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Parallel robot mechanism with three-freedom rotating platform

A technology of rotating platforms and robots, applied in manipulators, program-controlled manipulators, metal processing, etc., can solve the problems of unsatisfactory performance and few types of parallel robot mechanisms, and achieve the effect of simple structure, easy control and design

Inactive Publication Date: 2005-02-16
BEIJING JIAOTONG UNIV
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  • Claims
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Problems solved by technology

To sum up, there are too few types of parallel robot mechanisms for three-degree-of-freedom rotating platforms, and their performance is still unsatisfactory. More new three-degree-of-freedom rotating parallel mechanisms are needed to meet the design requirements. with application requirements

Method used

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  • Parallel robot mechanism with three-freedom rotating platform
  • Parallel robot mechanism with three-freedom rotating platform

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Embodiment Construction

[0007] The three-degree-of-freedom rotating platform parallel robot mechanism is composed of a fixed platform 1 and a moving platform 2, and three moving branches connecting the moving platform and the fixed platform. The three moving branch chains have the same structure, and each moving branch chain is connected to the fixed platform 1. The kinematic pair of is the universal joint 3, the kinematic pair connected with the movable platform 2 is the cylindrical pair 5, and the middle kinematic pair of the kinematic branch is the movable pair 4. When the mechanism moves, the movable platform 2 makes a spherical rotation around the fixed point O . The axis 6 of the universal joint 3 adjacent to the moving pair 4 in each movement branch chain is perpendicular to the axis 8 of the moving pair and the axis 9 of the cylinder pair. The axis 7 of the universal joint 3 adjacent to the fixed platform 1 in all three branch chains intersects the axis 9 of all the cylinder pairs in the three br...

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Abstract

The present invention provides a parallel robot mechanism with spherically rotating movable platform. The mechanism consists of a movable platform, a fixed platform and three motional branched chains to connect the movable platform and the fixed platform and in the same structure. Each motional branched chain consists of gimbal, shift pair and cylindrical pair, and the axis of the gimbal is perpendicular to that of the shift pair and that of the cylindrical pair. All the axes of the three gimbals and the three cylindrical pairs are crossed in one point. When the said mechanism is driven to move, the movable platform moves spherically around some fixed point. The mechanism has simple structure and symmetrical motional branched chain structures and may be used in wrist joint of robot and other application fields needing spatial gesture positioning.

Description

(1) Technical field [0001] The invention relates to a parallel robot mechanism. (2) Background technology [0002] Parallel robots have advantages that traditional series robots do not have, such as high stiffness and high load-to-weight ratio. In recent years, they have become a hot topic and focus of international robotics research. Parallel robots are usually composed of a moving platform and a fixed platform connected through moving branches. The number of degrees of freedom of a parallel robot is generally the same as the number of moving branches. Early parallel robots are usually 6-SPS Stewart platform mechanisms with 6 degrees of freedom, Stewart The platform mechanism has shortcomings such as small working space, difficulty in correct motion solution, complex structural design, and coupled position and posture parameters. In order to overcome these shortcomings of 6-DOF parallel mechanisms, many researchers in recent years have turned their attention to parallel ro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q41/04B25J9/08
Inventor 方跃法蔡隆文房海蓉
Owner BEIJING JIAOTONG UNIV
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