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Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type

A two-dimensional translation and degree of freedom technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of rod error accumulation, poor dynamic performance, and low end precision, so as to achieve no accumulation of position errors and high speed Two-dimensional movement, the effect of improving the overall stiffness

Inactive Publication Date: 2007-01-31
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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, there are also some shortcomings: not only the error accumulation of each member, the end precision is low, but also the inertia is large, the stiffness is low, and the dynamic performance is poor.

Method used

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  • Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type
  • Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type
  • Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type

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Embodiment Construction

[0023] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited thereto.

[0024] Such as figure 1 As shown, the two-dimensional translational two-degree-of-freedom plane parallel robot mechanism of the present invention includes a static platform 1, a dynamic platform 2 and a branch chain connecting the static platform 1 and the dynamic platform 2, and the dynamic platform 2 is connected to the static platform through four branch chains. Platform 1 is connected, two of which are active branch chains 3 and 4, and the other two are passive branch chains 5 and 6; active branch chain 3 (4) includes a master arm 3.1 (4.1) and a slave arm 3.2 (4.2) , one end of the active arm 3.1 (4.1) is connected to the static platform 1 through the rotating pair, the other end is connected to the driven arm 3.2 (4.2) through the rotatin...

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Abstract

A two-freedom robot mechanism with 2D translation and planar parallel connection is composed of a static plat form, a dynamic platform, and 4 branches including 2 active branches and 2 passive branches for linking dynamic platform with static platform. Said active branch consists of a drive arm and a driven arm.

Description

technical field [0001] The invention belongs to the field of robot mechanisms, in particular to a two-dimensional translational two-degree-of-freedom plane parallel robot mechanism suitable for pick-and-place operations. 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: not only the error accumulation of each member, the end precision is low, but also the inertia is large, the stiffness is low, and the dynamic performance is poor. [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, hig...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 张宪民袁剑锋
Owner SOUTH CHINA UNIV OF TECH
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