Intermediate branch chain of fully-flexible fine operation platform

Abstract

The invention discloses an intermediate branch chain of a fully-flexible fine operation platform, wherein a four-degree-of-freedom (DOF) flexible hinge is disposed at the middle part of the intermediate branch chain, and the four-DOF flexible hinge comprises an upper connection ring, a lower connection ring and a central column; a three-branch Y-shaped connection sheet is disposed in the upper connection ring; the three branches of the Y-shaped connection sheet are disposed on the same horizontal plane, the first branch is arranged along x-axis, the second branch is arranged along y-axis, and the third branch is arranged along a direction in an angle of 135 degrees with x-axis; three radial sheet-shaped beams uniformly distributed along a circumference are disposed in the lower connection ring; the three radial sheet-shaped beams are installed at the lower end of the central column; and the upper end of the central column is connected with the bottom surface of the Y-shaped connection sheet. The intermediate branch chain of a fully-flexible fine operation platform has a fully-flexible joint and four degrees of freedom, so that the rigid collision and damage generated by the fully-flexible fine operation platform can be avoided.

Description

technical field [0001] The invention relates to an intermediate branch chain of a fully flexible micro-operation platform. Background technique [0002] Micromanipulation technology is one of the key technologies for precision instruments and precision machinery to achieve high precision. It has been widely used in multidisciplinary fields such as microsurgery, micromachining, optical fiber docking, and MEMS assembly. The micro-operation platform is used to carry the operation objects during the micro-operation, so that the micro-operation end effector can perform specific operations on the operation objects to complete the specified tasks. [0003] The existing subtle operations are all based on open-loop control. Some scholars at home and abroad have designed a variety of flexible parallel robots to perform multi-degree-of-freedom movement and rotation at the micron or even nanometer level, and there are a number of related patented technologies, such as: a three-dimension...

AI Technical Summary

Problems solved by technology

[0003] The existing micro-operations are all based on open-loop control. Some scholars at home and abroad have designed a variety of flexible parallel robots to perform multi-degree-of-freedom movements and rotations at the micron or even nanometer level, and have a number of related patented technologies, such as: a three-dimensional Branched six-degree-of-freedom parallel flexible hinge micro-motion mechanism (Chinese patent: CN200610151113.7), six-degree-of-freedom macro / micro dual-drive nanoscale positioning and large-stroke flexible parallel robot (Chinese patent: CN 200410013627.7), six-degree-of-freedom large-stroke, High-precision flexible parallel robot (Chinese patent: CN200410013628.1), but the main problems of these existing technologies are complex structure, no feedback of force / torque related information, and limited by the precision of microscopic equipment, so it is difficult to ensure microscopic Operational precision and reliability requirements

In addition, the traditional micro-operation end effector usually has no real-time feedback link during the operation process, so it is prone to rigid collisions, causing destructive effects on the operating object and the system

Images