Three-degree-of-freedom parallel robot and modeling method thereof

Abstract

The invention provides a three-degree-of-freedom parallel robot and a modeling method thereof. The three-degree-of-freedom parallel robot comprises a static platform, a movable platform, a first driving motor, a second driving motor, a third driving motor, driving swing arms and driven swing arms; the first driving mechanism and the second driving mechanism are symmetrically and fixedly mounted on the surface of one side of the static platform; a third driving motor is fixedly mounted on the surface of the other side of the static platform; the driving swing arms are fixed to the output ends of the first driving motor, the second driving motor and the third driving motor; the two driven swing arms are rotationally mounted at the bottom of each driving swing arm; and under the action of a driving arm telescopic mechanism, the lengths of the three driving swing arms are changed; under the action of a driven arm telescopic mechanism, the lengths of the six driven swing arms are changed; and under the action of a damping mechanism, the movement synchronism of the two driven swing arms at the bottom of the same driving swing arm is kept, and damage to balance of the movable platform caused by shaking between the two driven swing arms is reduced.

Description

technical field [0001] The invention relates to the technical field of three-degree-of-freedom parallel robots, in particular to a three-degree-of-freedom parallel robot and a modeling method thereof. Background technique [0002] Parallel robot, that is, the dynamic platform and the static platform are connected by at least two independent kinematic chains, with two or more degrees of freedom, and a closed-loop mechanism driven in parallel. The parallel robot is more advanced than the traditional industrial serial robot. In other words, parallel robots have many advantages, such as: no cumulative error, high precision, large carrying capacity, etc. Parallel robots can be classified into planar mechanism and space mechanism according to their motion forms; subdivided into planar movement mechanism, planar Mobile rotation mechanism, space pure movement mechanism, space pure rotation mechanism and space hybrid motion mechanism, etc., are classified according to degrees of free...

AI Technical Summary

Problems solved by technology

[0003] The existing three-degree-of-freedom parallel robot is limited by the length of the active swing arm and the driven swing arm when the manipulator is installed, resulting in a limited working range of the manipulator. It is usually necessary to adjust its static platform when dealing with different work objects For precise positioning of the installation position, and for a more precise robot mechanism, this kind of disassembly adjustment is prone to irreversible damage

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