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Fully-isotropic two-dimensional movement and rotation parallel robot mechanism

A completely isotropic, robotic technology, applied in the field of completely isotropic two-shift and two-rotation parallel robot mechanisms, can solve problems such as poor structural rigidity and complex branch chains, and achieve easy processing, manufacturing and assembly, broad application prospects, and good Effects on Structural Stability and Dynamic Performance

Inactive Publication Date: 2015-11-25
JIANGNAN UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a completely isotropic two-shift, two-rotation, four-degree-of-freedom parallel robot mechanism with stable structure and motion decoupling to solve the problem of poor structural rigidity, complex branch chains, production, processing and assembly in the prior art. The problem

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  • Fully-isotropic two-dimensional movement and rotation parallel robot mechanism

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[0019] A two-shift, two-rotation four-degree-of-freedom completely isotropic space parallel mechanism, such as figure 1 , 2 , Shown in 3, mechanism is made up of fixed platform 1, moving platform 10 and four branch chains connecting between two platforms. In the branch chain one, one end of the first connecting rod 4 is connected with the fixed platform chute 2 through the moving pair 3 parallel to the fixed platform, and the other end of the connecting rod 4 is connected with the second moving pair 5 through the direction perpendicular to the fixed platform. The other end of the connecting rod 6 is connected with the third connecting rod 8 through the rotating pair 7, and the other end of the connecting rod 8 is connected with the moving platform 10 through the rotating pair 9, wherein the directions of the moving pairs P1 and P2 are perpendicular to each other. The axis of R1 is parallel to the moving pair P1, the axes of the rotating pair R1 and R2 are perpendicular to eac...

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Abstract

The invention relates to a fully-isotropic two-dimensional movement and rotation parallel robot mechanism. The mechanism is composed of a fixed platform, a movable platform and four branch chains connected between the two platforms. The first branch chain is composed of two sliding pairs in the perpendicular direction and two revolute pairs with the perpendicular axes. The second branch chain is composed of two sliding pairs in the perpendicular direction, a cylindrical pair and a revolute pair, wherein the axes of the cylindrical pair and the revolute pair are perpendicular. The third branch chain is composed of a sliding pair, a parallelogram hinge and three revolute pairs. The fourth branch chain is composed of six revolute pairs and five connecting rods connected with the revolute pairs. The sliding pairs, connected with the fixed platform, in the first branch chain and the second branch chain and the revolute pairs, connected with the movable platform, in the third branch chain and the fourth branch chain are driving pairs. The mechanism can serve as a tail-end execution mechanism of a surgical robot and a microoperation robot, and gripping or other operating actions of two-dimensional movement and rotation are achieved. The moving decoupling function is achieved, control is easy, and the transmission performance is good.

Description

Technical field [0001] The invention belongs to the field of robots, in particular to a completely isotropic two-shift and two-rotation parallel robot mechanism. Background technique [0002] The parallel robot mechanism is a closed-loop circuit composed of multiple branch chains, which has the advantages of stable structure, high rigidity, less error accumulation, and good dynamic performance. Parallel mechanisms are widely used in many fields such as dynamic simulation, medical equipment, industrial robots, space docking devices, and parallel machine tools. [0003] Due to its structural characteristics, parallel mechanisms generally have kinematic coupling problems, such as Stewart six-degree-of-freedom parallel mechanisms and Delta mechanisms. It is also because of the existence of coupling that parallel robots have some characteristics different from serial robots. However, the existence of coupling makes the parallel robot have many difficulties in its configuration d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 曹毅秦友蕾刘凯周辉
Owner JIANGNAN UNIV
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