Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism

A degree of freedom, robot technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low precision, large inertia, and low stiffness of end parts, and achieve the effect of increasing flexibility and improving stiffness.

Inactive Publication Date: 2004-02-04
刘辛军
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Problems solved by technology

The tandem type is an open chain in which the rods are connected sequentially through kinematic pairs. This type of robot has a large working space and high flexibility. The disadvantages are: ①The accuracy of the end piece is very low due to the accumulation of errors of each rod; ②Stiffness Low; ③ large inertia, poor dynamic performance
Assume that the ball hinge can achieve a swing capability of ±45° around the swing center line α, but since the attitude of the center line α changes at any time with the movement of the moving pair, thi

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  • Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
  • Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
  • Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism

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Embodiment Construction

[0020] figure 2 is a schematic diagram of the connection branch structure in the parallel robot mechanism of the embodiment of the present invention. As shown in the figure, the connection branch structure is composed of a ball hinge 32, a parallelogram mechanism 34 connected to the ball hinge 32 through an output rod 33, and a moving pair connected between the input rod 35 and the fixed platform 36 of the parallelogram mechanism. Between the parallel output and input rods are two connecting rods which are also parallel to each other. The "parallelogram mechanism" mentioned here refers to the mechanism formed by the input rod, the connecting rod, the output rod, and the connecting rod of the planar four-bar mechanism, which are connected by rotating pairs in sequence. The lengths of the two rods (that is, the input rod and the output rod, and the two connecting rods) are equal.

[0021] Motion platform 31 is connected on the output bar 33 of parallelogram mechanism 34 by ba...

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Abstract

A connecting branch structure for the parallel robot is composed of the sequentially connected multi-freedom hinge, parallelogram mechanism and moving set. A six-freedom parallel robot using said connecting branch structure consisting of movable platform, fixed platform and three said connecting branch structures. Its advantages are high flexibility and high rigidity.

Description

technical field [0001] The invention relates to an industrial robot mechanism, in particular to a connection branch structure in a parallel robot mechanism, and a six-degree-of-freedom parallel robot mechanism composed of a moving platform, a fixed platform and a connection branch structure. Background technique [0002] Among existing robots in service with robotized tasks, there are two types of mechanisms: series and parallel. The tandem type is an open chain in which the rods are connected sequentially through kinematic pairs. This type of robot has a large working space and high flexibility. The disadvantages are: ①The accuracy of the end piece is very low due to the accumulation of errors of each rod; ②Stiffness Low; ③ large inertia, poor dynamic performance. Therefore, the serial robot is not suitable for the operation occasions that require high positioning and force control precision. In order to avoid such shortcomings, the robot mechanism can be parallel. [000...

Claims

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Application Information

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IPC IPC(8): B25J9/06
Inventor 刘辛军
Owner 刘辛军
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