Three-degree-of-freedom parallel micro-operation robot

Abstract

The invention discloses a three-degree-of-freedom parallel micro-operation robot which comprises a bottom base, a workbench and three PUU type branched chains, wherein each branched chain comprises an upper flexible hook hinge, a connecting rod, a lower flexible hook hinge and a piezoelectric ceramic driver; the piezoelectric ceramic drivers are uniformly mounted on the bottom base; one end of each lower flexible hook hinge is connected with each piezoelectric ceramic driver, the other end of each lower flexible hook hinge is connected with each connecting rod, and the other end of each connecting rod is connected with each upper flexible hook hinge; the upper flexible hook hinges are uniformly mounted on the lower surface of the workbench. The three-degree-of-freedom parallel micro-operation robot is directly driven by the piezoelectric ceramic drivers and realizes the integrated design of mechanism and driving, and the workbench can obtain three translational degrees of freedom. The three-degree-of-freedom parallel micro-operation robot has the advantages of simple structure, small accumulated error, strong carrying capacity, great rigidity, etc., and is widely applied to the modern high-end technical fields of micro electromechanical industry, bioengineering, medical treatment, aerospace, optical manufacture, etc.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, and in particular relates to a three-degree-of-freedom parallel micro-operation robot. Background technique [0002] With the development of micro / nano technology, micro-manipulation robots have broad application prospects in the fields of micro-electromechanical industry, bioengineering and medical treatment, aerospace and optical processing, and parallel micro-manipulation robots have frictionless and Clearance, no cumulative error, fast response, strong bearing capacity, high rigidity and other advantages, so it is widely used. [0003] Judging from the current research on parallel micro-manipulation robots, Yanshan University has developed an isotropic six-degree-of-freedom micro-motion parallel robot. The push rod amplifies the displacement and transmits the displacement to the flexible moving pair of the parallel plate to realize the movement of the worktable. Although the...

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Problems solved by technology

[0003] Judging from the current research on parallel micro-manipulation robots, Yanshan University has developed an isotropic six-degree-of-freedom micro-motion parallel robot. The push rod amplifies the displacement and transmits the displacement to the flexible moving pair of the parallel plate to realize the movement of the worktable. Although the micro-motion robot has good displacement decoupling, its structure is complex

Harbin Institute of Technology has developed a three-branch six-degree-of-freedom parallel flexible hinge micro-motion mechanism. From the perspective of space structure, the robot belongs to the 6-PSS micro-motion parallel robot. The piezoelectric ceramics are arranged on the base. The output is transmitted to the connecting seat connected to it through the elastic parallel plate, and then the supporting rods with flexible hinges at both ends connect the connecting seat and the upper platform. This mechanism has a long transmission chain, many error factors, and the base is relatively large, difficult to process

[0004] Although the six-degree-of-freedom parallel micro-manipulation robot can meet the needs of precise positioning, its structure is cumbersome, the cost is high, and the operation is difficult, and the industrial application is limited. At present, in many application fields, six-degree-of-freedom motion is not required

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