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A Six-DOF High-Speed ​​Parallel Mechanism Containing Composite Branches

A degree of freedom, parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as small workspace, increase robot inertia, affect dynamic performance, etc., and achieve the effect of large workspace and fewer restricted branches.

Active Publication Date: 2021-09-03
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the large number of branch chains in the patent CN101712151B, the movement of the moving platform requires the coordinated movement of five branch chains to complete, which will result in a small working space and strong coupling of motion in all directions
Patent CN107433574A proposes a six-degree-of-freedom series-parallel assembly robot with three branches. The three rotations of the patented end effector are realized by adding three transmission branches to the three branches, so that the translational movement and rotation of the robot mechanism The movement has good decoupling characteristics, but the motor that controls the rotation of the end effector is installed on the active arm, which will increase the moment of inertia of the active arm; Will increase the inertia of the robot and affect its dynamic performance

Method used

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  • A Six-DOF High-Speed ​​Parallel Mechanism Containing Composite Branches
  • A Six-DOF High-Speed ​​Parallel Mechanism Containing Composite Branches
  • A Six-DOF High-Speed ​​Parallel Mechanism Containing Composite Branches

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Experimental program
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Effect test

Embodiment 1

[0030] combine Figure 1(a) , 1(b) , a six-degree-of-freedom high-speed parallel mechanism containing composite branch chains in this embodiment includes a static platform 1, a moving platform 16, an end effector 25, and a first main drive connected in parallel between the static platform 1 and the moving platform 16 Branch chain, the second main drive branch chain and the third main drive branch chain; also include the first secondary drive branch chain, the second secondary drive branch chain connected with the static platform 1, the main drive branch chain, the moving platform 16 and the end effector 25 The branch chain and the third auxiliary drive branch chain; the second auxiliary drive branch chain and the third auxiliary drive branch chain are respectively arranged on the second main drive branch chain and the third main drive branch chain, forming two double-drive composite branch chains The middle of the moving platform 16 is provided with a vertically arranged rotat...

Embodiment 2

[0038] The structure of this embodiment is as Figure 2(a) , 2(b) As shown, different from embodiment 1, the first branch chain 1 in this embodiment is a single drive branch chain, which only includes the first main drive branch chain, and the structure of the first main drive branch chain is the same as that in embodiment 1; A secondary driving branch chain comprises the first rotary motor 32, the fourth speed reducer 33, the first Hooke hinge 26, the slide bar 27, the sliding sleeve 28, the second Hooke hinge 29; the first rotary motor 32, the fourth speed reducer 33 is fixed on the static platform 1; the first rotating motor 32 is connected with the active end of the first Hooke hinge 26 through the fourth reducer 33, and the passive end of the first Hooke hinge 26 is fixedly connected with one end of the slide bar 27; the slide bar 27 The other end is connected with the sliding sleeve 28, and the two can slide relatively without relative rotation; the other end of the sli...

Embodiment 3

[0040] The structure of this embodiment is as Figure 3(a) , 3(b) As shown, the difference between this embodiment and Embodiment 2 is that the structure of the first auxiliary drive branch chain is different; the first auxiliary drive branch chain includes a second rotating motor 30, and the second rotating motor 30 is fixed on the moving platform 16, and the second rotating motor 30 is fixed on the moving platform 16. The rotation axis of the output shaft of the second rotating motor 30 coincides with the axis of the rotating shaft 15 vertically arranged on the moving platform 16 , and the output shaft of the second rotating motor 30 is fixedly connected with the rotating shaft 15 . The second rotating motor 30 drives the rotating shaft 15 to rotate, and then drives the end effector 25 to rotate through the Hooke hinge 20 .

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Abstract

The invention discloses a six-degree-of-freedom high-speed parallel mechanism with a composite branch chain, including a static platform, a dynamic platform, an end effector, and three main drive branch chains connected in parallel between the static platform and the dynamic platform; The driving branch chain, the second auxiliary driving branch chain and the third auxiliary driving branch chain; the second auxiliary driving branch chain and the third auxiliary driving branch chain are respectively arranged on the second main driving branch chain and the third main driving branch chain, forming Two double-driven composite branch chains; a vertically arranged rotating shaft is arranged in the middle of the moving platform, and a Hooke hinge is provided below the rotating shaft, and the rotating shaft is connected to the end effector through the Hooke hinge; the first The auxiliary drive branch chain drives the vertically arranged rotating shaft to rotate through the motion mechanism, and then drives the end effector to rotate through the Hooke hinge; the invention can realize six-degree-of-freedom motion.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a six-degree-of-freedom high-speed parallel mechanism with composite branch chains. Background technique [0002] With the continuous development of parallel robots, more and more complex industrial production tasks will be completed by parallel robots, such as complex surface processing and precision assembly. Traditional less-freedom parallel robots cannot realize these complex operations, so the research on six-degree-of-freedom parallel robots has become more and more hot. [0003] The parallel mechanisms disclosed in the existing patents CN101712151B and CN107433574A can both realize three-dimensional translation and three-dimensional rotation. The patent CN101712151B realizes the six-degree-of-freedom movement of the moving platform through five six-degree-of-freedom motion branch chains. Four of the peripheral branch chains are arranged around the moving platform and conn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 彭斌彬管超超张海洲
Owner NANJING UNIV OF SCI & TECH