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A scara high-speed parallel manipulator with partial decoupling and dynamic balance characteristics

A manipulator and partial solution technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of highly nonlinear coupling of motion, complex structure and control, and large number of branches, to simplify control, improve dynamic response, The effect of reducing manufacturing costs

Inactive Publication Date: 2020-12-11
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The high-speed parallel manipulators with patent numbers US4976582, US20090019960A1, and EP2436511B1 adopt a fully symmetrical parallel structure, with a large number of branch chains, highly nonlinear coupling of motion, and complex structure and control

Method used

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  • A scara high-speed parallel manipulator with partial decoupling and dynamic balance characteristics
  • A scara high-speed parallel manipulator with partial decoupling and dynamic balance characteristics
  • A scara high-speed parallel manipulator with partial decoupling and dynamic balance characteristics

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Embodiment Construction

[0019] A SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics of the present invention is described in detail in conjunction with the accompanying drawings and embodiments as follows:

[0020] A SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics, the main body is a kinematic branch chain;

[0021] There are two kinematic branch chains, which are the first kinematic branch chain and the second kinematic branch chain;

[0022] The first kinematic branch chain includes a first active link 3, a first passive link 4, a proximal drive device, an elbow connection device and an end effector;

[0023] The proximal driving device is located inside the fixed base 1, sealed by the base end cover 2, and includes the first branch chain motor 10, the first branch chain driving synchronous belt 27, the first branch chain main shaft pulley 26 and the first The branch chain main shaft 22, the first bran...

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Abstract

The invention relates to a SCARA high-speed parallel connection mechanical arm having partial decoupling and dynamic balance characteristics and belongs to the field of parallel connection robots. A main body of the mechanical arm comprises two movement branch chains. Each movement branch chain comprises a motor, rotary pairs, a driving connecting rod and a driven connecting rod, wherein each motor is fixed in a base in a concealed manner. The two driving rotary pairs are collinearly placed, so that a plane five-rod mechanism is formed. Each movement branch chain controlling a corresponding terminal actuator to move in the vertical direction comprises the corresponding motor and a synchronous belt system, wherein each motor is fixed to a corresponding driving connecting rod, and each synchronous belt system is concealed in corresponding connecting rods. The mechanical arm is based on the plane five-rod mechanism and is simple in structure; the driving rotary pairs are collinear, therefore, the connecting rods can rotate by a complete cycle, and the working space is widened; the terminal actuators can generate independent movement in the vertical direction and rotation around the vertical direction, namely kinematic partial decoupling, and control can be conducted conveniently; and the two motors generating independent movement are distributed at the two sides of the driving rotary pairs, so that the mechanical arm has the dynamic balance characteristic.

Description

technical field [0001] The invention belongs to the technical field of parallel robots, in particular to a SCARA high-speed parallel manipulator with partial decoupling and dynamic balance characteristics for packaging, assembly and material picking applications. Background technique [0002] The four-degree-of-freedom parallel mechanism that can realize three movements in space and one vertical rotation SACRA movement has a large working space and structural rigidity, is suitable for fast picking work, and shows great potential for industrial applications. It is more and more widely used in high-speed picking applications in light industrial production lines. The high-speed parallel manipulator with patent numbers US4976582, US20090019960A1, and EP2436511B1 adopts a fully symmetrical parallel structure, with a large number of branch chains, highly nonlinear coupling of motion, and complex structure and control. From the perspective of manufacturing and application, it is e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J9/08
CPCB25J9/00B25J9/0048B25J9/08
Inventor 吴广磊赵文康董惠敏
Owner DALIAN UNIV OF TECH
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