A six-degree-of-freedom compliant parallel robot system with large load

Abstract

The invention belongs to the technical field of manipulators, and discloses a large-load six-degree-of-freedom compliant parallel robot system, which uses six small electric cylinders to drive the moving platform to realize six-degree-of-freedom movements of three translations and three rotations. The electric cylinders are connected with the power steering parts by inclined fixed blocks, and the compliant ball hinge is the core part of the power steering parts. A single power steering part is composed of a compliant ball hinge and two U-shaped parts; The gravity of other components on the compliant hinge and the pressure generated by the load of the moving platform are turned into the tension generated by it. The advantages of the traditional six-degree-of-freedom platform are combined with the advantages of the compliant mechanism. The force-steering parts of the compliant hinge design are improved. , so that the positioning accuracy of the mechanism can reach the micron level, and the load can be much greater than a few grams, so that the compliant ball hinge will not buckle and lose stability due to excessive load and can achieve micron-level movement.

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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