3-degree-of-freedom 6-UPS tri-translational parallel robot

Abstract

The invention relates to a free 6-UPS three-linkage parallel robot, belonging to the robot and mechanical producing area. The invention is characterized in that: three couples of straight driving branches are arranged in symmetry right triangle between the upper platform (1) and the base (2), while each couple comprises: two same SPU synchronous flexible driving branch while the upper end of each branch has a ball couple, the middle has a moving couple and the lower end has a universal couple connected to the base (2); the moving couple is formed by a mechanical or hydraulic synchronous flexible driver; the distance between two ball couples of each couple of straight driving branch is the same as the distance between two universal couple vertical axles (9). The invention is characterized in less freedom, easy control, large working space, simple structure and high accuracy. The invention can be used in large radio telescope, three-dimensional measure and sensor, etc.

Description

technical field [0001] The invention relates to the field of robotics and machinery manufacturing, in particular to a three-degree-of-freedom 6-UPS three-moving parallel robot Background technique [0002] For the convenience of explanation, use (n, n=1, 2, 3, 4, 6) to represent the number of branches, and use (S, U, P, R) to represent the (ball pair, universal joint, moving pair, revolving pair), their combination represents the branch kinematic chain structure type. [0003] Parallel robots have the characteristics of high structural rigidity, strong carrying capacity, light end mass, small inertia, and no accumulation of position errors. They are complementary to serial robots in application. The parallel robot mechanism with less than 6 degrees of freedom has relatively simple structure and easy control, and has become a research hotspot in the field of robotics and manufacturing. In recent years, Hunt proposed the 3-RPS mechanism in 1986; Pierrot proposed the three-tr...

AI Technical Summary

Problems solved by technology

Compared with the Stewart 6-SPS parallel mechanism with six degrees of freedom, the parallel mechanism with fewer degrees of freedom has the advantages of simple structure and easy control, but it also has disadvantages: the stiffness and bearing capacity of the parallel mechanism are reduced due to the small number of load-bearing branches; 3- The UPU mechanism has redundant self-motion, and the drive branch is subjected to torque; the 3-RPS mechanism has a small working space, has redundant self-motion, and the drive branch is subject to bending moment; the rotational drive branch of the Delta mechanism and 3-RRR mechanism is complicated, and has bending moment; The driving branch of the 3-PRR mechanism has bending moment and shear force

The experiment found that: the redundant self-motion affects the normal movement of the mechanism; the torsion, bending moment and shear force of the driving branch cause the elastic deformation of the mechanism and the large load on the rotating pair, which seriously affects the normal movement of the driving device and the mechanism

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