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Two-freedom rotary decoupling parallel robot mechanism

A degree of freedom, robot technology, applied in the direction of moving/orienting solar collectors, manipulators, solar collectors, etc., can solve the problems of large cumulative error, installation at one point, and many moving pairs.

Inactive Publication Date: 2011-05-25
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among the decoupling mechanisms invented so far, there are very few two-degree-of-freedom rotational decoupling parallel mechanisms. For example, GOGU in France synthesized a type of two-degree-of-freedom rotational decoupling parallel robot mechanism. The kinematic pairs in the rotational decoupling mechanism he synthesized Many, the cumulative error is large, the moving platform can only be installed on one point, and its processing and assembly are poor

Method used

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  • Two-freedom rotary decoupling parallel robot mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0012] The moving platform 3 of this mechanism is connected with the fixed platform 1 through 2 branches (see figure 1 ). There is only one Hookee hinge 2 in the first branch. The rotating pair 4 of the second branch connects the moving platform 3 and the connecting rod 5, the rotating pair 6 connects the connecting rod 5 and the connecting rod 7, and the connecting rod 7 is connected with the fixed platform 1 through a Hooke hinge 8. An axis of the Hooke hinge 2 of the first branch and an axis of the Hooke hinge 8 connected to the fixed platform 1 of the second branch are collinear, and the other axis of the Hooke hinge 2 of the first branch and the second The axis of the rotating pair 4 whose branch is connected with the moving platform 3 remains parallel.

Embodiment 2

[0014] The moving platform 3 of this mechanism is connected with the fixed platform 1 through 2 branches (see figure 2 ). There is only one Hookee hinge 2 in the first branch. The rotating pair 4 of the second branch connects the moving platform 3 and the connecting rod 5, the moving pair 6 connects the connecting rod 5 and the connecting rod 7, the connecting rod 7 is connected with the fixed platform 1 through the Hooke hinge 8, the Hooke of the first branch One axis of the hinge 2 and one axis of the Hooke hinge 8 whose second branch is connected to the fixed platform 1 are collinear, and the other axis of the Hooke hinge 2 of the first branch and the second branch connected to the moving platform 3 The axes of the revolving pair 4 remain parallel.

[0015] The space two-degree-of-freedom rotation decoupling parallel robot mechanism of the present invention has good kinematics performance, high flexibility and large working space; its kinematics positive and negative sol...

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Abstract

The invention belongs to the field of parallel robots; the structure is as follows: a moving platform is connected with a fixed platform through two ranches, an axis of a hooke joint in the two branches which is connected with a base. The mechanism has the advantages of simple structure, full decoupling of the two rotations of the moving platform, easy control, low movement quality and good dynamic performance, and can be widely applied to telescopes, cameras, solar panels, positioners, missile launchers, radar trackers, artillery and other aiming equipments.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a group of two-degree-of-freedom rotation decoupling parallel robot mechanisms. Background technique [0002] The parallel robot mechanism has multiple degrees of freedom and multi-loop closed chain in space. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. [0003] Compared with the serial robot mechanism, the parallel robot mechanism has the disadvantages of small working space, strong coupling between motions, and difficult control. If the motion of the mechanism can be decoupled, its working space will be enlarged, and the control will be easy, and higher motion precision can be achieve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
CPCF24J2/542Y02E10/47F24S30/452
Inventor 曾达幸侯雨雷卢文娟黄真
Owner YANSHAN UNIV
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