Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions

Abstract

The present invention discloses one kind of four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions 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 four branches, the static platform has two vertically crossed tracks, two crossed branches, branch I and branch II, are connected to the identical track while other two, branch III and branch IV, are connected to the other track. Each of the branches includes one shift pair, two Hookes and one branch rod, which has one end connected to the dynamic platform via a Hooke and the other end to the static platform via the composite motion pair comprising a shift pair and a Hooke. The present invention can realize four-freedom platform motion, has enhanced integral rigidity and may be used in operation needing four special motions.

Description

technical field [0001] The invention belongs to the field of robot mechanisms, in particular to a four-degree-of-freedom parallel robot mechanism with two-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 pe...

AI Technical Summary

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 kinds of parallel mechanisms have been proposed, but there are still not many parallel mechanisms with four degrees of freedom.

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