A five-degree-of-freedom hybrid robot with few joints over-constrained

Abstract

An over-constrained, few-joint, five-degree-of-freedom hybrid robot mainly includes a fixed platform, an upright frame, a single-rotation pair turret, a double-rotation pair turret, a moving platform, a working platform, three branch chains with the same structure, and two Degree of freedom attitude adjustment head, in which there is a working platform in front of the fixed platform, symmetrically arranged upright stands on both sides of the fixed platform, and three branch chains between the two upright stands and the moving platform. The lower end of the moving platform is equipped with a two-degree-of-freedom attitude adjustment head; the upright stand, the moving platform and three branch chains constitute a three-degree-of-freedom parallel mechanism with two rotations and one movement. The invention has a simple structure, improves the overall rigidity of the structure, reduces the difficulty of control, simple kinematics analysis, and good dynamic response; the combination of the two-degree-of-freedom swing head and the moving platform increases the working space of the machine tool and improves the sensitivity of the machine tool , effectively avoiding the accumulation of errors caused by parts processing errors and assembly errors.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular 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 and aerospace industries. Robot technology can be used in surface processing, handling, spraying, assembly and other fields, and has a good application prospect. The hybrid robot combines the characteristics of compact structure, high rigidity of parallel mechanism and good flexibility of series structure, and large working space. It has received extensive attention and research, and has become a hot spot in the field of robotics research. [0003] The five-degree-of-freedom hybrid robot constructed based on the 2R1T parallel mechanism has high modularity, simple kinematics model, and good dynamic response, and has a good application prospect. However, the current Tricept five-degree-of-freedom hybr...

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.

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