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Three-degree-of-freedom high-speed parallel robot mechanism

A technology of robot and degree of freedom, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high inertia, low stiffness and low precision of the active arm and the driven arm, and achieve simple and compact mechanism structure, clear movement mode, The effect of high speed and acceleration

Inactive Publication Date: 2018-12-21
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of robot can realize a full circle rotation in the motion plane, so it has a large space for motion. However, due to the open-loop structure, the inertia of the active arm and the slave arm is large, and its stiffness and precision are low.

Method used

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Embodiment Construction

[0019] Below in conjunction with accompanying drawing of description, the present invention will be further described.

[0020] combine Figure 1-2 , a three-degree-of-freedom high-speed parallel robot mechanism, comprising a fixed frame 1, a support platform 2, a moving platform 3, and first, second and third branch chains arranged between the fixed frame 1 and the moving platform 3;

[0021] The support platform 2 is rotatably connected with the fixed frame 1;

[0022] The first branch chain and the second branch chain are arranged on both sides of the third branch chain;

[0023] The first branch chain includes a first rotating fork 11, a first driving device 12, a first near frame rod 13, a first upper connecting shaft 14, two first far frame rods 15 parallel and equal in length, at least one first A support rod 16, the first lower connecting shaft 17, and the first rotating shaft 18; the first rotating fork 11 is rotationally connected to one side of the support platfor...

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Abstract

The invention discloses a three-degree-of-freedom high-speed parallel robot mechanism. The mechanism comprises a fixing frame, a supporting platform, a moving platform as well as a first branch chain,a second branch chain and a third branch chain which are arranged between the fixing frame and the moving platform; each of the three branch chains comprises a near frame rod, far frame rods and a rotating fork; the rotating forks of the three branch chains are rotationally or fixedly connected to the supporting platform; one end of each near frame rod is connected with the corresponding rotatingfork, and the other end is connected with the corresponding far frame rods; the far frame rods are connected with the moving platform; and the supporting platform is rotationally connected with the fixing frame. The mechanism is ingenious, simple and compact in structure and clear in motion mode, two-dimensional translational motion and one-dimensional rotation can be realized, the mechanism hasvery large working space, supporting rods are adopted between the far frame rods of the third branch chain, the rigidity and the dynamic response characteristic of the mechanism are favorably improved, and the high speed and the high acceleration are favorably realized.

Description

technical field [0001] The invention relates to a robot mechanism, in particular to a three-degree-of-freedom high-speed parallel robot mechanism. Background technique [0002] The high-speed parallel robot mechanism has been widely used in the high-speed and light-load handling operations of automatic production lines in the fields of food and medicine, modern logistics, and electronic information because the end can achieve high speed and acceleration, and can meet the handling of space objects. [0003] 美国专利US4392776(或EP0065859、JP57194888、ES8307152、EP0065859、IE820902L、IE52774)、US5000653(或WO8700789、EP0232292、ES2001359、DE35287769)、US2005087034(或EP1525957、JP2005125489、DE10349452)、US6212968(或DE19934973)、欧洲专利EP0169473( or JP61109681), Japanese patents JP2003275977, JP2003275978, JP2003275987, Bulgarian patent BG5129 and Chinese patent CN1779936, etc., all relate to a three-degree-of-freedom or four-degree-of-freedom SCARA (Selective Compliance Assemble Robot Arm) type robot. ...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 罗安扬安守和谢渊陆晓钰汪满新
Owner NANJING UNIV OF SCI & TECH
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