Three-degree-of-freedom parallel robot with double-closed-loop branched-chain structure

Abstract

The invention discloses a three-degree-of-freedom parallel robot with a double-closed-loop branched-chain structure. The three-degree-of-freedom parallel robot comprises a fixed platform, a movable platform, three driving devices and three sub-branched chains. Each driving device comprises a driving arm and a driving unit, wherein the driving arm is provided with a reference surface which is perpendicular to a rotating shaft of the driving arm and passes through a reference line; a tail end support is hinged to each driving arm, and the fixed platform, each driving arm, the corresponding tailend support, and a reinforcing rod form an upper parallelogram; and one sub-branched chain is connected between each tail end support and the movable platform, an upper shaft rod of each sub-branchedchain is arranged on the corresponding tail end support, a lower shaft rod is arranged on the movable platform, two chain rods and the two shaft rods form a lower parallelogram, and the shaft rods arehinged to the spherical surfaces of the chain rods. When the movable platform is located under the fixed platform, the three upper parallelograms are in center symmetry relative to the reference line, the three lower parallelograms are in center symmetry relative to the reference line, and the included angle between each upper shaft rod and the corresponding reference surface is the same. The three-degree-of-freedom parallel robot can achieve high-speed and high-acceleration motion.

Description

technical field [0001] The invention relates to the field of parallel robots, in particular to a three-degree-of-freedom parallel robot with a double closed-loop branch chain structure. Background technique [0002] The plastics industry, electronic product industry, pharmaceutical industry and food industry have made important contributions to the national economy of our country. In order to improve the production efficiency of these industries, the production lines of various products are continuously developed and used. However, most of the tasks of packaging, sorting, assembling and dismantling of goods on the light-duty production line of our country's current industry are still manual labor. potential productivity. my country's industrial competitiveness is declining, and the degree of industrial automation needs to be improved urgently. The introduction of industrial robot technology has become an indispensable and important means to solve the above problems. [0...

AI Technical Summary

Problems solved by technology

The tandem mechanism is connected sequentially by the kinematic pairs. It is an open-loop structure with a large working space and high flexibility. It is difficult to guarantee the dynamic performance of the robot at high speed

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