Four-degree-of-freedom parallel robot

Abstract

The invention discloses a four-degree-of-freedom parallel robot. The four-degree-of-freedom parallel robot comprises a first linear module, a second linear module, a movable platform, a first movement branch chain and a second movement branch chain. The first linear module comprises a first sliding block and a second sliding block; the second linear module comprises a third sliding block and a fourth sliding block; the movable platform is located between the first linear module and the second linear module; and the first movement branch chain is rotationally connected with the movable platform and the two sliding blocks of the first linear module, and the second movement branch chain is rotationally connected with the movable platform and the two sliding blocks of the second linear module. Through linear input movement of the four sliding blocks, three-degree-of-freedom translation of the movable platform and four-degree-of-freedom movement of rotating around a vertical shaft are achieved, and the four-degree-of-freedom parallel robot is simple in structure, large in working space, easy to guarantee machining precision and suitable for high-speed and high-precision movement occasions.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a four-degree-of-freedom parallel robot. Background technique [0002] In the planar four-bar mechanism, there is a special mechanism called a parallelogram mechanism. The two opposite rods are parallel and equal in length. The biggest feature is that the connecting rod opposite to the frame is always in a translational state during the movement process. Based on this feature, the parallelogram mechanism is often used in the kinematic branch chain of the parallel mechanism. For example, CN112935897A proposes a parallel machine tool feed mechanism, which uses the translation characteristics of the parallelogram mechanism to realize the translation of the two degrees of freedom of the moving platform. . [0003] The most widely used parallel mechanism at this stage is the Delta parallel robot, which realizes the three translational degrees of freedom of the moving platf...

AI Technical Summary

Problems solved by technology

In order to make the structure compact, the short sides of the multiple parallelogram mechanisms need to be set as short as possible. Due to the influence of the size of the connecting rod itself, on the one hand, the movement range of the parallelogram mechanism is greatly restricted, and the overall working space of the mechanism is reduced. limited; on the other hand, the working space is close to the singular position of the mechanism, which in turn reduces the dexterity of the robot

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