Parallel mechanism for three-degree-of-freedom robot

Abstract

The invention relates to a parallel mechanism for a three-degree-of-freedom robot. The mechanism comprises a base, a movable disc, a left large arm, a left small arm, a right large arm, a right small arm, a drive servo motor, a speed reducer and a telescopic electric cylinder, wherein a left-side movement branch chain is hinged to the left side of the movable disc through the left large arm and the left small arm, a right-side movement branch chain is hinged to the right side of the movable disc through the right large arm and the right small arm, and the right-side movement branch chain auxiliarily fixes the deflection angle of the movable disc through a parallel rod, a triangular disc and a telescopic rod; the drive servo motor and the speed reducer are located in the base, and used for driving the left large arm and the right large arm to swing; and the telescopic electric cylinder is attached to the base, and used for driving the telescopic rod. According to the parallel mechanism for the three-degree-of-freedom robot, the problem of complex structure of the robot is solved, so that the robot is simple in structure, and a mechanical arm is light in weight, small in size, high in bearing capacity, and high in machining and assembly manufacturability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a parallel motion actuator for a 3-degree-of-freedom robot. Background technique [0002] At present, parallel mechanisms are relatively common in the field of robotics. Robots with parallel mechanisms can automatically perform flexible spatial movement and twisting actions to replace humans in performing simple repetitive tasks. At present, parallel mechanisms are widely used in various fields. Space docking mechanisms, fast sorting operations in manufacturing, and product assembly and packaging are mostly completed by parallel robots. However, the current three-degree-of-freedom parallel mechanism for space docking is connected by universal ball joints. The device has the characteristics of complex structure, heavy weight, large processing difficulty and high cost. Contents of the invention [0003] The technical problem to be solved by the present invention is to provide a 3...

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a 3-DOF robot parallel mechanism, which solves the problem of complex robot structure, makes the robot structure simple, the mechanical arm is light in weight, small in size, strong in carrying capacity, and easy to process and assemble. it is good

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