Structural redundancy parallel robot mechanism with four relative degrees of freedom

A degree of freedom, robotic technology

Inactive Publication Date: 2017-10-24
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Most of the existing four-degree-of-freedom parallel mechanisms have the characteristics of too comp

Method used

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  • Structural redundancy parallel robot mechanism with four relative degrees of freedom
  • Structural redundancy parallel robot mechanism with four relative degrees of freedom
  • Structural redundancy parallel robot mechanism with four relative degrees of freedom

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[0025] The present invention will be further described with reference to the accompanying drawings.

[0026] A structural redundant parallel robot mechanism with four relative degrees of freedom, the parallel robot mechanism comprising: a base (1), an intermediate platform (2), a moving platform (3), first to fourth branch chain assemblies (4- 1,4-2,4-3,4-4).

[0027] The first branch chain assembly includes: connecting rod (6-1), slider (7-1), connecting rod (11-1), ball auxiliary rod (9-1), cross shaft (8-1), A bolt (5-1), a fifth bolt (10-1), and a ninth bolt (12-1).

[0028] The connection between the components constituting the first branch chain assembly: one end of the square hole of the slider (7-1) is nested in the connecting rod (6-1) to form a moving pair, and one end of the circular hole of the slider (7-1) It is connected with the connecting rod (11-1) through the bolt (10-1) to form a rotating pair, and the U-shaped end of the connecting rod (6-1) and the U-sha...

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Abstract

The invention provides a structural redundancy parallel robot mechanism with four relative degrees of freedom, and relates to the technical field of robots. The mechanism is relatively simple in structure and easy to manufacture and process, singular postures of the mechanism are reduced, the force transmissibility of the mechanism is improved, and the mechanism can be used in the fields such as complex surface machining and motion simulation. The mechanism comprises a substrate (1), a middle platform (2), a movable platform (3), a first branched chain assembly (4-1), a second branched chain assembly (4-2), a third branched chain assembly (4-3) and a fourth branched chain assembly (4-4). The mechanism is formed by connecting the first branched chain assembly (4-1), the second branched chain assembly (4-2), the third branched chain assembly (4-3) and the fourth branched chain assembly (4-4) with the substrate (1), the middle platform (2) and the movable platform (3). In the mechanism, drive pairs are movable pairs on the first branched chain assembly (4-1), the second branched chain assembly (4-2), the third branched chain assembly (4-3), the fourth branched chain assembly (4-4) and the middle platform (2). Ball screws (omitted in the figure) can be selected for the drive mode. The movable platform (3) serves as an end actuator, and when the drive pairs move, the movable platform (3) carries out four degrees of freedom with two rotations and two motions.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a structural redundant parallel robot mechanism with four relative degrees of freedom. Background technique [0002] Due to its advantages of high stiffness, high motion accuracy, good dynamic response performance, and easy inverse solution of mechanism kinematics, the parallel robot mechanism has received extensive attention from domestic and foreign academic and engineering circles. For decades, scholars have been working on the research and development of new parallel robot configurations. Among them, the structural redundant parallel mechanism with four relative degrees of freedom is an important one, which can be used in complex surface processing, motion simulation and other fields. Most of the existing four-degree-of-freedom parallel mechanisms have the characteristics of too complex structure and difficult production and processing, which limit the application of the mecha...

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/003
Inventor 曲海波张程煜张传亮郭盛
Owner BEIJING JIAOTONG UNIV
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