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Four freedom parallel robot mechanism with passive bound branch

A technology of passive constraints and degrees of freedom, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as unfavorable normal movement of driving devices and mechanisms, and easy generation of bending moments and shear forces

Inactive Publication Date: 2005-07-27
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the drive branch of the parallel mechanism with few degrees of freedom has a rotating pair, which is prone to generate bending moment and shear force, which is very unfavorable to the normal movement of the driving device and mechanism

Method used

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  • Four freedom parallel robot mechanism with passive bound branch
  • Four freedom parallel robot mechanism with passive bound branch

Examples

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Effect test

Embodiment 1

[0011] attached figure 1 It is an embodiment disclosed by the present invention. This four-degree-of-freedom parallel mechanism with passive constraint branch PS includes base 1, upper platform 4, four linear drive branches connecting base 1 and upper platform 4, and a passive constraint Composition of branches, the base 1 and the upper platform 4 are square and rectangular respectively. The kinematic chain structure of the four linear drive branches is the same, and they are distributed at the corners of the base 1 and the upper platform 4. There are ball joints 2 at both ends of the linear drive branch, and a drive movement pair 3 in the middle. The axis of the drive movement pair 3 is connected to the ball Hinge 2 centers coincide. The passive restraint branch is located in the center of the rectangle. It has a moving pair and a spherical hinge to form a PS series structure branch. The moving pair is composed of a moving pair sleeve 5 and a spherical hinge input rod 6. The...

Embodiment 2

[0013] attached figure 2 It is another embodiment disclosed by the present invention. This RPT four-degree-of-freedom parallel mechanism with passive constrained branches includes a base 1, an upper platform 4, four linear drive branches connecting the base 1 and the upper platform 4, and a passive Constrained branches, the base 1 and the upper platform 4 are rectangle and square respectively. The kinematic chain structure of the four linear drive branches is the same, and they are distributed at the corners of the base 1 and the upper platform 4. There are ball joints 2 at both ends of the linear drive branch, and a drive movement pair 3 in the middle. The axis of the drive movement pair 3 is connected to the ball Hinge 2 centers coincide. The passive restraint branch is located in the center of the rectangle. It consists of a rotating pair, a moving pair and a universal hinge to form a RPT series structure branch. The input rod 8 of the rotating pair is fixedly connected t...

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Abstract

A 4-freedom parallel robot structure with passive constraint branch is disclosed, which contains different two passive constraint branch structures and can be used for robot to realize one axial movement and three different rotations. Its advantages are high parallel rigidity and load-bearing power, simple structure, high precision and low cost.

Description

technical field [0001] The present invention relates to the field of robots and machinery manufacturing. Background technique [0002] For the convenience of explanation, use n (n=1, 2, 3, 4, 6) to represent the number of branches, and use letters S, T, P, R to represent the spherical joints, universal joints, moving pairs, and rotating joints in the branch kinematic chain respectively. Vice, their combination represents a branched kinematic chain structure. The driving branch is the motion branch with the driving device, and the passive constraint branch is the motion branch without the driving device. [0003] Parallel robots have the characteristics of high structural rigidity, strong bearing capacity, light end mass, small inertia, and no accumulation of position errors. They are complementary to serial robots in application. In recent years, parallel robot mechanisms with few degrees of freedom (less than 6 degrees of freedom) have become a research hotspot in the fie...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23Q1/48B25J9/06B25J9/10
Inventor 路懿
Owner YANSHAN UNIV
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