Redundant drive-based six-degree-of-freedom parallel robot

Abstract

The invention provides a redundant drive-based six-degree-of-freedom parallel robot which comprises a fixed frame, a movable platform, a center branch chain and four follow-up branch chains. The center branch chain comprises a center connecting rod, three moving pairs and a ball pair, the center branch chain is connected to the fixed frame through the three moving pairs, and the center branch chain is connected to the movable platform through the ball pair. The three moving pairs are provided with three different driving units to drive the three moving pairs to move in X, Y and Z axes. Each follow-up branch chain comprises a follow-up connecting rod, a moving pair and a hooke joint and a ball pair, each follow-up branch chain is connected to the fixed frame through the corresponding movingpair, and each follow-up branch chain is connected to the movable platform through the corresponding ball pair. The four moving pairs in the four follow-up branch chains are provided with four different driving units to drive the four moving pairs to move in the Z axis direction. The redundant drive-based six-degree-of-freedom parallel robot is excellent in rigidity and dynamic performance, effectively avoids limit on joint angle, increases the size of a working space and overcomes the moving strangeness.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a six-degree-of-freedom parallel robot based on redundant drive. Background technique [0002] In manufacturing, most five-sided machining operations require five degrees of freedom, three translations and two rotations (3T2R). Parallel robots (PMs) have the advantages of lower inertia, higher stiffness, and higher precision than serial robots. Parallel robots (PMs) also have good application prospects in the field of five-sided processing, especially for high-hardness materials. Manufacturing has been widely used in manufacturing. [0003] The parallel mechanism has multiple closed loops, its working space is relatively small, there are many singularities in the working space, and its inclination capability is small. The existing five-degree-of-freedom parallel mechanism is not suitable for complex surface processing applications. [0004] For example, th...

AI Technical Summary

Problems solved by technology

Based on a special structure, the central branch with dual drives has infinitely many kinematic inverse solutions. In each configuration of the end effector, the central branch can be adaptively adjusted to the best dexterity, but the working There are many singular point positions in the space, so that although its theoretical inclination angle is relatively large (it can reach a tilting ability of about plus or minus 90° under theoretical conditions), the existence of each singular point leads to the kinematic determinant value of zero, the inverse solution of the mechanism velocity does not exist at this time, there are some uncontrollable degrees of freedom, and the maneuverability is poor; in addition, when the mechanism is near the singular configuration, the joint driving force will tend to infinity, which will cause damage to the parallel robot. Stability needs to be improved

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