Five-degree-of-freedom hybrid robot based on two-rotation-one-transfer three-degree-of-freedom parallel mechanism

Abstract

The invention relates to a five-degree-of-freedom series-parallel robot based on a two-rotation one-movement three-degree-of-freedom parallel mechanism. The five-degree-of-freedom series-parallel robot is composed of the two-rotation one-movement three-degree-of-freedom parallel mechanism and a two-degree-of-freedom posture adjustment mechanism connected with the two-rotation one-movement three-degree-of-freedom parallel mechanism in series. The two-rotation one-movement three-degree-of-freedom parallel mechanism comprises fixed platforms, an upper supporting platform, a lower supporting platform, three branch assemblies, a movable platform assembly and other components. Among the three branch assemblies, the first and second branch assemblies of the same structure are located in the sameplane, both penetrate through the upper supporting platform and are connected with the upper supporting platform through rotary hinges, and the third branch assembly penetrates through the lower supporting platform to be connected with the lower supporting platform through rotary hinges. The two-degree-of-freedom posture adjustment mechanism comprises a suction disk, a C-type component fixedly arranged on the suction disk and an A-type component connected with the C-type component through a rotary hinge. The five-degree-of-freedom series-parallel robot is high in modular degree. Moreover, themotion planes of the first branch assembly and the second branch assembly are coplanar, so that a mechanism inverse kinematic analytical expression is beneficial to calculation, and trajectory planning and real-time control are facilitated.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a five-degree-of-freedom hybrid robot based on a two-rotation-one-transfer three-degree-of-freedom parallel mechanism. Background technique [0002] At present, the processing of complex curved surfaces of aerospace composite materials in my country is mainly realized by five-axis milling and boring machines and series robots. Compared with the above-mentioned equipment, it has great advantages, and it is an important development direction of high-precision drilling and milling tools for composite materials. Therefore, the hybrid robot based on the two-rotation-one-transfer three-degree-of-freedom 2R1T parallel mechanism has a good development prospect. Among them, the hybrid robots developed abroad, such as Tricept, Ecospeed and Exechon, have been successfully used in aerospace and automobile processing. And other fields that need to process complex mechanisms have achieved significant eco...

AI Technical Summary

Problems solved by technology

The number of kinematic pairs in the parallel part of the mechanism is small, but the structural rigidity needs to be further improved

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