A structural redundant parallel mechanism with two rotations and one movement

A parallel and redundant technology, applied in the field of robotics, can solve problems such as difficult production and processing, complex structure, and limited mechanism application, and achieve the effect of easy production and processing and simple mechanism structure

Inactive Publication Date: 2019-02-19
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing two-rotation-one-movement parallel mechanisms have the characteristics of too complicated structure and difficult production and processing, which limits the application of the mechanism

Method used

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  • A structural redundant parallel mechanism with two rotations and one movement
  • A structural redundant parallel mechanism with two rotations and one movement
  • A structural redundant parallel mechanism with two rotations and one movement

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Embodiment Construction

[0020] The present invention will be further described in conjunction with the accompanying drawings.

[0021] A parallel robot mechanism with redundant structure, the parallel robot mechanism includes: a base 1, an intermediate platform 2, a moving platform 3, and first to third branch chain components 4-1, 4-2, 4-3.

[0022] The first branch chain assembly includes: connecting frame rod 5-1, slider 6-1, connecting rod 7-1, ball auxiliary rod 8-1, first nut 9-1, fourth nut 10-1, seventh nut 11-1.

[0023] The connection between the components constituting the first branch chain assembly: one end of the slider 6-1 is nested in the connecting rod 5-1 to form a moving pair, and the other end of the slider 6-1 is connected to the connecting rod 7-1 through the bolt 10-1. 1 is connected to form a revolving pair, and one end of the link rod 5-1 is connected to one end of the ball auxiliary rod 8-1 by a bolt 9-1 to form a revolving pair.

[0024] The second and third branch chain ...

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Abstract

The invention relates to a parallel robot mechanism of structural redundancy and relates to the technical field of robots. The mechanism is relatively simple in structure and easy to produce and process, reduces the singularity posture of the mechanism and improves the force transfer property of the mechanism, and can be used in the field of processing complex surfaces, simulating movement and the like. The parallel robot mechanism of structural redundancy comprises a base (1), a middle platform (2), a movable platform (3), first to third branch chain assemblies (4-1, 4-2 and 4-3). The mechanism is formed by connecting the base (1), the middle platform (2) and the movable platform (3) through the first to third branch chain assemblies (4-1, 4-2 and 4-3). In the mechanism, driving pairs are driving pairs on the first to third branch chain assemblies (4-1, 4-2 and 4-3) and the middle platform (2), and the driving mode can be a ballscrew (omitted in the figure); the movable platform (3) as an end effector performs a three-degree-of-freedom movement with two rotation and one movement when the driving pairs move.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a parallel robot mechanism with redundant structure. Background technique [0002] Parallel mechanisms have the advantages of high rigidity, high precision and large load-carrying capacity. Researchers have invented a large number of parallel mechanisms. Therefore, parallel mechanisms have been extensively studied, and parallel mechanisms with two degrees of freedom of rotation and one movement in space are important. One category, which can be applied to complex surface processing, motion simulation and other fields. Most of the existing two-rotation-one-movement parallel mechanisms have the characteristics of too complicated structure and difficult production and processing, which limits the application of the mechanism. Therefore, it is necessary to propose a two-rotation-movement parallel mechanism with relatively simple structure and easy production and processing. Content...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 曲海波张传亮郭盛
Owner BEIJING JIAOTONG UNIV
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