Six-degree-of-freedom parallel mechanism containing redundant drive

Abstract

The invention discloses a six-degree-of-freedom parallel mechanism containing redundant drive. The six-degree-of-freedom parallel mechanism comprises two Delta parallel mechanism bodies sharing one static platform, movable platforms of the two Delta parallel mechanism bodies are parallel up and down, movement branch chains of the two Delta parallel mechanism bodies are uniformly staggered, a redundant driving motor with a vertical and downward output shaft is installed in the center of a movable platform of the Delta parallel mechanism body at the upper portion, and a movable ball which formsa spherical hinge structure with a movable platform of the Delta parallel mechanism body at the lower portion is installed in the center of the movable platform of the Delta parallel mechanism body atthe lower portion; a rotary rod fixedly connected with the movable ball is arranged above the movable ball, a tail paw fixedly connected with the movable ball is arranged below the movable ball, andan output shaft of the redundant driving motor is connected with the rotary rod through a universal joint. By means of the six-degree-of-freedom parallel mechanism, six-degree-of-freedom movement of the tail paw in the space can be achieved, the rotation range of the rotary rod around its own axis is expanded, and the kinematics performance of the mechanism is improved.

Description

technical field [0001] The invention relates to a parallel mechanism, in particular to a six-degree-of-freedom parallel mechanism with redundant driving. Background technique [0002] In order to meet the fast-changing market demand and improve product productivity, the global light industry is actively exploring and developing various new robot equipment. Especially in the high-speed repetitive assembly applications in the electronics industry, the traditional low-degree-of-freedom high-speed parallel mechanism is difficult to meet various motion requirements due to the lack of freedom of end movement. Therefore, a parallel mechanism with more degrees of freedom and a wider range of motion is urgently needed. Contents of the invention [0003] In order to solve the technical problems in the known technology, the invention provides a parallel mechanism capable of realizing six-degree-of-freedom movement at the end of the mechanism. [0004] The technical solution adopted ...

AI Technical Summary

Problems solved by technology

Especially in the high-speed repetitive assembly applications in the electronics industry, the traditional low-degree-of-freedom high-speed parallel mechanism is difficult to meet various motion requirements due to the lack of freedom of end movement. Therefore, there is an urgent need for parallel mechanisms with more degrees of freedom and a larger range of motion.

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