Five-degree-of-freedom robot mechanism
A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large end motion mass, affecting the dynamic performance and acceleration and deceleration characteristics of the mechanism, and unfavorable mechanism high stiffness/mass ratio, etc. Effects of number of branches, reduced manufacturing costs, good manufacturing and assembly manufacturability
Active Publication Date: 2017-05-10
NANJING UNIV OF SCI & TECH
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Problems solved by technology
In this type of robot, since the transmission link of the two-degree-of-freedom rotor includes a servo motor and a reducer, the mass of the end motion is too large, which affects the dynamic performance and acceleration and deceleration characteristics of the mechanism, and the stiffness of the series-connected rotor is difficult to guarantee, which is not conducive to Pursue a high stiffness / mass ratio of the mechanism
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[0017] A five-degree-of-freedom robot mechanism, comprising a fixed frame 1, a large rotating shaft 2 rotatably connected to the fixed frame 1, a first bevel gear 3, a second bevel gear 4, and a large rotating shaft driving device 5 fixedly connected to the fixed frame 1 , moving platform 6, the first branch chain I and the third branch chain III arranged between the large rotating shaft 2 and the moving platform 6, the second branch chain II arranged between the fixed frame 1 and the moving platform 6 And the fourth branch chain IV, the second bevel gear 4 is rotationally connected with the fixed frame 1, and is fixedly connected with the driving end of the large rotating shaft driving device 5, and the first bevel gear 3 is fixedly connected on the large rotating shaft 2 , the first bevel gear 3 meshes with the second bevel gear 4;
[0018] The structure of the first branch chain I and the third branch chain III is exactly the same, and each branch chain includes a driving d...
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The invention discloses a five-degree-of-freedom robot mechanism. The five-degree-of-freedom robot mechanism comprises a fixed frame, a movable platform, a large rotating shaft rotationally connected to the fixed frame, first and second branched chains arranged between the large rotating shaft and the movable platform, and third and fourth branched chains arranged between the fixed frame and the movable platform; the fourth branched chains respectively include extension rod; extension rods of the first and second branched chains are respectively connected with the large rotating shaft through rotating pairs, and are connected with the movable platform through spherical pairs; and extension rods of the third and fourth branched chains are connected with a static platform through hooke joints, and are connected with the movable platform through spherical pairs. The five-degree-of-freedom robot mechanism is compact in structure, skillful in design, excellent in whole machine rigidity, high in precision and large in working space frame volume ratio.
Description
technical field [0001] The invention relates to a robot mechanism, in particular to a five-degree-of-freedom robot mechanism with three levels and two rotations. Background technique [0002] Among the five-degree-of-freedom robots disclosed in existing patents CN102699898, CN102672709, CN102699902, CN101049692, and CN1524662, most of them are composed of a parallel mechanism with few degrees of freedom and a series rotor with two degrees of freedom, and the parallel mechanism with few degrees of freedom is used for the position of the terminal moving platform Positioning, two degrees of freedom serially rotating the head for attitude adjustment. In this type of robot, since the transmission link of the two-degree-of-freedom rotor includes a servo motor and a reducer, the mass of the end motion is too large, which affects the dynamic performance and acceleration and deceleration characteristics of the mechanism, and the stiffness of the series-connected rotor is difficult to...
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IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 汪满新冯虎田王禹林欧屹
Owner NANJING UNIV OF SCI & TECH