Four-degree-of-freedom high-speed parallel robot with infinite rotation ability

Abstract

The invention provides a four-degree-of-freedom high-speed parallel robot with the infinite rotation ability. The robot comprises a fixed platform, a moving platform and a first branched chain, a second branched chain, a third branched chain and a fourth branched chain arranged between the fixed platform and the moving platform; four driving devices are symmetrically arranged on the fixed platform; the first branched chain and the third branched chain are of the same structures, and the second branched chain and the fourth branched chain are of the same structures; and the moving platform comprises a fork-shaped frame, a first rocker, a second rocker, a crank A, a connecting rod A, a crank B, a connecting rod B, a crank C, a connecting rod C, a crank D, a connecting rod D, a cylindrical gear A, a cylindrical gear B, a cylindrical gear C, a cylindrical gear D and a central cylindrical gear. The robot adopts four sets of symmetrically arranged rocker and crank mechanisms, and by staggering dead points of each set of rocker mechanisms and transmission of an ordinary gear train, infinite rotation of an end effector in the forward or reverse direction can be achieved.

Description

Technical field [0001] The invention belongs to the field of parallel robot design, and particularly relates to a four-degree-of-freedom high-speed parallel robot with unlimited rotation capability. Background technique [0002] Parallel robots with three-dimensional translational and one-dimensional rotation degrees of freedom can meet the space handling operations of operating objects, so they are widely used in automated production lines in the fields of food and medicine, modern logistics, and electronic information. In this field, the first parallel robot to be applied is the Delta mechanism proposed by Clavel. However, the simple Delta mechanism only has three degrees of freedom for spatial translation, and cannot achieve rotational freedom. For this reason, Pierrot et al. proposed four-degree-of-freedom parallel robots with articulated movable platforms such as H4, I4, and Par4. Among them, the articulated movable platform of the Par4 parallel robot is a parallelogram, a...

AI Technical Summary

Problems solved by technology

Due to the interference between the moving platforms, or the singularity of the transformation mechanism, although the speed-up mechanism can be used to expand the rotation range, there is still a limit to the rotation range, and infinite rotation in the direction of forward rotation or reverse rotation cannot be realized.

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