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
CN1537704AInactive Publication Date: 2004-10-20TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2004-10-20
Estimated Expiration
Not applicable · inactive patent

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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.
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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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