Fully flexible six-degree-of-freedom fine operating platform

Abstract

The invention discloses a fully flexible six-degree-of-freedom fine operating platform, which comprises a mobile platform, a fixed platform, a group of middle branched chain and at least three groups of same side branched chains, wherein the middle branched chain is vertically arranged; the upper end of the middle branched chain is connected with a geometric center of the mobile platform; the lower end of the middle branched chain is connected with a geometric center of the fixed platform; the side branched chains are vertically arranged and are uniformly arranged between the mobile platform and the fixed platform in a circumferential direction relative to the middle branched chain; the middle of the middle branched chains is provided with a four-degree-of-freedom flexible hinge; the four-degree-of-freedom flexible hinge comprises an upper coupling ring, a lower coupling ring and a middle column; and the middles of the side branched chains are provided with flexible mobile hinges. The fully flexible six-degree-of-freedom fine operating platform has a plurality of fully flexible joints and can avoid rigid collision and damage.

Description

technical field [0001] The invention relates to a fully flexible six-degree-of-freedom 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 microelectromechanical system assembly. The micromanipulation platform is used to carry the operation object during micromanipulation, so that the micromanipulation end effector can perform specific operations on the operation object on it to complete the specified task. [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...

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