A three-translation-rotation parallel robot device of a low-coupling two-motion auxiliary platform

Abstract

A three-translation and one-rotation parallel robot device of a low-coupling-degree two-kinematic-pair movable platform is composed of the movable platform (1), a fixed platform (0) and two same space complex branch chains. On a main chain body of each space complex branch chain, one end of a second rod (2) is connected with the fixed platform (0) through a first rotation pair (R11), and the other end of the second rod (2) is connected with a first short edge rod (3) at one end of a first parallelogram ((4R)1) through a second rotation pair (R12); a second short edge rod (4) at the other end of the first parallelogram ((4R)1) is connected with the movable platform (1) through a third rotation pair (R13); the axis of the first rotation pair, the axis of the second rotation pair and the axis of the third rotation pair are parallel to one another; on an auxiliary chain body of each space complex branch chain, one end of a third rod (5) is connected with the fixed platform (0) through a fourth rotation pair (R31), the axis of the fourth rotation pair (R31) is parallel to the axis of the first rotation pair (R11), the other end of the third rod (5) is connected with a third short edge rod (6) at one end of a second parallelogram ((4R)3) through a fifth rotation pair (R32), a fourth short edge rod (7) at the other end of the second parallelogram ((4R)3) is connected with the second short edge rod (4) through a sixth rotation pair (R33), and the axis of the sixth rotation pair (R33) coincides with the axis of the third rotation pair (R13); and the axes of two rotation pairs on the movable platform (1) need to be parallel. The parallel device 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 parallel robot device of a low-coupling two-motion auxiliary motion platform, which provides a novel three-translation-rotation parallel device for robot operators and the like. Background technique [0002] Parallel structure devices, especially the Delta operator that realizes the three-translation function in space, have 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 patent 200310106012.4, proposed a set of five thr...

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Problems solved by technology

However, the above-mentioned mechanisms are complex in structure, and the coupling degree k of the mechanism is large (k=2), which makes the kinematics positive solution and dynamic solution of the mechanism very difficult, thus affecting the development and application

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