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Paralel robot mechanism with bidimension rotating mono-dimension moving

A robot and parallel technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of clear motion form, wide application prospects, and simple inverse solutions

Inactive Publication Date: 2004-10-20
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to overcome the shortcomings of the prior art, provide a practical parallel robot mechanism that can realize two-dimensional rotation and one-dimensional movement, solve the coupling problem between input and output, solve the complex problem of positive solution, and simplify trajectory planning and control. And other issues

Method used

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  • Paralel robot mechanism with bidimension rotating mono-dimension moving
  • Paralel robot mechanism with bidimension rotating mono-dimension moving
  • Paralel robot mechanism with bidimension rotating mono-dimension moving

Examples

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Effect test

Embodiment 1

[0024] The overall structure of this embodiment is as figure 1 As shown, the moving platform 9 of this mechanism is connected with the fixed platform 1 through three branches, and these three branches are all telescopic connecting rods. The first branch is composed of connecting rod 3 and connecting rod 5 connected by moving pair 4, connecting rod 3 of this branch is connected with fixed platform 1 through Hooke hinge 2, and connecting rod 5 is connected with moving platform 9 through Hooke hinge 11 The second branch is made up of connecting rod 12 and connecting rod 14 connected by moving pair 13, connecting rod 14 of this branch is connected with fixed platform 1 through Hooke hinge 15, connecting rod 12 is connected with moving platform 9 through Hooke hinge 10 connected; the third branch is composed of a connected moving pair 6 and a connecting rod 7, the moving pair 6 is fixed to the fixed platform 1, and the connecting rod 7 is connected to the moving platform 9 through ...

Embodiment 2

[0027] The overall structure of this embodiment is as figure 2 As shown, the moving platform 24 of this mechanism is connected with the fixed platform 16 through three branches, the first branch is a telescopic connecting rod, and this branch is composed of a connected moving pair 21 and a connecting rod 22, and the moving pair 21 and the fixed The platform 16 is fixed, and the connecting rod 22 is connected with the moving platform 24 through the Hooke hinge 23 . The second branch is made up of connecting rod 18 and connecting rod 20 connected by rotating pair 19. The connecting rod 18 of this branch is connected with fixed platform 16 through Hooke hinge 17, and connecting rod 20 is connected with moving platform 24 through Hooke hinge 26. Connected, the rotation axis of the rotating pair 19 between the connecting rod 18 and the connecting rod 20 is parallel to the corresponding rotating axes on the Hooke hinge 17 and the Hooke hinge 26 respectively; The connecting rod 29 ...

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Abstract

A parallel robot mechanism with 2D rotating and 1D moving is composed of a fixed platform, a moving platform and three branches. Two of three branches have same structure with a single-freedom moving set as drive set and are pivoted respectively to said both platforms. The third branch is a linearly driven telescopic connecting rod with one end fixed to the fixed platform and another end pivoted to the moving platform. Its advantages are high precision and dynamic performance, low moving quality and simple structure.

Description

technical field [0001] The invention belongs to the technical field of industrial robots and machinery manufacturing. Background technique [0002] There are three main types of existing industrial robot mechanisms: serial robot mechanisms, parallel robot mechanisms and hybrid robot mechanisms. Among them, the tandem robot mechanism is an open chain in which the rods are connected sequentially through kinematic pairs. Its advantages are large working space and high flexibility. Large, poor dynamic performance, etc., which limit the application in the work occasions that require high positioning accuracy and force control accuracy; [0003] A parallel robot mechanism is a closed-loop mechanism whose moving platform or end effector is connected to the frame through at least two independent kinematic chains. Compared with the serial robot mechanism, the parallel mechanism has the advantages of high rigidity, high precision, good dynamic performance, and compact structure. At...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 汪劲松关立文王立平段广洪杨燕
Owner TSINGHUA UNIV
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