An Overconstrained High Stiffness Robot with Trisymmetric Kinematics
A kinematics and over-constraint technology, applied in the field of robotics, can solve problems such as no longer having three-symmetrical kinematics performance, and achieve the effect of reducing the number of hinge degrees of freedom and improving stiffness
Active Publication Date: 2017-03-01
TIANJIN UNIV
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However, adopting the arrangement described above makes the mechanism a plane symmetric mechanism and no longer has trisymmetric kinematics performance
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[0036] An over-constrained high-rigidity robot with three-symmetrical kinematics performance of the present invention will be described in detail below in conjunction with the embodiments and drawings.
[0037] Such as figure 1 , figure 2 As shown, a kind of over-constrained high-stiffness robot with three-symmetrical kinematics performance of the present invention includes a moving platform 6 and a positioning head 7 arranged at the end of the moving platform 6, and is respectively arranged on the moving platform 6 through a fixed frame 5. For the first branch chain 1, the second branch chain 2, the third branch chain 3 and the fourth branch chain 4 on the platform 6, the positioning head 7 is a tandem rotor with two or three degrees of freedom. The end of the first branch chain 1 runs through the center of the fixed frame 5 and is fixedly connected to the moving platform 6. The middle parts of the second branch chain 2, the third branch chain 3 and the fourth branch chain ...
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An overconstrained high-rigidity robot with tri-symmetric kinematics performance comprises a movable platform, a locating head arranged at the tail end of the movable platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are arranged on the movable platform through a fixed rack. The tail end of the first branched chain penetrates the center of the fixed rack, and the first branched chain is fixedly connected to the movable platform. The middle of the second branched chain, the middle of the third branched chain and the middle of the fourth branched chain can be connected to the periphery of the fixed rack in a rotating manner, and the tail end of the second branched chain, the tail end of the third branched chain and the tail end of the fourth branched chain are hinged to the movable platform. The second branched chain is arranged in front of the first branched chain, and the third branched chain and the fourth branched chain are located behind the left side and the right side of the first branched chain respectively. According to the overconstrained high-rigidity robot with the tri-symmetric kinematics performance, on the premise of not damaging the tri-symmetric kinematics performance, the number of freedom degrees of hinges in the mechanism is lowered, and the rigidity of the mechanism is improved.
Description
technical field [0001] The present invention relates to a robot. In particular, it concerns an overconstrained high-stiffness robot with trisymmetric kinematics. Background technique [0002] Patent SE8502327 (or US4732525) and EP0674969 (or US6336375) disclose a class of spatial hybrid robots with a positioning head, including three active adjustment devices that can be extended or shortened in the axial direction; one end of the adjustment device is connected by a hinge Fastened on the fixed frame, the other end is connected to the moving platform through a hinge; there is also a driven adjusting device in this structure, one end of the driven adjusting device is fixedly connected to the positioning head, and the other end is connected to the fixed frame through a hinge Links to restrict certain degrees of freedom for positioning the head. The hinge connection points of the three active length adjustment devices and the fixed frame are evenly distributed at 120° on the c...
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IPC IPC(8): B25J9/02B25J9/08
Inventor 黄田董成林刘海涛林彬汪满新杨朔飞刘祺
Owner TIANJIN UNIV