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Three-dimensional transverse moving parallel robot mechanism

A technology of three-dimensional translation and robotics, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex kinematics solutions, strong kinematic coupling, and small work space, and achieve simplified trajectory planning, good transmission characteristics, The effect of a large working space

Inactive Publication Date: 2017-12-01
CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been well resolved, such as strong kinematic coupling, complex kinematics solutions, small working space, poor transmission characteristics, etc.

Method used

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  • Three-dimensional transverse moving parallel robot mechanism

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Embodiment Construction

[0017] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0018] The mechanism of the present invention consists of a moving platform, a fixed platform and three branch chains connecting the above two platforms. The platform where A1, A2 and A3 are located is a moving platform. In the first branch chain, A1 and B1 are spherical pairs, C1 is a moving pair, and the axis of moving pair C1 is parallel to the Z axis; in the second branch chain, A2 and B2 are Rotating pair, C2 is a cylindrical pair; in the third branch, A3 and B3 are rotating pairs, and C3 is a cylindrical pair. The three branch chains are respectively connected to the fixed platform through k...

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Abstract

The invention provides a three-dimensional transverse moving parallel robot mechanism. The three-dimensional transverse moving parallel robot mechanism is characterized by being composed of a motion platform, a fixed platform and three branched chains connected with the two platforms; t he first branched chain is formed by connecting a spherical pair A1, a rod length L3, a spherical pair B1, a rod length L4 and a moving pair C1 from top to bottom, the second branched chain is formed by connecting a rotating pair A2, a rod length L1, a rotating pair B2, a rod length L2 and a cylindrical pair C2 from top to bottom, and the third branched chain is formed by connecting a rotating pair A3, a rod length L5, a rotating pair B3, a rod length L6 and a cylindrical pair C3 from top to bottom. According to the mechanism, a work platform can achieve three-dimensional transverse moving motion output, the mechanism is simple, manufacturing and mounting are easy, transmission precision is high, and the cost is low; the work space is large, and the transmission characteristic is good; meanwhile, the motion parts of the mechanism are decoupled, positive and reverse solutions of the kinematics are analytical solutions, and the series of problems of trajectory planning, control, correction and the like are solved.

Description

technical field [0001] The invention relates to an actuator for a three-dimensional translational parallel robot, a numerically controlled machine tool, a measuring machine, and the like. Background technique [0002] The parallel robot mechanism can be defined as: the upper and lower platforms (fixed platform and moving platform) are connected by two or more kinematic branch chains, each kinematic branch chain is composed of connecting rods and kinematic pairs, and the kinematic platform has two or more A mechanism with more than two degrees of freedom driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots and CNC machine tools. parallel mechanism. [0003] Due to structural limitat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 马海霞
Owner CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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