A three-translation-one-rotation parallel robot with zero coupling degree and positive analytical position solution

Abstract

A three-translation-rotation parallel robot with zero-coupling degree and analytical positive position solution, which includes two mixed branch chains, and the mixed branch chain one (I) consists of the mobile pair one (P 1 ) and parallelogram (R a1 -R b1 -R c1 -R d1 ) of the same motion plane branch formed in series, the translation output rod (2) of this branch is connected with the second moving pair (P 2 ) and a rotating pair with two parallel axes (R 1 ), rotating pair 2 (R 2 ) constitutes a planar mechanism in series, and the translational output rod (2) of the planar mechanism is connected in series with two parallel axis revolving pairs three (R 3 ), rotating pair four (R 4 ) consists of branches; while the mixed branched chain two (Ⅱ) is composed of mobile sub-three (P 3 ), mobile deputy four (P 4 ), and ball vice one (S 1 ), Vice Second Ball (S 2 ), Vice Third Ball (S 3 ) constitutes a two-slider five-bar space mechanism, and a ball pair of four (S 4 ) composition; the two ends of the moving platform (1) are respectively connected with the rotating pair four (R) on the hybrid branch chain one (I) 4 ) and the spherical quadruple (S 4 )connect.

Description

technical field [0001] The present invention relates to a parallel robot with analytical positive position solution, that is to say, it provides a new type of three-translation-rotation parallel robot for the field of robot operators and the like. Background technique [0002] Parallel structure devices, especially the Delta operator that realizes the three-translation function in space, have played a very good role in high-speed pick-and-place, positioning assembly, handling, sorting, loading and unloading, etc.; and it has three translation-rotation functions The parallel operator is indispensable in the occasions where the attitude of the workpiece needs to be adjusted. For this reason, in 1988, on the basis of the three-translation Delta operator, R.Clavel connected a R-U-P-U-R branch chain or an S-P-S branch chain in series to form a hybrid operator with the function of three translation and one rotation; in 2003, Yang Tingli applied for a patent 200310106012.4, propos...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiency that the existing three-translation-rotation parallel mechanism does not have analytic position positive solutions, and provide a new class of three-translation-rotation parallel robots, which have good rigidity, simple structure, easy precision machining, and It has the advantages of analytical positive position solution and relatively easy dynamic solution.

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