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A 4upu-up redundant drive parallel robot

A 4UPU-UP, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as weak rigidity, flexibility and carrying 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: 2022-03-11
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A 4upu-up redundant drive parallel robot
  • A 4upu-up redundant drive parallel robot

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specific Embodiment approach

[0023] like 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 through a...

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Abstract

The invention provides a 4UPU-UP redundant drive parallel robot, including a static platform and a dynamic platform, and also includes four UPU drive branch chains and a UP passive restraint chain connecting the static platform and the dynamic platform; the structure of each drive branch chain is the same , including the first mobile joint, which is used as the driving joint, and its two ends are respectively connected to the static platform and the dynamic platform through the Hooke hinge; the four UPU driving branch chains are evenly distributed around the passive restraint chain, and the passive restraint chain includes the second mobile joint. , the second mobile joint is used as a passive joint, one end of which is connected to the static platform through a Hooke hinge, and the other end is fixedly connected to the dynamic platform. The number of driving branch chains of the present invention is more than the number of degrees of freedom of the mechanism, which can improve the rigidity and bearing capacity, so that there is no singular area inside the working space, and the redundant driving parallel mechanism can optimize the driving force, and at the same time improve the relationship between the branch chains of the parallel mechanism Internal force, improve the efficiency of mechanism output force.

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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0069
Inventor 温海营张志胜戴敏鲍琳
Owner SOUTHEAST UNIV