Novel five-degree-of-freedom hybrid mechanism with reconfigurable adjustment device

Abstract

The invention belongs to the technical field of hybrid robot processing, and particularly relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device. The novelfive-degree-of-freedom hybrid mechanism comprises the reconfigurable adjustment device, five PUS driving movement branch chains of the same structure, an intermediate PRPU driven movement branch chainand a movable platform. The reconfigurable adjustment device comprises five PRR driving movement branch chains of the same structure and an intermediate platform. The reconfigurable property of the novel five-degree-of-freedom hybrid mechanism is achieved mainly through the structural inclination angle of the reconfigurable adjustment device; the tail-end movable platform can achieve three-dimensional movement and two-dimensional rotation mainly by connecting the PUS driving movement branch chains and the intermediate PRPU driven movement branch chain with the intermediate platform and the movable platform,, and the overall hybrid mechanism has a large movement stroke along the Z axis. The hybrid mechanism integrates the advantages of a series-connection mechanism and a parallel-connection mechanism, has the advantages of large working space, high rigidity, good structural symmetry, high motion flexibility, high carrying capacity and the like, and is suitable for machining large-sizedand complex structural assemblies in the fields of aerospace, ships, military industries and the like.

Description

technical field [0001] The invention belongs to the technical field of hybrid robot processing, and in particular relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, which is especially suitable for occasions requiring processing such as large working space and high rigidity. Background technique [0002] The traditional series mechanism has been widely used in industrial production due to its advantages of large working space, flexible operation, and fast response speed. However, because its structure is a series open chain, its end manipulator is prone to cumulative errors, which reduces the motion accuracy. and the overall stiffness of the mechanism; while for the parallel mechanism, it has the advantages of high rigidity, high precision, high load capacity, small error accumulation, and easy realization of high-speed machining, but at the same time, the parallel mechanism also has the disadvantage of small working space. Ho...

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Problems solved by technology

[0002] The traditional series mechanism has been widely used in industrial production due to its advantages of large working space, flexible operation, and fast response speed. However, because its structure is a series open chain, its end manipulator is prone to cumulative errors, which reduces the motion accuracy. And the overall stiffness of the mechanism; for the parallel mechanism, it has the advantages of hi...

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