Three-freedom-degree robot

Abstract

The invention provides a three-freedom-degree robot, and relates to the technical field of robot design and manufacturing. The robot comprises a fixed platform, a movable platform, a middle restraining rod and three branch chains of the same structure; the upper end of the middle restraining rod is hinged to the center of the movable platform through a spherical hinge, the lower end of the middle retraining rod is fixedly connected with the center of the fixed platform, and each branch chain comprises a drive device, a drive connecting rod and a rotating telescopic mechanism; the upper ends of the rotating telescopic mechanisms are arranged on the movable platform in the circumferential direction with the middle restraining rod as the center, the drive devices are fixed to the fixed platform, one end of each drive connecting rod is connected with a drive device output shaft to form a rotating pair, the other end of each drive connecting rod and the lower end of the corresponding rotating telescopic mechanism are rotatably connected to form a rotating pair, and the upper ends of the rotating telescopic mechanisms are connected with the movable platform through cross shaft universal hinges or spherical hinges. The three-freedom-degree robot is compact in structure, high in drive performance, stable in motion of the movable platform and high in flexibility and facilitates motion control over the mechanisms, and the robot can be applied to major fields of machine tools, exercise rehabilitation, robot detection and the like according to different needs.

Description

technical field [0001] The invention relates to the technical field of robot design and manufacture, in particular to a three-degree-of-freedom robot. Background technique [0002] Since the application of parallel robots, they have been widely used in various fields of society because of their high rigidity, strong carrying capacity, small error, high precision, small weight-to-load ratio, good dynamic performance, and easy control. At present, there are three-degree-of-freedom, four-degree-of-freedom, and six-degree-of-freedom parallel robots that are commonly used. Among them, the three-degree-of-freedom parallel mechanism with branch chains symmetrically distributed is the most researched, and it is widely used in machining rotary platforms, rehabilitation equipment, and satellite positioning. Equipment, installation equipment and other fields. [0003] Most of the three-degree-of-freedom robots currently used can rotate in three directions around a fixed center, but ge...

AI Technical Summary

Problems solved by technology

[0003] Most of the three-degree-of-freedom robots currently used can rotate in three directions around a fixed center, but generally occupy a large space, have complex structures, inflexible rotation, and unsatisfactory effects, and cannot fully adapt to the needs of various related industries or fields.

Images