Decoupled two-translation one-rotation parallel robot

A robot and translation technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of few types of decoupled parallel robots, and achieve the effect of high rigidity, convenient working space, and simple structure

Inactive Publication Date: 2015-12-02
SHANDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above research results involve different types of parallel robots, but there are still many parallel mechanisms with few degrees of freedom to be developed, among which there are still relatively few types of decoupled parallel robots with two translations and one rotation

Method used

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  • Decoupled two-translation one-rotation parallel robot

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Embodiment Construction

[0010] The fixed platform 1 has three mutually orthogonal planes, and each plane has a rectangular hollow structure. The disc slider 5 is movably embedded in the rectangular hollow structure of the fixed platform 1 through the balls 4 embedded in the edge, and is connected with the fixed platform. 1 together form a planar motion pair, the first branch chain is a first telescopic rod 2, one end of the first telescopic rod 2 is connected to the motion table 8 through the first rotating pair 3, and the other end is connected to one side of the disc slider 5 Fixed connection, the second branch chain is a fixed-length rod 6, one end of the fixed-length rod 6 is connected with the motion table 8 through the second rotating pair 7, the other end is fixedly connected with one side of the disc slider 5, the third The branch chain is a second telescopic rod 9, one end of the second telescopic rod 9 is affixed to the motion table 8, and the other end is affixed to one side of the disc sli...

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Abstract

The invention provides a decoupled two-translation one-rotation parallel robot. The robot comprises a fixed platform, a disc slider, a motion worktable and three branch chains connected between the disc slider and the motion worktable. The robot is characterized in that the fixed platform is provided with three mutually orthogonal planes, and each plane comprises a rectangular hollow structure; the disc slider is movably embedded into the rectangular hollow structures of the fixed platform through balls inlaid in the edge; one end of a first telescopic rod of the first branch chain is connected with the motion worktable through a first rotation pair, and the other end is fixedly connected with the disc slider; one end of a fixed-length rod of the second branch chain is connected with the motion worktable through a second rotation pair, and the other end is fixedly connected with the disc slider; one end of a second telescopic rod of the third branch chain is fixedly connected with the motion worktable, and the other end is fixedly connected with the disc slider. The robot adopts the first telescopic rod, the second telescopic rod and the rotation pairs in one branch chain as driving joints, and complete decoupling control at two-translation one-rotation degrees of freedom is realized.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a decoupled two-translation-rotation parallel robot. Background technique [0002] Parallel robots and serial robots have a dual relationship in terms of structure and performance characteristics. Compared with traditional serial robots, parallel robots have the advantages of large structural rigidity, high bearing capacity, small inertia, fast response speed, and high precision. They are widely used in machinery manufacturing and other related fields. [0003] Parallel robot with few degrees of freedom has attracted a large number of scholars at home and abroad to conduct research with its own characteristics and application potential. Tian Yanling and others from Tianjin University have developed a large-stroke two-translation and one-rotation precision positioning platform. The internal moving platform has the characteristics of simple and compact...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 宫金良张彦斐陈超
Owner SHANDONG UNIV OF TECH
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