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A Multi-Motion Mode Parallel Robot Mechanism with Motion Bifurcation and Closed Chain

A multi-motion mode, motion bifurcation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as less configuration

Active Publication Date: 2021-08-06
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there are still few configurations of such multi-motion mode parallel mechanisms at present.

Method used

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  • A Multi-Motion Mode Parallel Robot Mechanism with Motion Bifurcation and Closed Chain
  • A Multi-Motion Mode Parallel Robot Mechanism with Motion Bifurcation and Closed Chain
  • A Multi-Motion Mode Parallel Robot Mechanism with Motion Bifurcation and Closed Chain

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Embodiment Construction

[0039] The present invention will be further described below in combination with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0040] A multi-motion mode parallel robot mechanism with a closed chain of motion bifurcations in the present invention is as follows: Figure 5As shown, it is composed of the moving platform 7, the fixed platform 0, and three same mixed branch chains connecting the moving platform and the fixed platform, which contain motion bifurcated closed chains; the three hybrid branch chains containing motion bifurcated closed cha...

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Abstract

The invention relates to a multi-motion mode parallel robot mechanism with a closed chain of motion bifurcations, which can realize space motion with four degrees of freedom, solves the problem of a single degree of freedom and fixed motion modes of a traditional parallel mechanism, and can be used as a variable-degree-of-freedom variable robot mechanism. Motion actuators for stretching mechanism, multi-axis linkage multi-surface processing equipment and multi-step flexible mobile device. The mechanism consists of a moving platform (7), a fixed platform (0) and three mixed branch chains one (I), two (II) and three (III) connecting the moving platform (7) and the fixed platform (0). The hybrid branches are identical and placed symmetrically. The present invention bifurcates motion into a closed chain and a mobile pair (P 15 ), the rotating pair three (R 16 ), rotating pair four (R 17 ), revolving joint five (R 18 ) in series to obtain a hybrid branch chain; by controlling the motion bifurcation closed chain to enter different single-degree-of-freedom motions, the parallel robot mechanism can have four functions of two rotations and three transfers, two rotations and two transfers, two rotations and one transfer, and three transfers and one transfer. A degree of freedom movement mode.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, and relates to a multi-motion mode parallel robot mechanism with a closed chain of motion bifurcations. Background technique [0002] The early traditional parallel robot mechanism has the characteristics of high precision and good bearing capacity, and is widely used in engineering fields, medical robots and other fields. But because the degree of freedom of the mechanism itself is fixed and the movement mode is single, its configuration cannot be changed to adapt to different working environments. [0003] In recent years, with the continuous deepening of robot applications, robot mechanics is no longer satisfied with a single degree of freedom and a single motion mode. It requires the mechanism to have strong adaptability. Faced with different working environments, it can be adjusted by changing its own configuration. Complete different tasks, with good adaptability and variable s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 王艳许勇董飞宋伟张强强赵传森
Owner SHANGHAI UNIV OF ENG SCI
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