Few-joint over-constrained five-freedom-degree parallel serial robot

Abstract

An over-constrained few-joint five-freedom-degree parallel serial robot mainly comprises a fixed platform, erect type vertical frames, a single-rotation-pair rotation frame, a double-rotation-pair rotation frame, a movable platform, a work platform, three branch chains the same in structure and a two-freedom-degree posture adjusting head. The work platform is arranged in front of the fixed platform, and the erect type vertical frames which are symmetrically arranged are arranged on the two sides of the fixed platform correspondingly. The three branch chains are arranged between the two erect type vertical frames and the movable platform, and the two-freedom-degree posture adjusting head is arranged at the lower end of the movable platform. A two-rotation and one-motion three-freedom-degreeparallel mechanism is formed by the erect type vertical frames, the movable platform and the three branch chains. The over-constrained few-joint five-freedom-degree parallel serial robot is simple instructure, the integral rigidity of the structure is improved, the control difficulty is lowered, the kinematics analysis is simple, and the dynamic response is good. Through combination of a two-freedom-degree swinging head and the movable platform, the work space of a machine tool is enlarged, the sensitivity of the machine tool is improved, and error accumulation caused by the component machining error and the assembling error is effectively avoided.

Description

Technical field [0001] The invention belongs to the field of industrial robots, and particularly relates to a hybrid robot. Background technique [0002] In industrial production, robots, as an indispensable part, have been widely used in the automotive industry, automated production lines, aerospace and other industries. Robot technology can be applied to surface processing, handling, spraying, assembly and other fields, and has good application prospects. The hybrid robot combines the compact structure, high rigidity, flexibility of the series structure, and large working space of the parallel mechanism. It has received extensive attention and research and has become a hot topic in the field of robotics. [0003] The five-degree-of-freedom hybrid robot constructed based on the 2R1T parallel mechanism has a high degree of modularity, a simple kinematic model, and a good dynamic response. It has a good application prospect. However, the current Tricept five-degree-of-freedom hybri...

AI Technical Summary

Problems solved by technology

However, the current Tricept five-degree-of-freedom hybrid robot has a complex structure, a large number of branches, and has disadvantages such as high processing and manufacturing costs and difficult assembly; The five-degree-of-freedom hybrid robot with a joint mechanism has a complex branch chain configuration and a large number of joints, and it is difficult to guarantee the overall stiffness of the hybrid robot.

Images