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A Redundant Drive Combination Parallel Mechanism with Error Compensation

A technology of error compensation and parallel connection, applied in the field of redundant drive combination parallel mechanism, to achieve the effect of easy assembly and control

Active Publication Date: 2018-12-21
图速自动化科技(上海)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, many scholars have compensated the error of the mechanism from the aspects of kinematics calibration and control system, and achieved relatively good results, but also increased the complexity of the overall system.

Method used

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  • A Redundant Drive Combination Parallel Mechanism with Error Compensation
  • A Redundant Drive Combination Parallel Mechanism with Error Compensation
  • A Redundant Drive Combination Parallel Mechanism with Error Compensation

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Embodiment Construction

[0018] The present invention will be further described with reference to the drawings and embodiments.

[0019] The invention utilizes a unique combination structure design to solve the problems of motion output and error compensation of a parallel mechanism, adds the micro-motion adjustment link of the mechanism, and expands the application occasions of this type of parallel mechanism. The mechanism can realize the combined motion output of the 3-PUU mechanism and the 3-RUU mechanism, and there are three main driving modes.

[0020] The invention takes advantage of the similar composition of the branch chain kinematics of the two three-degree-of-freedom parallel mechanisms, 3-RUU and 3-PUU, shares the "UU" part of the two parallel mechanism branches, and designs a 3P / RUU combined parallel mechanism with two outputs, 3-RUU and 3-PUU. When the motion output of the 3-PUU parallel mechanism needs to be realized, the “R” pair connected to the “P” pair at the lowest end of the three br...

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Abstract

The invention relates to a redundant actuation combined parallel mechanism capable of achieving error compensation. The mechanism comprises a main portion, a three-freedom-degree 3-PUU parallel mechanism, a three-freedom-degree 3-RUU parallel mechanism, a work space adjusting mechanism and seven drive actuators; the multi-freedom-degree motion characteristic and the combined mechanism principle of the parallel mechanism are utilized, and a combined motion output mechanism capable of achieving three-freedom-degree horizontal moving motion and three-freedom-degree error compensation is provided. The mechanism further has the work space adjustable function, and is suitable for mechanical products for medical purposes such as the precision surgery and the minimally invasive surgery and other occasions needing the small work space and high-precision operation. The mechanism is mainly composed of pairs of simple motions including moving and rotating, and assembling and control are easy.

Description

Technical field [0001] The invention relates to a redundant drive combined parallel mechanism capable of realizing error compensation, which is suitable for medical mechanical products such as precision surgery and minimally invasive surgery, and other occasions requiring small working space and high-precision operation. Background technique [0002] Precision manipulation robots are currently one of the most active directions in robotics research at home and abroad, and their development prospects are very promising. In recent years, with the development of robotics, computer image technology, computer control technology, and minimally invasive surgery technology, researchers have launched remote-operated surgical research for war-injury simulation surgery, surgical training, and anatomy teaching. Among them, the high-precision, multi-degree-of-freedom manipulator is its core component. Under normal circumstances, this type of robot requires high accuracy and response speed, an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/003B25J9/0036
Inventor 槐创锋贾雪艳石刚意刘平安
Owner 图速自动化科技(上海)有限公司
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