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A four-degree-of-freedom parallel robot mechanism capable of high-speed motion

A technology of high-speed motion and degrees of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex structure of moving platform and unfavorable high-speed motion, so as to improve dynamic response characteristics, avoid uneven force and reduce quality Effect

Active Publication Date: 2018-10-12
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the moving platforms of these mechanisms either have complex structures, or contain many kinematic pairs, or use angle conversion or amplification mechanisms such as gears or ball screws with high mass, which is not conducive to realizing high-speed motion.

Method used

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  • A four-degree-of-freedom parallel robot mechanism capable of high-speed motion
  • A four-degree-of-freedom parallel robot mechanism capable of high-speed motion
  • A four-degree-of-freedom parallel robot mechanism capable of high-speed motion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] Such as figure 1 and Figure 4 As shown, it is a four-degree-of-freedom parallel robot mechanism with three translations and one rotation, including a fixed platform 1, a moving platform 7, and the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV , the four branch chains are respectively connected between the fixed platform 1 and the moving platform 7, and have the same structure; the moving platform 7 includes the first sub-platform 8 and the second sub-platform 9, and the two platforms pass through The rotating pair 12a is connected; the end effector 11 is fixed on the second sub-platform 9; among the four branch chains, the first branch chain I, the second branch chain II and the third branch chain III are connected to the The fixed platform 1 and the first sub-platform 8 are connected to the three connection ends of the first sub-platform 8 respectively; the fourth branch chain IV connects the fixed platfor...

Embodiment 2

[0026] Such as figure 2 and Figure 5 As shown, the difference between this embodiment and Embodiment 1 is that the lower short link 4b4 in the fourth branch chain IV is directly connected to the second sub-platform 9 through the rotating pair 12b, while keeping other modules unchanged. After the above changes, the torque experienced by the second sub-platform 9 in this embodiment will be reduced, and the mechanical properties of the mechanism will be improved.

Embodiment 3

[0028] Such as image 3 and Figure 6 As shown, this embodiment is similar to Embodiment 2, the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV have the same structure and are connected between the fixed platform 1 and the moving platform 71 A spatial parallel closed-loop mechanism is formed, wherein the first branch chain I, the second branch chain II and the third branch chain III connect the fixed platform 1 and the second sub-platform 8, and the fourth branch chain IV connects the fixed platform 1 and the second sub-platform 9, the motor rotation axes in the first branch chain I, the second branch chain II and the third branch chain III are all set horizontally, and the motor rotation axes in the first branch chain I and the third branch chain III are parallel to each other, and the rotation axis of the motor in the second branch chain II is perpendicular to the rotation axes of the motors in the first branch cha...

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PUM

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Abstract

The invention relates to a four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement. The four-degree-of-freedom parallel robot mechanism comprises a fixed platform, a movable platform and four branch chains which are arranged between the fixed platform and the movable platform and have the same structure. Each branch chain comprises an active driving device. The movable platform comprises first sub-platforms, a second sub-platform and a connecting mechanism between the two platforms. The first branch chain, the second branch chain and the third branch chain are connected with the fixed platform and the first sub-platforms, and the fourth branch chain is connected with the fixed platform and the second sub-platform. A space parallel closed mechanism is formed by the four branch chains, the fixed platform and the movable platform, and three-dimensional horizontal movement and one-dimensional rotating movement of a terminal executer in the space can be achieved through the movement of the four branch chains. The movable platform is simple is structure and large in output rotating angle range, an amplification mechanism for enlarging the rotating angle range is not needed, the mass of the movable platform is reduced, and the dynamic response characteristic of the mechanism is greatly improved.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a three-translation-rotation four-degree-of-freedom parallel robot mechanism capable of realizing high-speed motion. Background technique [0002] The three-translation-rotation parallel robot mechanism has been widely used in automatic production line handling and manufacturing assembly operations in the fields of food and medicine, modern logistics, and electronic information because of its advantages over serial robot mechanisms. [0003] The existing patents CN102689305A, CN102642205A, CN103846909A, CN102229141A, CN102922511A and CN103753521A disclose a parallel robot mechanism that can realize three-dimensional translation and one-dimensional rotation, including a fixed platform, a moving platform and four branch chains connecting the two platforms. In the above-mentioned mechanism, in order to realize the degree of freedom of rotation around the axis perpendicular to the mo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 彭斌彬傅松甄文臣王向前何开拓
Owner NANJING UNIV OF SCI & TECH