A three-translation-rotation parallel robot platform with low-coupling three-motion auxiliary motion platform

Abstract

A three-translation and one-rotation parallel robot platform of a low-coupling-degree three-kinematic-pair movable platform comprises the movable platform (1), a fixed platform (0), a space complex branch chain for connecting the movable platform (1) and the fixed platform (0), and two S-S-R unrestraint branch chains. On a main chain body of the space complex branch chain, one end of a first drive rod (2) is connected with the fixed platform (0) through a first rotation pair (R11), and the other end of the first drive rod (2) is fixedly connected with a first short edge rod at one end of a first ball pair parallelogram. A second short edge rod (4) at the other end of the first ball pair parallelogram is connected with the movable platform (1) through a second rotation pair (R12). The structure of an auxiliary chain body is the same as that of the main chain body, but the axis of a third rotation pair (R21) is not parallel to the axis of the first rotation pair (R11), and the other end of a second drive rod (5) is fixedly connected with a first short edge rod at one end of a second ball pair parallelogram. A third short edge rod (7) at the other end of the second ball pair parallelogram is connected with the second short edge rod (4) of the first ball pair parallelogram through a fourth rotation pair (R22), and the axis of the fourth rotation pair (R22) coincides with the axis of the second rotation pair (R12). The parallel mechanism is simple in structure, easy to manufacture and low in coupling degree, wherein k is equal to one.

Description

technical field [0001] The invention relates to a three-translation-rotation parallel robot platform of a low-coupling three-motion auxiliary motion platform, which provides a novel three-translation-rotation parallel robot platform for robot operators and the like. Background technique [0002] The platform with parallel structure, especially the Delta operator that realizes the three-translation function in space, has played a very good role in high-speed pick-and-place, positioning assembly, handling, sorting, loading and unloading, etc.; and it has three translation-rotation functions The parallel operator is indispensable in the occasions where the attitude of the workpiece needs to be adjusted. For this reason, in 1988, on the basis of the three-translation Delta operator, R.Clavel connected a R-U-P-U-R branch chain or an S-P-S branch chain in series to form a hybrid operator with the function of three translation and one rotation; in 2003, Yang Tingli applied for a pa...

AI Technical Summary

Problems solved by technology

However, the structures of the above-mentioned mechanisms are complex, and the coupling degree k of the mechanisms is relatively large (k=2), which makes the kinematics positive solution and dynamics solution of the mechanism very difficult, thus affecting the development and application; therefore, the realization of the three translation-rotation functions Both new structures and applications need to be developed, and new models that are superior to existing mechanisms need to be created

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