Fully decoupled three-degree-of-freedom parallel robot mechanism

Abstract

The invention discloses a fully decoupled three-degree-of-freedom parallel robot mechanism, which consists of a motion platform, a fixed platform and three fork chains connecting the two platforms, wherein two of the three fork chains have the same structure and each of the two fork chains consists of a hooke hinge, a rotary hinge, a moveable hinge and a connecting rod between the two fork chains from top to down; and the other fork chain consists of a spherical hinge, a rotary hinge, a moveable hinge and a connecting rod between the fork chains from top to down. The working platform of the mechanism of the invention can realize a one-translation two-rotation fully decoupled motion output; and the mechanism can effectively solve the problems of easy flexure and torsional deformation of the parallel mechanism caused by excessive freedom degrees of a motion pair and increase the whole load / weight ratio of the mechanism because the mechanism has few joints and only 13 freedom degrees of motion pair in total. In addition, a five-degree-of-freedom hybrid robot can be designed by connecting a two-degree-of-freedom rotary head with the motion platform in series and can be applied to complex curved surface machining and on other occasions.

Description

【Technical field】 [0001] The invention relates to the technical field of robots and advanced manufacturing, in particular to a parallel robot mechanism with few degrees of freedom that realizes fully decoupled motion output of space-translation and two-rotation. 【Background technique】 [0002] The parallel robot mechanism can be defined as: the upper and lower platforms (fixed platform and moving platform) are connected by two or more kinematic branch chains, each kinematic branch chain is composed of connecting rods and kinematic pairs, and the kinematic platform has two or more A mechanism with more than two degrees of freedom driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots an...

AI Technical Summary

Problems solved by technology

[0004] At present, a 5-degree-of-freedom hybrid robot is constructed by connecting a 2-degree-of-freedom rotating head in series based on a 3-degree-of-freedom parallel robot mechanism as a positioning component, which has broad application prospects in the field of high-speed machining. The positioning parts of the parallel structure have the problem of insufficient rigidity caused by many rods and many kinematic pairs. It is necessary to create a new model that meets the requirements of the kinematic form and has fewer kinematic pairs and high rigidity.

Images