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Series-parallel micro operation parallel-connection robot mechanical apparatus

A mechanical device and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex structure of 6-degree-of-freedom parallel mechanism, increased height of micro-manipulation robots, and poor motion stability, etc., to achieve compact structure, High resolution and frequency response, easy to control effects

Inactive Publication Date: 2003-11-12
BEIJING UNIV OF TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0005] Although the micromanipulator robot given above has its own characteristics, the problem is that the structure of the 6-DOF parallel mechanism is complex and difficult to control
[0006] 1. The height of the micro-manipulation robot increases, there is cumulative error and the motion stability becomes poor

Method used

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  • Series-parallel micro operation parallel-connection robot mechanical apparatus
  • Series-parallel micro operation parallel-connection robot mechanical apparatus
  • Series-parallel micro operation parallel-connection robot mechanical apparatus

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Embodiment Construction

[0029] According to attached Figure 3-7 Complete the technical solution of the present invention by conventional machining technology. All kinematic pairs and other components contained in each kinematic chain in each parallel mechanism in the present invention are processed from one piece of elastic metal material. The invention is driven by a piezoelectric actuator and amplifies the displacement output of the piezoelectric actuator through a micro-displacement amplification mechanism.

[0030] In the series-parallel micro-operation parallel robot mechanical device, in the connection structure between the disks, the kinematic chain is divided into A type 2a kinematic chain and B type 2b kinematic chain as follows:

[0031] Type B kinematic chain with Image 6 The type A kinematic chain shown is similar in structure, and also includes two Hooke hinges and a micro-displacement amplifier (the latter is equivalent to a sliding pair in the kinematic sense). Such as Figure 7 ...

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Abstract

Disclosed is a parallel robot set to assemble diminutive machine. The robot comprises two same three-dimensional parallel frames which are in series. The parallel frame has three active links that comprise two Huke gemels and a micro displacement amplifier. The computer control system drives the displacement output of the piezoelectricity equipment. The undersides of the three active links are connected with the middle plate, and another side is connected with the work plate in a parallel frame group.In another group, the undersides of the three active links are connected with the underpan, and another side is connected with the middle plate. The middle plate is hung under the underpan. The two fingers of the robot are set on the work plate and the middle plate, which can work just like the human fingers.

Description

Technical field: [0001] The invention relates to a series-parallel micro-operation parallel robot device, which is used for micro-operations such as cell operation, gene transfer, chromosome cutting and micro-mechanical assembly in bioengineering. Background technique: [0002] Micro-operations such as cell manipulation, gene transfer, chromosome cutting, and micro-mechanical assembly in bioengineering put forward high requirements on the accuracy and speed of the manipulator. At present, micro-manipulation robots are usually used to complete this type of work. [0003] Due to the high motion precision and good dynamic performance of the parallel mechanism, it is used as the mechanical structure of the micro-manipulation robot. Parallel mechanism see figure 1 , it is a mechanical device composed of a working plate 1, a chassis 3 and several closed kinematic chains 2 connecting the two plates; each of its kinematic chains is composed of more than two rods and kinematic pairs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 刘德忠费仁元许意华潘新文
Owner BEIJING UNIV OF TECH
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