Six-degree-of-freedom parallel robot comprising integrated rotating supports

Abstract

The invention discloses a six-degree-of-freedom parallel robot comprising integrated rotating supports. According to the six-degree-of-freedom parallel robot, the first integrated rotating support, a first length adjusting device, a second length adjusting device, a first vertical rotating shaft and a first horizontal rotating shaft form a first motion branch chain. A second motion branch chain and a third motion branch chain are similar in composition. The first integrated rotating support is rotationally connected to a static platform through a hinge with one degree of freedom. One end of the first length adjusting device and one end of the second length adjusting device are both connected to the first integrated rotating support, and the other end of the first length adjusting device and the other end of the second length adjusting device are connected to the first vertical rotating shaft through hinges. One end of the first horizontal rotating shaft is connected to the first vertical rotating shaft through a hinge, and the other end of the first horizontal rotating shaft is connected to a dynamic platform through a hinge. The length adjusting devices share one integrated rotating support, the number of the hinges can be effectively reduced, the assembling process is simplified, and the installation precision is guaranteed. The whole machine is flexible to move, simple in kinematics solution and convenient to implement and control.

Description

technical field [0001] The invention relates to the field of robots, in particular to a six-degree-of-freedom parallel robot with an integrated rotating bracket. Background technique [0002] The Stewart platform, which has been widely used, is a six-degree-of-freedom parallel robot, including a static platform, and one end of six active adjustment devices that can be extended or shortened in the axial direction is connected to the static platform through a hinge with a rotational degree of freedom. , and the other ends are respectively connected to the moving platform through a hinge with one rotational degree of freedom. However, the robot does not have an integrated rotating bracket, and the six active adjustment devices are respectively connected to the static platform and the dynamic platform, resulting in a large number of hinges, many components, a complicated structure, and it is difficult to ensure assembly accuracy. [0003] A six-degree-of-freedom parallel robot ...

AI Technical Summary

Problems solved by technology

This robot reduces the number of hinges in some mechanisms. However, since the six active adjustment devices are respectively connected to the static platform for this type of robot, the number of hinges and components of the mechanism is still large and the structure is complex.

And in order to ensure that the movement of two groups of active adjustment devices is always in the same plane, the assembly process is more complicated

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