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A Structurally Redundant Parallel Robot Mechanism with Four Relative Degrees of Freedom

A degree of freedom, robot technology, applied in the field of robots, can solve the problems of difficult production and processing, complex structure, restricting the application of the mechanism, etc., to achieve the effect of easy production and processing, and simple mechanism structure

Inactive Publication Date: 2020-04-28
BEIJING JIAOTONG UNIV
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  • Summary
  • 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 complex structure and difficult production and processing, which limits the application of the mechanism

Method used

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  • A Structurally Redundant Parallel Robot Mechanism with Four Relative Degrees of Freedom
  • A Structurally Redundant Parallel Robot Mechanism with Four Relative Degrees of Freedom
  • A Structurally Redundant Parallel Robot Mechanism with Four Relative Degrees of Freedom

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Embodiment Construction

[0025] The present invention will be further described in conjunction with the accompanying drawings.

[0026] A structurally redundant parallel robot mechanism with four relative degrees of freedom, the parallel robot mechanism includes: a base 1, an intermediate platform 2, a moving platform 3, a first branch chain component 4-1, and a second branch chain component 4-2 , the third branch chain component 4-3, the fourth branch chain component 4-4.

[0027] This mechanism connects the base 1, the middle platform 2 and the moving platform 3 through the first branch chain assembly 4-1, the second branch chain assembly 4-2, the third branch chain assembly 4-3 and the fourth branch chain assembly 4-4. Connection structure: the chute of the intermediate platform 2 and one end of the base 1 form a moving pair, and the circular hole end of the first link rod 6-1 of the first branch chain assembly 4-1 and the base 1 pass through the first bolt 5 -1 is connected to form a rotating pai...

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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 structure redundant parallel robot mechanism with four relative degrees of freedom. Background technique [0002] Due to its advantages of high rigidity, high motion precision, good dynamic response performance, and easy kinematic inverse solution of the mechanism, the parallel robot mechanism has attracted extensive attention from domestic and foreign academic and engineering circles. For decades, scholars have been committed to the research and development of new parallel robot configurations. Among them, the structurally redundant parallel mechanism with four relative degrees of freedom is one of the important types, which can be applied to 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 limits the app...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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