Spatial five freedom degree parallel robot mechanism

A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of less 5 degrees of freedom, low stiffness, low precision, etc., to achieve wide application prospects, low motion quality, and large number of parts. Effect

Inactive Publication Date: 2004-11-17
TSINGHUA UNIV
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  • Abstract
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AI Technical Summary

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: low precision, low stiffness, large inertia, and poor dynamic performance.
However, there are still many unsolvable problems in the 6-DOF parallel mechanism, such as its kinematics positive solution, precision calibration, etc., which seriously hinders the further application of the 6-DOF parallel mechanism in practice.
[0010] Most of the current parallel mechanisms have 2, 3, 4, 5 and 6 degrees of freedom. According to relevant literature, there are very few 5 degrees of freedom in the existing parallel mechanisms. It is not easy for a parallel mechanism to decompose a movement and three rotational degrees of freedom; another reason is that from the perspective of structural symmetry, it is difficult for a parallel mechanism with 5 degrees of freedom to meet this requirement

Method used

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  • Spatial five freedom degree parallel robot mechanism
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Embodiment 1

[0023] The overall structure of an embodiment of the present invention is as figure 1 As shown, the parallel robot mechanism includes a fixed platform 1, an intermediate platform 7, a moving platform 11, a branch connecting the moving platform 7 and the fixed platform 1, a branch connecting the intermediate platform 7 and the fixed platform 1, and connecting the moving platform 11 and the intermediate platform 7 branches. The moving platform 11 and the fixed platform 1 are connected through four branches 9, 10, 13 and 14 with identical structures to form a parallel closed-loop structure. A spherical joint with a degree of freedom, or a spherical joint with three degrees of freedom and a Hooke joint, or a spherical joint with three degrees of freedom and a cylindrical pair are connected to the moving platform 11 and the fixed platform 1; the moving platform 11 and the intermediate platform 7 are connected through a Hooke hinge Connection; the middle platform 7 is connected to ...

Embodiment 2

[0025] The overall structure of another embodiment of the present invention is as figure 2 As shown, the parallel robot mechanism includes a fixed platform 1, an intermediate platform 7, a moving platform 11, a branch connecting the moving platform 7 and the fixed platform 1, a branch connecting the intermediate platform 7 and the fixed platform 1, and connecting the moving platform 11 and the intermediate platform 7 branches. The moving platform 11 and the fixed platform 1 are connected by four identical branches to form a parallel closed-loop structure. Each branch includes a slideway fixed on the fixed platform, slide blocks 18, 19, 23, 25 and fixed-length connecting rods 21, 20, 22, 24, one end of the fixed-length connecting rod is connected with the Hooke hinge arranged on the slide block, and the other end is connected with the moving platform 11 through a three-degree-of-freedom spherical hinge. The moving platform 11 is connected to the middle platform 7 through a Ho...

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Abstract

The invention is a kind of space five freedoms parallel robot mechanism, which belongs to mechanical manufacturing technology field. The invention discloses a kind of robot mechanism, which includes a fixed platform, connected reciprocally, a middle platform and a moving platform; the moving platform is connected to the fixed platform through four branches with the same structure, forms the parallel closed loop structure, each branch contains an extensible link as driving spider, the two ends connect with the moving platform and the fixed platform with two chains; the two platforms are connected with Hooke ream; the middle platform is connected with the fixed platform with three parallel braches with the same structure, each branch contains an extensible link as driving spider, the two ends are connected with the middle platform and the fixed platform through two three-freedoms ball ream, the three parallel branches are linked, the invention has a high rigidity and precise.

Description

technical field [0001] The invention belongs to the technical field of mechanical manufacturing, in particular to a space five-degree-of-freedom parallel robot mechanism. Background technique [0002] In existing robots, 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: low precision, low stiffness, large inertia, and 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 adopt a parallel type. [0003] The parallel robot mechanism is a closed-loop mechanism, and its moving platform is connected with the frame through at least two independent kinematic chains. The essential elements of a fully parallel mechanism are: ...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 关立文王立平汪劲松段广洪常鹏
Owner TSINGHUA UNIV
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