A five-degree-of-freedom parallel robot mechanism with two-dimensional rotation and three-dimensional movement

A technology with three-dimensional movement and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex kinematics solutions, strong kinematic coupling, and small working space, and achieve easy realization of large drives and clear motion forms , the effect of strong overload capacity

Active Publication Date: 2017-02-01
CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been solved well, such as strong kinematic coupling, complex kinematics solutions, small working space, poor transmission characteristics, etc.

Method used

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  • A five-degree-of-freedom parallel robot mechanism with two-dimensional rotation and three-dimensional movement
  • A five-degree-of-freedom parallel robot mechanism with two-dimensional rotation and three-dimensional movement

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] figure 1 The shown two-dimensional rotating three-dimensional mobile five-degree-of-freedom parallel robot mechanism includes a base 4 and a moving platform 9, and the moving platform 9 and the base 4 are connected through five RUS-type drive branches with identical structures and a constraint branch.

[0034] The five RUS-type drive branches include the revolving pair, the first lower link 5, the first Hooke hinge 6, the first upper link 7 and the ball pair 8, and the revolving pair is the first revolving pair 1 or the second revolving pair 2.

[0035] On the lower surface of the moving platform 9, ball pairs 8 are evenly arranged on the same circle centered on the center of the lower surface of the moving platform 9.

[0036] On the upper surface of the frame 4, four first rotating pairs 1 are evenly arranged on the same circle centered on the center of the upper surface of the frame 4, and the interval angle between adjacent first rotating pairs 1 is 90°.

[0037] ...

Embodiment 2

[0043] figure 2 The shown two-dimensional rotating three-dimensional mobile five-degree-of-freedom parallel robot mechanism includes a base 4 and a moving platform 9. The moving platform 9 and the base 4 are connected by five RUS-type drive branches with identical structures and one URU-type constraint branch. .

[0044] The five RUS-type drive branches include the revolving pair, the first lower link 5, the first Hooke hinge 6, the first upper link 7 and the ball pair 8, and the revolving pair is the first revolving pair 1 or the second revolving pair 2.

[0045] On the lower surface of the moving platform 9, ball pairs 8 are evenly arranged on the same circle centered on the center of the lower surface of the moving platform 9.

[0046] On the upper surface of the frame 4, four first rotating pairs 1 are evenly arranged on the same circle centered on the center of the upper surface of the frame 4, and the interval angle between adjacent first rotating pairs 1 is 90°.

[...

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Abstract

The invention relates to the field of robot and machine manufacturing, and in particular to a two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism. The two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism comprises a machine base (4) and a movable platform (9). The machine base and the movable platform (9) are connected through five RUS drive branches completely the same in structure and a restraint branch. The two-dimensional rotation and three-dimensional movement five-freedom-degree parallel robot mechanism is provided with a completely symmetric structure, the kinematics positive solution and inverse solution are simple, the movement form is definite, and the space two-dimensional rotation and three-dimensional movement can be achieved.

Description

technical field [0001] The invention relates to the field of robot and mechanical manufacturing, in particular to a two-dimensional rotating three-dimensional moving five-degree-of-freedom parallel robot. Background technique [0002] Parallel mechanism refers to the structure composed of two or more branches, the mechanism has two or more degrees of freedom, and is driven in parallel. Compared with series robots, parallel robots have the characteristics of high structural rigidity, strong carrying capacity, light weight at the end, small inertia, and no accumulation of position errors. They complement each other in application. The Stewart platform is a typical 6-DOF parallel robot mechanism, which was first used in parallel robots and CNC machine tools, and was considered a revolution in the structure of machine tools since the 20th century, and subsequently invented a variety of 6-DOF parallel mechanisms. However, due to the limitation of the structure, many technical pr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 张宾王学雷赵栋杰黄杰
Owner CHINA AGRI UNIV
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