Asymmetric parallel robot mechanism with two-rotation and one-movement function and three degrees of freedom
An asymmetric and robotic technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of poor decoupling of parallel mechanisms with few degrees of freedom, and achieve the effect of solving the difficulty of poor decoupling control design and reducing the impact
Active Publication Date: 2016-01-06
HENAN UNIV OF SCI & TECH
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[0004] The purpose of the present invention is to provide an asymmetric parallel robot mechanism with two rotations, one movement and three degrees of freedom to solve the problem of poor decoupling of existing parallel mechanisms with few degrees of freedom
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[0010] An embodiment of an asymmetric parallel robot mechanism with two rotations and one translation and three degrees of freedom, such as figure 1 As shown, the mechanism includes a static platform 9, a dynamic platform 10 and a hybrid chain and a single open chain connecting the static platform 9 and the dynamic platform 10. The moving platform 10 adopts a table panel.
[0011] The hybrid chain is composed of a space closed loop structure and the seventh rotating pair R7 connected in series, and the space closed loop structure is composed of a first sub-branch and a second sub-branch.
[0012] The first sub-branch includes the third rotating pair R3, the fourth universal joint U4, the fifth moving pair P5 and the sixth universal joint U6. The third rotating pair R3 and the fourth universal hinge U4 are connected through the connecting rod 1, the fourth universal hinge U4 and the fifth moving pair P5 are connected through the connecting rod 2, and the fifth moving pair P5 a...
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The invention relates to the field of industrial robot mechanisms, and in particular to an asymmetric parallel robot mechanism with a two-rotation and one-movement function and three degrees of freedom. According to the asymmetric parallel robot mechanism with the two-rotation and one-movement function and three degrees of freedom, a single opened chain and a mixed chain are used for enabling a movable platform and a static platform to be connected; and in the work process, when a first movement pair, an eighth movement pair and a third rotation pair are driven, the movable platform can achieve two-dimensional rotation and one-dimensional movement output of space. The jacobian matrix of the mechanism is a 3*3 diagonal matrix, and therefore output and active input of the movable platform are in a one-to-one correspondence relation. One motion output of the movable platform is controlled by only one driver input, the influence between motion chains is greatly reduced, and the problems that a parallel robot is poor in decoupling performance and difficult to control and design are solved.
Description
technical field [0001] The invention relates to the field of industrial robot mechanisms, in particular to an asymmetric parallel robot mechanism with two rotations, one movement and three degrees of freedom. Background technique [0002] Parallel mechanism, also known as parallel robot, is one of the research hotspots in the field of mechanism and robotics in recent years. Due to the advantages of high rigidity, strong bearing capacity, small error accumulation, good dynamic performance, and compact structure, parallel mechanisms have been widely used in many technical fields in recent years. [0003] Parallel robots are divided into six-degree-of-freedom robots and few-degree-of-freedom parallel robots. Compared with the traditional serial mechanism, the parallel robot with few degrees of freedom has the characteristics of simple structure, easy control, and low manufacturing cost. At present, many scholars have designed a variety of three-degree-of-freedom one-dimension...
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Inventor 张彦斌赵浥夫王文胜彭建军韩建海吴鑫王增辉丁丁
Owner HENAN UNIV OF SCI & TECH