Three-translation-one-rotation parallel robot with plane pair
A technology of three translational and planar pairs, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of simplifying the branch chain structure, good dynamic characteristics, and improving stiffness and motion accuracy
Inactive Publication Date: 2020-04-21
SHANDONG UNIV OF TECH
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[0004] The above research results involve different types of parallel robots with few degrees of freedom, but the types of parallel robots with three translational degrees of freedom and one rotational degree of freedom still need to be expanded, and the structure still needs to be further simplified
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[0010] The motion platform 2 is a quadrangular platform with four sides, and each side has a rectangular hollow structure. The disc slider 5 is movably embedded into the rectangular hollow structure of the motion platform 2 through the balls 6 inlaid on the edge. The platform 2 together forms a planar motion pair. The four branch chains all contain telescopic rods 4. One end of the telescopic rod 4 is connected to the fixed platform 1 through the rotating pair 3, and the other end is fixedly connected to one side of the disc slider 5. The four rotating pairs 3 Parallel to each other, the central axes of the four telescopic rods 4 intersect at one point.
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The invention provides a three-translation and one-rotation parallel robot with a plane pair. The parallel robot comprises a fixed platform, a movable platform and four branch chains which are connected between the fixed platform and the movable platform and are the same in structure. The parallel robot is characterized in that the movable platform is a quadrangular frustum pyramid with four side faces, each side face is provided with a rectangular hollow structure, disc sliding blocks can be movably embedded in the rectangular hollow structures of the movable platform through balls embedded in the edges, and the plane moving pair is formed by the disc sliding blocks and the movable platform; and the four branch chains are all provided with telescopic rods, one ends of the telescopic rods are connected with the fixed platform through rotation pairs, the other ends of the telescopic rods are fixedly connected with one faces of the disc sliding blocks, the four rotation pairs are parallel to one another, and the center axes of the four telescopic rods are crossed at one point. The movable platform can obtain three translation freedom degrees and one rotation freedom degree through driving of the rotation pairs on the branch chains, the branch chain structure is simplified by introducing the plane pairs, and by means of the short branch chain structure form, the rigidity and moving precision of the robot can be effectively improved.
Description
technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a three-translation-rotation parallel robot with plane pairs. 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] Due to its own characteristics and application potential, the parallel robot with few degrees of freedom has attracted a large number of scholars at home and abroad to conduct research. Pierrot et al. proposed a H4 parallel robot with four branch chains and a double-moving platform structure, which realized three-dimensional translation and one-dimensional rotation in space. The robot...
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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 张彦斐宫金良陈超
Owner SHANDONG UNIV OF TECH