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Two-rotation and two-movement structural redundancy parallel mechanism

A redundant and parallel technology, applied in the field of robotics, can solve problems such as inability to overcome singular positions and limit the application of mechanisms, and achieve the effects of easy production and processing and simple mechanism structure

Inactive Publication Date: 2017-09-19
BEIJING JIAOTONG UNIV
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Problems solved by technology

Most of the existing two-rotation and two-movement parallel mechanisms are non-redundant and cannot well overcome the singular position type, so the working space is divided, which limits the application of the mechanism

Method used

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  • Two-rotation and two-movement structural redundancy parallel mechanism
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  • Two-rotation and two-movement structural redundancy parallel mechanism

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Embodiment Construction

[0021] The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the solutions of the present invention will be further described.

[0022] Such as figure 1 Shown is a four-degree-of-freedom parallel robot mechanism with structural redundancy. The parallel robot mechanism includes: a fixed platform 1, four branch chains (4-1, 4-2, 5-1, 5-2), and a central platform 2 , moving platform 3. The four branch chains are evenly distributed between the moving platform and the fixed platform at intervals of 90°.

[0023] The first type of branch chains (branch chains 4-1, 4-2) include: sliders (8-1, 8-2), ball auxiliary rods 9, link rods 6, and pins 7-1.

[0024] The connection between the parts constituting the first type of branch chain: two sliders are nested in the connecting rod to form a moving pair, the upper slider 8-1 is connected with the ball auxiliary rod 9 to form a rotating pair, and the ball auxiliary rod passes t...

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Abstract

The invention provides a novel structural redundancy parallel robot mechanism. By adoption of the novel structural redundancy parallel robot mechanism, the defects of the prior art can be overcome, and two-rotation and two-horizontal-movement posture transformation of a working platform in the space is achieved, and the parallel mechanism has the advantage that singular postures of the mechanism are avoided, and the force transmission performance of the mechanism is improved. The overall structure of the mechanism is shown in the drawing of the abstract, and the mechanism is formed by sequentially arranging four branch chains in a 90-degree mode. The four branch chains are of two types substantially, the two branch chains of each type are distributed symmetrically, and every two branch chains located in opposite positions of a kinematic pair are of completely identical structures. The two-rotation and two-horizontal-movement structural redundancy parallel mechanism is simple in structure and easy to product and machine and can be applied to the fields of machining of complex curved surfaces of machine tools, material transferring, simulation platforms and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a structure redundant parallel robot mechanism with two degrees of freedom of rotation and two movements. Background technique [0002] Parallel mechanisms have the advantages of high stiffness, high precision, and large load-carrying capacity. At present, there have been many studies on the configuration of parallel mechanisms. For most parallel mechanisms with few degrees of freedom, 6 degrees of freedom and 3 degrees of freedom are the majority, and they have space There are fewer parallel mechanisms with two degrees of freedom of rotation and two movements. This paper proposes a new 4-DOF parallel mechanism, which can be applied to complex surface processing of machine tools, material handling, simulation platforms and other fields. Most of the existing two-rotation and two-movement parallel mechanisms are non-redundant, and cannot overcome the singular position well, so the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0054
Inventor 曲海波王向阳张传亮郭盛
Owner BEIJING JIAOTONG UNIV
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