3-PPTTRS six freedom degree parallel precise jiggle robot

A degree of freedom, robot technology, applied in micro manipulators, manipulators, metal processing mechanical parts, etc., can solve problems such as no practical value, and achieve the effect of large linear and rotary motion range, large impact force, and high resolution.

Inactive Publication Date: 2006-06-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

At present, although many precision robots use parallel mechanisms, they generally use Stewart mechanisms and their variants, and mostly use piezoelectric ceramics as drivers. Therefore, limited by size and drive systems, the moving range of robots is generally at the micron level. Although the accuracy can meet the requirements, it does not have much practical value

Method used

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  • 3-PPTTRS six freedom degree parallel precise jiggle robot
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  • 3-PPTTRS six freedom degree parallel precise jiggle robot

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with accompanying drawing:

[0022] The invention mainly includes five parts: a 3-PPTTRS mechanism, a flexible hinge pair, a static pressure screw mechanism, a hydraulic oil supply system, and an open numerical control system. The 3-PPTTRS mechanism of the present invention enables the system to input displacement through a simple linear movement pair 10, generate a larger stroke range, and can perform six-degree-of-freedom movements; in the same system, single-axis, double-axis and three-axis The degree of freedom flexible hinge pair is used as the kinematic pair in the 3-PPTTRS mechanism. By using the special structure of the flexible hinge, it avoids the error caused by the friction, clearance and backlash of the traditional kinematic pair; although the theory of static pressure technology is quite mature, but It is the first time to apply a high-precision static pressure screw mechanism to the fiel...

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Abstract

The 3-PPTTRS six-freedom parallel precise micro robot consists of five parts, including a 3-PPTTRS mechanism, a flexible hinge pair, a hydrostatic screw-nut mechanism, a hydraulic oil supplier and an opened numerically controller. The robot has six freedoms, linear X, Y and Z motion range of 10 mmX10 mmX10 mm, linear resolution of 0.01 micromX0.01 micromX0.01 microm, rotation motion range of 10 degX16 degX10 deg, and rotation resolution of 0.023 degX0.055 degX0.023 deg, and is superior to available similar robots. The present invention has capacity of bearing great impact load, great weight load and relatively large precise installing range, combines the macro and micro motion system tightly, and has practical application value in micro displacement field.

Description

technical field [0001] The invention relates to a 3-PPTTRS six-degree-of-freedom parallel precision micro-motion robot, which belongs to the field of electromechanical integration. Background technique [0002] Precision micro-robots have broad application prospects in the field of micro / nano technology due to their high positional accuracy and working accuracy. With the development of robot assembly technology, robot assembly has become one of the important aspects of robot industrial application. In the field of micro-assembly, with the further development of micro-miniature manufacturing technology and MEMS technology, there is an urgent need for the establishment of a precision automated assembly system for micro-miniature devices, and an urgent need for high-precision precision micro-movement robots. [0003] General-purpose robots generally adopt an open-chain structure with more degrees of freedom and larger structural dimensions, so the accumulated errors caused by ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B23Q1/48
Inventor 张之敬叶鑫金鑫张卫民王西彬
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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