5UPS-2RP (U) redundant drive parallel robot
A robot and parallel technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult to improve mechanism performance, complex design methods, and inability to strengthen, so as to achieve low manufacturing difficulty, simple structure, and high work reliability. Effect
Active Publication Date: 2021-04-09
SOUTHEAST UNIV
View PDF6 Cites 2 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
To design a redundant drive parallel mechanism with the required degree of freedom in this way, it is necessary to find the corresponding parallel mechanism configuration before adding drive branches or drive joints. The design method is relatively complicated, and it is impossible to constrain the direction of the limited degree of freedom in a targeted manner. Strengthening, it is difficult to improve the performance of the mechanism
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
specific Embodiment approach
[0026] Such as figure 1 and figure 2 As shown, the 5UPS-2RP (U) redundant drive parallel robot of the present embodiment includes a static platform 7 and a dynamic platform 8, and also includes five UPS drive branch chains S1 and two RPs ( U) passive restraint branch chain S2;
[0027] 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 7 and the moving platform 8 through a Hooke hinge;
[0028] Five UPS drive branch chains S1 are evenly distributed around the passive restraint branch chain S2. The passive restraint branch chain S2 includes the second mobile pair 5, which is used as the driving joint. The center of the platform 8 is connected to the main shaft 9 through a Hooke hinge.
[0029] 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...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a 5UPS-2RP (U) redundant drive parallel robot. The robot comprises a static platform and a movable platform and further comprises five UPS drive branch chains and two RP (U) passive constraint branch chains which are connected with the static platform and the movable platform. Each drive branch chain has the same structure and comprises a moving pair I, each moving pair I serves as a driving joint, the upper end of each moving pair I is connected with the static platform through a hooke joint, and the lower end of each moving pair I is connected with the movable platform through a spherical pair; and the five UPS drive branch chains are evenly distributed around the passive constraint branch chains, the passive constraint branch chains are symmetrically distributed in the center of the structure, the two passive constraint branch chains are the same in structure and each comprise a second moving pair, the two second moving pairs serve as passive joints, the upper ends of the two second moving pairs are connected with the static platform through rotating pairs correspondingly, and the lower ends of the second moving pairs are in main shaft connection with the center of the movable platform through same hooke joints. The parallel robot has four degrees of freedom and is provided with five drive branch chains, has well rigidity and bearing capacity, can optimize the driving force, and improves the internal force between the branch chains of a parallel mechanism.
Description
technical field [0001] The invention relates to the technical field of parallel robots, in particular to a 5UPS-2RP (U) redundantly driven parallel robot. Background technique [0002] Although the parallel robot has the characteristics of high rigidity and high precision, it is easy to have singular configurations for some mechanisms in certain attitudes. The solution is to use redundant drives to improve. Generally, redundant drive parallel mechanisms are mostly directly adding drive branches, changing passive joints to drive joints, or a hybrid of the first two methods, so that the number of drives is greater than the number of degrees of freedom. To design a redundant drive parallel mechanism with the required degree of freedom in this way, it is necessary to find the corresponding parallel mechanism configuration before adding drive branches or drive joints. The design method is relatively complicated, and it is impossible to constrain the direction of the limited degre...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & AuthorityApplications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0066
Inventor温海营鲍琳张志胜戴敏张慧
OwnerSOUTHEAST UNIV