Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism

Abstract

A five-degree-of-freedom hybrid robot based on a 2R1T parallel mechanism comprises a fixed platform, a movable platform, an L-shaped vertical rack, a moving platform, three branch chain chains and a single-degree-of-freedom swing head. The movable platform is arranged on the fixed platform. The L-shaped vertical rack is arranged on the side face of the fixed platform. The three branch chain chains are arranged between a top platform and the moving platform of the L-shaped vertical rack. The single-degree-of-freedom swing head is arranged under the moving platform. The first branch chain and the third branch chain are identical in structure. The axis, close to the L-shaped vertical rack, of a U pair of the second branch chain is parallel to the axes of two revolute pairs of the first branch chain and the third branch chain. The axis, close to a connecting rod, of the U pair is parallel to the axis of the revolute pair of the second branch chain and perpendicular to the axis of a sliding pair. The axis of the revolute pair of the second branch chain is parallel to the axes, close to the moving platform, of the two U pairs of the first branch chain and the third branch chain. According to the five-degree-of-freedom hybrid robot based on the 2R1T parallel mechanism, the structure is simple, real-time control is facilitated, the working space of a machine tool can be enlarged easily, and the sensitivity of the machine tool is improved.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a hybrid robot. Background technique [0002] In the application field of industrial robots, multi-degree-of-freedom hybrid robots can be used in surface processing, welding, cutting, assembly, sorting and other fields, and have good application prospects. The development of robot technology has become a symbol of modern industrial manufacturing. Combining the characteristics of parallel mechanism with compact structure, high rigidity, fast dynamic response and series structure with good flexibility and large working space, the hybrid robot has received extensive attention and research. , has become a major research hotspot in the field of robotics and mechanisms. [0003] The five-degree-of-freedom hybrid robot constructed based on the 2R1T parallel mechanism with two continuous shafts combines the advantages of the series mechanism and the parallel mechanism. The overall rigid...

AI Technical Summary

Problems solved by technology

At present, the core functional component of the Exechon five-axis machining center, the 2R1T parallel mechanism 2UPR / SPR, has a small number of joints, only 10 single-degree-of-freedom joints, which is currently the least number of joints among this type of hybrid robot, but the parallel mechanism 2UPR / SPR With two continuous rotating shafts, the five-degree-of-freedom hybrid robot authorized by the patent CN102672709B also does not have two continuous rotating shafts in the parallel part, resulting in a more complicated kinematics model, which increases trajectory planning, kinematic parameter calibration and motion control. difficulty

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