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Three-relative-freedom-degree structure redundant parallel robot structure

A degree of freedom and robotic technology, applied in the field of robotics, can solve problems such as small working space, difficulty in avoiding singular configurations, and restrictions on the application of mechanisms, and achieve the effects of easy production and processing and simple mechanism structure

Inactive Publication Date: 2017-12-15
BEIJING JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Most of the existing three-degree-of-freedom parallel mechanisms have the characteristics that the singular configuration is difficult to avoid and the working space is small, which limits the application of the mechanism

Method used

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  • Three-relative-freedom-degree structure redundant parallel robot structure
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  • Three-relative-freedom-degree structure redundant parallel robot structure

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Embodiment Construction

[0024] The present invention will be further described in conjunction with the accompanying drawings.

[0025] A structurally redundant parallel robot mechanism with three relative degrees of freedom, the parallel robot mechanism includes: a base 1, first to fourth branch chain assemblies 2-1, 2-2, 2-3, 2-4, long Connecting rod 3, moving platform 4.

[0026] The first branch chain assembly includes: connecting rod 5-1, slide block 6-1.

[0027] The connection between the parts constituting the first branch chain assembly 2-1: the connecting rod 5-1 and the protruding end of the slider 6-1 form a rotary joint connection.

[0028] The second branch chain assembly 2-2 includes: a connecting rod 5-2, and a slider 6-2.

[0029] The connection between the parts constituting the second branch chain assembly 2-2: the connecting rod 5-2 is connected with the protruding end of the slider 6-2 to form a rotary pair.

[0030] The fourth branch chain assembly 2-4 is identical to the firs...

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Abstract

The invention discloses a three-relative-freedom-degree structure redundant parallel robot structure and relates to the technical field of robots. The mechanism structure is simple and easy to product and process, singular positions of a mechanism are reduced, the force transmission performance of the mechanism is improved, and the structure can be used for the fields such as complex hook surface machining and motion simulation. The mechanism comprises a base, a first branch chain assembly, a second branch chain assembly, a third branch chain assembly, a fourth branch chain assembly, a long connecting rod and a movable platform. The mechanism is formed by connecting the first branch chain assembly, the second branch chain assembly, the third branch chain assembly, the fourth branch chain assembly, the base, the long connecting rod and the movable platform. According to the mechanism, drive is applied to moveable pairs on all branch chains, and the drive mode can adopt gear drive (omitted in the figure); and the movable platform is used as a terminal actuator, when all sliding blocks slide on the base, the movable platform is driven to three-freedom-degree motion with two-freedom-degree movement and one-freedom-degree rotation.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a structure redundant parallel robot mechanism with three relative degrees of freedom. Background technique [0002] Compared with the series mechanism, the parallel mechanism has the advantages of large load capacity, fast response speed and high motion precision. Therefore, it has attracted the attention of academia and industry, and attaches great importance to its theoretical research and application development research. For decades, scholars have been committed to the research and development of new parallel robot configurations. Among them, the structural redundant parallel mechanism with three 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 three-degree-of-freedom parallel mechanisms have the characteristics that the singular configuration is difficult t...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/003B25J9/1643
Inventor 曲海波张传亮李晓张怡壮陈俊城
Owner BEIJING JIAOTONG UNIV
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