New type series-parallel connection jogging robot

A robot and micro-displacement driver technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as complex structure and difficult motion analysis, and achieve the effect of high motion resolution, expanded application field, and less transmission levels

Inactive Publication Date: 2006-05-10
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Published patent applications are generally six-degree-of-freedom parallel micro-manipulators with Stewart structures, but there are still problems such as complex structures, difficult motion analysis, and prone to motion interference.

Method used

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  • New type series-parallel connection jogging robot
  • New type series-parallel connection jogging robot
  • New type series-parallel connection jogging robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0016] structure as attached figure 1 As shown, it is a four-degree-of-freedom hybrid micro-robot, which consists of a base 1, a workbench 2, fixed length rods 3, 4, 5, 6, and a piezoelectric ceramic micro-displacement device 8. The base 1 and the workbench 2 They are connected by four fixed-length rods, one end of one fixed-length rod 3 is directly connected with the base 1 through the flexible moving pair of parallel plates, and the other end is directly connected with the workbench 2 through a flexible ball joint; the other three fixed-length rods One end of the long rods 4, 5, 6 is connected to the flexible moving pair of the parallel plate through a flexible Hooke hinge, and the other end is connected to the workbench 2 through a spherical hinge. The positioning seat is rigidly positioned on the base, thereby constituting the body of the micro-motion robot with the base, and is processed and formed at one time. The piezoelectric ceramic micro-displacement driver 8 is loc...

Embodiment 2

[0018] structured as figure 2 As shown, it is a three-degree-of-freedom hybrid micro-motion robot, which is composed of a base 1, a workbench 2, a fixed length rod 3, 4, 5, and a piezoelectric ceramic micro-displacement device 8. The base 1 and the workbench 2 They are connected by three fixed-length rods, one end of one fixed-length rod 3 is connected with the base 1 through the flexible moving pair of parallel plates, and the other end is connected with the workbench 2 through a flexible Hooke hinge; the other two fixed-length rods One end of the rods 4 and 5 is connected with the flexible moving pair of the parallel plate through a flexible ball joint, and the other end is connected with the workbench 2 through a flexible ball joint. The three fixed-length rods all adopt piezoelectric ceramic micro-displacement drivers, and the drivers are arranged at one end of the fixed-length rods connected with the base.

[0019] The position layout of the fixed-length bar in embodime...

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PUM

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Abstract

The invention belongs to the field of micro-movement robots. The main points of the structure of the present invention are: the base and the workbench are connected by 3 or 4 fixed-length rods, one end of which is connected to the base through a parallel plate flexible moving pair directly processed on the positioning seat. The other end is connected to the workbench through a ball joint or a Hooke hinge, and one end of the other fixed-length rod is directly processed on the positioning seat rigidly fixed on the base through a Hooke hinge or a ball joint. The other end is connected with the workbench through a ball joint, and the end of the fixed length rod connected with the base is provided with a micro-displacement driver. The invention can realize frictionless, gapless and high-resolution fretting operation.

Description

1. Technical field [0001] The invention belongs to the field of micro robot technology. 2. Background technology [0002] Micro robots have broad application prospects in fine processing, integrated circuit manufacturing, optical fiber docking, CCD docking, biological and genetic engineering, aerospace and other fields. In the research of micro-robots, the parallel mechanism has attracted people's attention, mainly because the parallel mechanism has the following advantages: (1) compact structure, (2) simple design and processing, and low sensitivity to temperature, (3) drive It can be placed on the base frame, (4) the error accumulation and amplification are small, (5) the natural frequency is high, which avoids the uncontrollable repetition error caused by vibration. [0003] Stoughton (Stoughton) designed a microrobot consisting of two parallel mechanisms, each composed of six piezoelectric elements; Hudgens (Hudgens) and Tesar (Tesar) proposed a complete Parallel Stewa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
Inventor 徐礼钜范守文徐雪梅
Owner SICHUAN UNIV
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