tail end by use of the rotating pair 1R. In the mechanism, five motion pairs connected with the bottom platform and the mechanism tail end are used for driving, and complete decoupling of five-degree-of-freedom output of two-dimensional movement and three-dimension rotation is realized; the 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism is simple in structure and low in cost, and has the advantages of motion decoupling and complete isotropy in kinematics.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a fully isotropic two-movement and three-rotation hybrid robot mechanism. 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-moving 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, learn from each other, and then get the hybrid robot. Therefore, the hybrid mechanism has a wide range of applications in the fields of industrial robots, CNC machine tools, medical robots, and service robots. [0003] At present, most of the hybrid robot mechanisms are in the form of a series mechanism connected in series with a parallel m...

AI Technical Summary

Problems solved by technology

However, the research of parallel mechanism is the source of innovation of hybrid mechanism. After searching, it is found that the research on 1T2R decoupled parallel mechanism has made some progress, such as Chinese patent document CN103302661A, but the three active drives of this mechanism are located in two branch chains. And it contains a six-degree-of-freedom branch chain, the motion inertia of the mechanism is relatively large, and it does not have completely isotropic performance

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