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Reconfigurable spherical parallel robot

A robot and parallel technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems that the flexibility of robots cannot be satisfied, and achieve the effect of compact structure and simple mechanism

Inactive Publication Date: 2016-05-04
ZHONGBEI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the flexibility of robots cannot meet the changing needs of the market. The solution is to develop new reconfigurable robots.

Method used

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Examples

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Effect test

Embodiment 1

[0035] The reconfigurable spherical parallel robot in this embodiment is a six-degree-of-freedom configuration, including: a moving platform 1 , a driving branch chain, a fixed platform 6 and the like. The moving platform 1 and the fixed platform 6 are connected by three driving branch chains with the same structure, and the moving platform 1 and the arc rod 3 are connected through the combined slider 2, which can realize the sliding of the combined slider 2 on the moving platform 1 The track I1.1 slides on the sliding track II3.1 of the arc rod 3, and the fixed platform 6 and the motor bracket 5 are fixedly connected through the positioning hole 5.1.

[0036]The three driving branch chains are identical, including: a combined slider 2, an arc rod 3, a motor 4, a motor support 5 and a kinematic pair; there are four kinematic pairs of the driving branch chain, one of which is connected to the motor 4 and the rotating pair R between the arc rod 3, one is the moving pair P connec...

Embodiment 2

[0039] The reconfigurable spherical parallel robot of this embodiment is a three-degree-of-freedom configuration. The difference between this configuration and Embodiment 1 is that there are three kinematic pairs of the drive branch chain, which are connected to the arc rod The moving pair P between 3 and slider II 2.3 is locked, and only the arc rod 3 rotates around the motor shaft under the action of the driving force.

Embodiment 3

[0041] The reconfigurable spherical parallel robot in this embodiment is a three-degree-of-freedom configuration. The difference between this configuration and Embodiment 1 is that there are three kinematic pairs of the drive branch chain, which are connected to the combined slider. The moving pair P between the slider I 2.2 in 2 and the sliding track 1.1 on the moving platform 1 is locked, and only the arc-shaped rod 3 rotates around the motor shaft under the action of the driving force.

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Abstract

The invention belongs to the technical field of spherical parallel robots, and particularly relates to a reconfigurable spherical parallel robot which aims at switching between multiple configurations without being detached. The reconfigurable spherical parallel robot comprises a movable platform, driving branch chains and a fixed platform, wherein the movable platform and the fixed platform are connected through the three driving branch chains of the same structure. A slide rail I of the movable platform and a slide rail II of an arc-shaped rod piece are connected through a combined slide block. The combined slide block can slide on the slide rail I of the movable platform and the slide rail II of the arc-shaped rod piece. The fixed platform is fixedly connected with a motor support. The reconfigurable spherical parallel robot is higher in flexibility, better in softness and higher in adaptability to the working environment.

Description

technical field [0001] The invention belongs to the technical field of spherical parallel robots, in particular to a reconfigurable spherical parallel robot. Background technique [0002] As a special parallel robot, the spherical parallel robot is characterized by the fact that all axes of the rotation axes meet at the center of the sphere, and the end effector can realize free rotation around the center of the sphere. It can be used as an azimuth tracking system for satellite antennas, and as the wrist joint , shoulder joints, waist joints, spherical engraving machines and the structural schemes of ground automatic tracking equipment for various types of aircraft, which have important application value and prospects. [0003] As the application range of robots is getting wider and wider, each configuration can only adapt to a certain range. Therefore, the flexibility of robots cannot meet the changing needs of the market. The solution is to develop new reconfigurable robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/006
Inventor 李瑞琴赵建文
Owner ZHONGBEI UNIV
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