Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions

A technology of three-dimensional translation and degrees of freedom, which is applied in the direction of manipulators, program-controlled manipulators, metal processing machinery parts, etc., can solve the problems of not many five-degree-of-freedom parallel mechanisms, error accumulation of rods, and low end precision, so as to reduce thermal effects , strong standardization, and reduced difficulty

Inactive Publication Date: 2006-05-17
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: there is error accumulation of each rod, low end precision; large inertia, low stiffness, and poor dynamic performance.
[0004] At present, more than one hundred parallel mechanisms have been proposed, but there are still not many parallel mechanisms with five degrees of freedom.

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  • Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions

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Embodiment Construction

[0021] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, the five-degree-of-freedom parallel robot mechanism with three-dimensional translation and two-dimensional rotation of the present invention includes a static platform 1, a dynamic platform 2, a branch connecting the static platform 1 and the dynamic platform 2, and the dynamic platform 2 passes through five branches 6, 7 . Arranged crosswise and connected with guide rail 4; branch 10 is connected with guide rail 5; branch 6 and branch 7 each include a moving pair 11, two Hooke hinges 12 and a branch rod, and one end of branch 6 and branch 7 respectively passes through Hooke The hinge 12 is connected to the moving platform 2, and the other end is connected to the static platform 1 through a compound kinematic pair composed of a moving pair 11 and a Hooke hinge 12; branches 8, 9, and...

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Abstract

The present invention discloses one kind of five-freedom parallel robot mechanism with three translational dimensions and two rotational dimension and including static platform, dynamic platform and branches connecting the static platform and the dynamic platform. The dynamic platform is connected to the static platform through five branches, the static platform has three parallel tracks, two crossed branches, branch I and branch II, are connected to the first track, two other uncrossed branches, branch III and branch IV, are connected to the second track, and the branch V is connected to the third track. The present invention can realize four-freedom platform motion by means of the shifts of the shift pairs of the branches in separated tracks, has enhanced integral rigidity and may be used in operation needing five special motions.

Description

technical field [0001] The invention belongs to the field of robot mechanisms, in particular to a five-degree-of-freedom parallel robot mechanism with three-dimensional translation and two-dimensional rotation. Background technique [0002] In the existing robot of robotization operation, there are two types of mechanisms: series mechanism and parallel mechanism. The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: error accumulation of each rod, low end precision; large inertia, low stiffness, and poor dynamic performance. [0003] Parallel mechanism is a closed multi-loop mechanism with multiple degrees of freedom of motion and drives distributed on different loops. Compared with serial robots, parallel robots have a series of advantages such as high rigidity, strong load-carrying capacity, no accumulation of position errors, high precision, small self-weight-to-load ratio, and good dynamic ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B23Q1/48
Inventor 张宪民袁剑锋邱志成
Owner SOUTH CHINA UNIV OF TECH
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