Six-degree-of-freedom robot with three branch chains

Abstract

A six-degree-of-freedom robot with three branch chains consists of a moving platform, a fixed platform and three branch chains uniformly distributed for connecting the moving platform and the fixed platform, wherein each branch chain comprises a lower cross universal hinge, a support telescopic rod assembly and an upper cross universal hinge, sequentially connected from the fixed platform to the moving platform; the support telescopic rod assembly consists of a moving connecting rod and a support connecting rod, a plane connecting rod assembly is mounted among the upper hinge bases of the moving connecting rod, the support connecting rod and the lower cross universal hinge, and the plane connecting rod assembly consists of a lower connecting rod, a middle connecting rod and an upper connecting rod; the bottom end of the upper connecting rod is connected with the moving connecting rod through a hinge pin, and the bottom end of the lower connecting rod is connected with an output shaft of a second motor on an upper fork-shaped hinge base of the lower cross universal hinge; and a lower fork-shaped hinge base of the lower cross universal hinge is fixedly mounted on the fixed platform, a first motor is mounted on the lower fork-shaped hinge base of the lower cross universal hinge, and an output shaft of the first motor is connected with a cross hinge pin of the lower cross universal hinge.

Description

technical field [0001] The invention belongs to the field of parallel robots. Background technique [0002] On the basis of the existing Stewart six-degree-of-freedom parallel mechanism, the new six-degree-of-freedom parallel mechanism can be obtained by changing the type, arrangement order, and direction of the kinematic pairs in the branch while maintaining the six independent degrees of freedom of the branch , the branch chains of the existing improved 6-DOF parallel mechanism are arranged evenly and symmetrically, requiring more drives and complicated control methods; in addition, the motion accuracy of a single branch chain seriously affects the motion accuracy of the entire moving platform, which cannot satisfy the requirements Work requirements for special circumstances. [0003] Therefore, it is an urgent problem to be solved in the prior art to provide an improved three-branched six-degree-of-freedom robot so that the motion of the branch chains is simple and easy ...

AI Technical Summary

Problems solved by technology

[0002] On the basis of the existing Stewart six-degree-of-freedom parallel mechanism, the new six-degree-of-freedom parallel mechanism can be obtained by changing the type, arrangement order, and direction of the kinematic pairs in the branch while maintaining the six independent degrees of freedom of the branch , the branch chains of the existing improved 6-DOF parallel mechanism are arranged evenly and symmetrically, requiring more drives and complicated control methods; in addition, the motion accuracy of a single branch chain seriously affects the motion accuracy of the entire moving platform, which cannot satisfy the requirements Special Situation Job Requirements

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