Multi-degree of freedom space parallel robot mechanism

A robot and degree of freedom technology, applied in the field of robotics, can solve problems such as poor manufacturability, high manufacturing cost, and complex structure

Inactive Publication Date: 2016-11-09
江苏亿欣新材料科技股份有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, there are still some shortcomings in the existing parallel robot mechanis

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  • Multi-degree of freedom space parallel robot mechanism

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0023] In one embodiment, such as figure 1 As shown, a multi-degree-of-freedom space parallel robot mechanism is composed of a motion platform 1, a fixed platform 9 and three branch chains connecting the above two platforms. The first branch chain in the three branch chains consists of a universal joint pair, A spherical joint pair, a cylindrical pair and the connecting rod between them, the second branch chain is composed of a universal joint pair, a moving pair and the connecting rod between them, the third branch chain of the three branch chains From top to bottom, it consists of two rotating pairs, a cylindrical pair and the connecting rod between them;

[0024] One end of the first connecting rod L1 of the first branch chain is connected to the moving platfo...

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Abstract

The invention relates to a multi-degree of freedom space parallel robot mechanism. The multi-degree of freedom space parallel robot mechanism comprises a movable platform, a fixed platform and three branch chains connecting the movable platform with the fixed platform. The first branch chain in the three branch chains comprises a universal joint pair, a ball friction pair, a cylinder pair and connection rods between the universal joint pair, the ball friction pair and the cylinder pair. The second branch chain comprises a universal joint pair, a moving pair and a connection rod between the universal joint pair and the moving pair. The third branch chain in the three branch chains comprises two rotation pairs, a cylinder pair and connection rods between the rotation pairs and the cylinder pair from top to bottom. Movement output of three movements can be achieved. The multi-degree of freedom space parallel robot mechanism is simple and easy to machine and manufacture. A kinematic model is simple, thus kinematic calibration and control becomes easy, meanwhile, mechanism joints are few, and the structure rigidity is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a multi-freedom space parallel robot mechanism. Background technique [0002] Parallel Mechanism (PM for short) can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. . [0003] Parallel robots and traditional industrial serial robots have a philosophical relationship of opposites and unity. Compared with serial robots, parallel robots have the following characteristics: no cumulative error, high precision; the driving device can be placed on a fixed platform or close to the fixed platform. Position, so that the moving part is light in weight, high in speed, and good in dynamic response; compact in structure, high in rigidity, and large in carrying capacity; the completely symmetrical parallel mechanism has better is...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 吴国明顾雪阳李庆雷刘兆祥庄飞侯燕飞
Owner 江苏亿欣新材料科技股份有限公司
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