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Six-freedom-degree parallel robot mechanism

A robot and degree-of-freedom technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as restricting the attitude ability of the motion platform, and achieve the effect of not easy to interfere with each other, large working space, and large turning ability.

Active Publication Date: 2020-06-12
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Patent CN107053141A discloses a global constant balance heavy load six-degree-of-freedom parallel robot mechanism, which includes a fixed platform, a motion platform, a load-bearing platform, six drive branches with identical structures and three load-bearing branches, and the three load-bearing branches are connected to the fixed platform. Between the bearing platform and the load-bearing platform, the load-bearing platform and the motion platform are connected by the second ball joint. The total number of branch chains connecting the motion platform with this mechanism is 7, which will greatly restrict the attitude capability of the motion platform

Method used

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  • Six-freedom-degree parallel robot mechanism

Examples

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Embodiment 1

[0018] Such as figure 1 with figure 2 As shown, a six-degree-of-freedom parallel robot in this embodiment includes a static platform 10, a moving platform 1, and three double-drive compound kinematic branch chains connected in parallel between the static platform 10 and the moving platform 1; the double-drive The compound kinematic branch chain is composed of a plane five-bar mechanism, the static platform 10 is connected with the double-drive compound kinematic branch chain through a rotating pair, and the dynamic platform 1 is connected with the double-drive compound kinematic branch chain through a ball joint 2 .

[0019] The double-drive composite kinematic branch chain includes a rotating rod 11, a first driving rod 4a, a first driven rod 3a, a second driven rod 3b and a second driving rod 4b; the rotating rod 11, the first driving rod 4a, the first driven rod 3a, the second driven rod 3b and the second active rod 4b are successively connected by rotating pairs whose ax...

Embodiment 2

[0022] Such as image 3 As shown, the difference between this embodiment and Embodiment 1 is that the axis of the rotating pair of the first double-drive compound kinematic branch chain connected to the static platform 10 is the same as that of the second double-drive compound kinematic branch chain connected to the static platform 10. The axes are perpendicular to each other, and the axis of the revolving pair connected to the static platform 10 by the second double-drive compound kinematic branch chain is perpendicular to the axis of the revolving pair connected by the third double-drive compound kinematic branch chain and the static platform 10, and the first The axis of the revolving pair connected to the static platform 10 by a double-drive compound kinematic branch chain is parallel to the axis of the revolving pair connected to the static platform 10 by the third double-drive compound kinematic branch chain. The structure of the three double-drive compound kinematic bra...

Embodiment 3

[0024] Such as Figure 4 As shown, the difference between this embodiment and Embodiment 1 lies in that the axes of the three double-drive compound kinematic branch chains and the rotating pairs connected to the static platform 10 intersect at one point. The structure of the three double-drive compound kinematic branch chains is the same as that of embodiment 1, and the connection mode of the double-drive compound kinematic branch chains with the dynamic platform and the static platform is the same as that of embodiment 1.

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Abstract

The invention discloses a six-freedom-degree parallel robot mechanism. The six-freedom-degree parallel robot mechanism comprises a fixed platform, a moving platform and three dual-drive composite motion branch chains connected between the fixed platform and the moving platform in parallel. Each dual-drive composite motion branch chain is composed of a plane five-rod mechanism, and the structure ofeach dual-drive composite motion branch chain comprises two drive devices used for driving two drive assemblies in the branch chain. The fixed platform and the dual-drive composite motion branch chains are connected through rotating pairs, and the moving platform and the dual-drive composite motion branch chains are connected through spherical hinges. According to the six-freedom-degree parallelrobot mechanism, compared with other six-freedom-degree parallel robot mechanisms, the moving platform in the mechanism is only constrained by the three composite motion branch chains, the number of the motion branch chains is small, and the six-freedom-degree parallel robot mechanism has the advantages of being large in rotating capacity, large in work space and the like.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a six-degree-of-freedom parallel robot mechanism. Background technique [0002] The parallel robot mechanism can be defined as a closed-loop mechanism in which the moving platform and the static platform are connected by at least two independent kinematic branches, have two or more degrees of freedom, and are driven in parallel. The parallel robot mechanism has the characteristics of high motion precision, high stiffness, and good dynamic response. At present, the number of branch chains connecting the motion platform in most six-degree-of-freedom parallel mechanisms is 6 or more, and the structural limitation of the motion hinge makes the rotation ability of the motion platform poor. Patent CN106363616A discloses a six-degree-of-freedom parallel robot mechanism. There are six branch chains distributed between the motion platform and the fixed platform of the mechanism. Each bra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 彭斌彬邱文利刘亚非
Owner NANJING UNIV OF SCI & TECH
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