Rocker staggered four-chain three-level one-rotation high-speed parallel manipulator

Abstract

The invention discloses a rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator. The rocker dislocation-type four-branch-chain three-translation one-rotation high-speed parallel manipulator comprises a fixed rack, a movable platform and four moving branch chains with the same structure, wherein spatial three-dimensional translation of the movable platform is ensured through the four moving branch chains with the same structure; the movable platform comprises a central gear, a platform and an end effector; four guide rails which are of centrally-radial arrangement are arranged on the platform; a sliding block is arranged in each guide rail; the central gear is meshed with four identical arc gears; a guiding groove is formed in the disc surface of each arc gear; the four sliding blocks separately drive the arc gears to move through the guiding grooves; and a rotary shaft is driven to rotate through the gears, so that the end effector has three degrees of translation freedom and one degree of rotation freedom. The movable platform is compact in structure and is symmetrically arranged; movement is flexible; stress is uniform; movement precision is high; the integral structure is good in stability; the structure is simple; manufacture and repair are convenient; and requirement of complex grabbing and releasing operation is met.

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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