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4UPU-UP redundant drive parallel robot

A 4UPU-UP, robot technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as weak stiffness, flexibility and bearing capacity, poor operability of parallel robots, and inability to meet the application requirements of CNC machine tools. , to achieve the effect of modular production, easy modular production and low processing cost

Active Publication Date: 2020-12-25
SOUTHEAST UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, there are also some disadvantages. For example, the Tricept parallel robot (3UPU-UP parallel mechanism), which is commonly used in parallel machine tools, has the same number of drives and degrees of freedom. The singularity in the workspace will lead to poor operability of the parallel robot. , weak flexibility and carrying capacity, unable to meet the application requirements of large load and high precision fields such as CNC machine tools and heavy load handling

Method used

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specific Embodiment approach

[0023] Such as figure 1 and figure 2 As shown, the 4UPU-UP redundant drive parallel robot of this embodiment includes a static platform 4 and a dynamic platform 7, and also includes four UPU drive branch chains S1 and a UP passive restraint chain S2 connecting the static platform 4 and the dynamic platform 7;

[0024] The structure of each driving branch chain S1 is the same, including a moving pair 2, which is used as a driving joint, and its two ends are respectively connected to the static platform 4 and the moving platform 7 through a Hooke hinge;

[0025] The four UPU-driven branch chains S1 are evenly distributed around the passive restraint chain S2. The passive restraint chain S2 includes the second mobile pair 6, which is used as a passive joint. 7 fixed connection.

[0026] Further, the mobile pair 2 includes a fixed end and a telescopic end that relatively moves along the fixed end, the fixed end of the mobile pair 2 is connected with the static platform 4 throug...

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Abstract

The invention provides a 4UPU-UP redundant drive parallel robot. The 4UPU-UP redundant drive parallel robot comprises a static platform and a movable platform and further comprises four UPU drive branch chains and a UP passive constraint chain which are connected with the static platform and the movable platform, each driving branch chain has the same structure and comprises a moving pair I, the moving pair I serves as a driving joint, the two ends of each moving pair I are respectively connected with the static platform and the movable platform through hooke joints, the four UPU driving branch chains are evenly distributed around the passive constraint chain, the passive constraint chain comprises a moving pair II, the moving pair II serves as a passive joint, one end of the moving pair II is connected with the static platform through the hooke joints, and the other end of the moving pair II is fixedly connected with the movable platform. According to the 4UPU-UP redundant drive parallel robot, the number of the driving branch chains is larger than the number of the freedom degrees of a mechanism, rigidity and bearing capacity can be improved, no singular area exists in the interior of the working space, the redundant driving parallel mechanism can carry out driving force optimization, meanwhile, internal force between the branch chains of the parallel mechanism is improved, and the efficiency of the mechanism output force is improved.

Description

technical field [0001] The invention relates to the technical field of parallel robots, in particular to a 4UPU-UP redundant drive parallel robot. Background technique [0002] Due to the characteristics of high rigidity, high motion precision, good dynamic response performance, and easy inverse solution of mechanism kinematics, parallel robots have been devoted to the research and development of new parallel robots by scholars at home and abroad. However, there are also some disadvantages. For example, the Tricept parallel robot (3UPU-UP parallel mechanism), which is commonly used in parallel machine tools, has the same number of drives and degrees of freedom. The singularity in the workspace will lead to poor operability of the parallel robot. , weak flexibility and carrying capacity, unable to meet the application requirements of large load and high precision fields such as CNC machine tools and heavy load handling. Contents of the invention [0003] The purpose of the...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0069
Inventor 温海营张志胜戴敏鲍琳
Owner SOUTHEAST UNIV
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