Heavy-load six-degree-of-freedom compliant parallel robot system

Abstract

The invention belongs to the technical field of manipulators, and discloses a heavy-load six-degree-of-freedom compliant parallel robot system. Six small electric cylinders are adopted to drive to realize six-degree-of-freedom movement of a moving platform of three-degree-of-freedom of translational movement and three-degree-of-freedom of rotary movement, and upper and lower platforms and the electric cylinders are connected by bevel fixing blocks and force steering parts. Compliant spherical hinges are core parts of the force steering parts, and the single force steering part is composed of one compliant ball hinge and two U-shaped parts. The gravity of compliant hinges borne from other parts and the pressure exerted by the moving platform load on the compliant hinges are turned into tensile force on the compliant hinges through the force steering parts, and the advantages of a conventional six-degree-of-freedom platform are combined with the advantages of a compliant mechanism. Afterthe improvement of the force steering parts of the compliant hinge design, the positioning accuracy of the mechanism can reach a micron level, and the bearable load is much more than a few grams, sothat the compliant ball hinges do not generate buckling instability due to excessive load and can realize micro size motion.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a large-load six-degree-of-freedom compliant parallel robot system. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: As precision machinery, automation, manufacturing and other fields have increased demand for micron-level or even nano-level positioning accuracy, the inherent defects of traditional mechanisms have become increasingly prominent. In view of the limitation of the manufacturing process level of key component multi-degree-of-freedom hinges (spherical hinge, Hooke hinge), the traditional six-degree-of-freedom parallel mechanism is difficult to achieve micron-level positioning accuracy, and cannot be applied to high-precision instruments and equipment; with the development of mechanics, The compliant mechanism born in recent years has the characteristics of no friction, light weight and c...

AI Technical Summary

Problems solved by technology

Limited to the level of manufacturing technology, in the process of parts processing and assembly, there are errors of tens of microns, so it is difficult to achieve the goal of micron-level precision

[0003] In summary, the problems in the prior art are: It is difficult for the traditional six-degree-of-freedom mechanism to achieve the micron-level precision target; generally, the compliant parallel robot mechanism is subjected to a large load and causes buckling instability. The structural characteristics of the compliant hinge are tensile but not compressive. Exceeding the yield limit of the compliant hinge material, resulting in buckling instability of the compliant hinge

[0004] The difficulty and significance of solving the above technical problems: The traditional six-degree-of-freedom mechanism is limited by the level of manufacturing technology, and it is difficult to achieve micron-scale

It is necessary to analyze and rationally use the characteristics of the compliant mechanism, combine the traditional design method with the compliant mechanism, and design a new compliant ball hinge suitable for the six-degree-of-freedom mechanism to replace all the rigid ball hinges in the traditional mechanism. Micron-level precision target; the tensile and non-compressive characteristics of compliant hinges make it impossible to directly replace traditional hinges in six-degree-of-freedom mechanisms with compliant hinges

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