Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism
Patent Information
- Authority / Receiving Office
- CN · China
- Current Assignee / Owner
- 刘辛军
- Publication Date
- 2004-02-04
- Estimated Expiration
- Not applicable · inactive patent
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Abstract
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...