Cross-slider type four-chain three-level one-rotation high-speed parallel manipulator

Abstract

The invention discloses a cross slide block type four-branched-chain three-translation and one-rotation high-speed parallel manipulator. The manipulator comprises a fixed frame, a movable platform, and four motion branched chains with the same structures; the movable platform includes four guide rods, four slide sleeves, two semicircular gears, two horizontal connecting rods, a platform, a rotating shaft and a terminal actuator; a center gear engaged with the two semicircular gears is arranged on a shaft section between the platform and the terminal actuator; the two same semicircular gears are rotationally connected with the two adjacent slide sleeves; and under driving of driving devices, power is transferred to the four motion branched chains by output ends of the four driving devices, and is transferred to the slide sleeves by the motion branched chains to drive the two same semicircular gears to rotate, and the rotating shaft is driven to rotate through gear transmission, so that the terminal actuator has three-degree-of-freedom of translation and one-degree-of-freedom of rotation.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel manipulator capable of three translations and one rotation in space. Background technique [0002] Patent documents US20090019960 and EP1084802 disclose a high-speed parallel mechanism that can realize three-dimensional translation and one-dimensional rotation. The fixed frame and the moving platform are connected by four active branch chains with the same structure. Each branch chain includes a near frame bar and a far frame bar. two parts. The active branch near frame rod is connected with the far frame rod through a hinge with two degrees of freedom of rotation, the other end of the near frame rod is connected with the fixed frame for movement or rotation, and the other end of the far frame rod is connected through a hinge with only two rotation degrees of freedom Connected with the moving platform, the moving platform has the ability of three-dimensional translation in space;...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the moving platform of the mechanism includes four parts, and there are only two driven parts. These two parts are equivalent to a set of opposite sides of a parallelogram. Uniform, not conducive to the smooth operation of the mechanism

The limitations of the above mechanism are: the upper and lower platforms of the moving platform use the moving pair as the guiding mechanism, and all the lower connecting axes are not in the same plane, and there will be uneven force and large friction during the movement, so it will It leads to poor force transmission effect, unsmooth movement of the mechanism, and low service life.

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