Six degrees of freedom parallel mechanism

Abstract

The invention belongs to the technical field of robots, and specifically relates to a six-degree-of-freedom parallel mechanism, which aims to solve the problems of limited load capacity of the electric-driven six-degree-of-freedom parallel mechanism in the prior art, which cannot take into account high precision and large load. The six-degree-of-freedom parallel mechanism of the present invention includes: a fixed platform, a moving platform, a driving unit and a controller, and the fixed platform and the moving platform are connected by six sets of identical driving units, wherein the six sets of driving units The control end of the control terminal is connected with the controller signal to realize the synchronous control of the six groups of driving units; The six-degree-of-freedom movement of the moving platform in space, the six-degree-of-freedom parallel mechanism of the present invention can increase the overall load capacity of the six-degree-of-freedom parallel mechanism by a maximum of nearly double when the load capacity of a single drive unit is limited.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a six-degree-of-freedom parallel mechanism. Background technique [0002] At present, in the fields of industry, aerospace, aviation, shipbuilding, astronomy, etc., a six-degree-of-freedom parallel mechanism is often used as a pose positioning device. In some special application scenarios in these fields, there are not only high requirements for the pose accuracy of the six-degree-of-freedom parallel mechanism, but even higher requirements for the load capacity. At present, the six-degree-of-freedom parallel mechanism with large load is generally driven by hydraulic pressure. However, the positioning accuracy of the six-degree-of-freedom parallel mechanism driven by hydraulic pressure cannot meet the needs of special applications. The electrically driven six-degree-of-freedom parallel mechanism can achieve very high positioning accuracy. However, the high-precision e...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the electric drive six-degree-of-freedom parallel mechanism has limited load capacity and cannot take into account high precision and large loads, the present invention provides a six-degree-of-freedom parallel mechanism. The six-degree-of-freedom parallel mechanism includes a fixed platform, a moving platform, a drive unit and a controller, and the fixed platform and the moving platform are connected by six sets of identical drive units, wherein;

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