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Novel three-degrees-of-freedom under-actuated mechanism

An underactuated, degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems affecting the end effector's carrying capacity, large motion inertia, small carrying capacity, etc., and achieve compact structure, small size, and rigidity. Good results

Inactive Publication Date: 2012-07-11
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, a robot needs at least six degrees of freedom to be able to achieve any pose in the working space, and three degrees of freedom are often required for the wrist or waist. Nowadays, most of the robots used in industry are series robots. Although the workspace of series robots is relatively large, but There are some inherent defects, such as relatively small rigidity, small bearing capacity, low precision, and large moment of inertia, which are greatly restricted in some occasions that require precision.
Furthermore, due to the weight of each joint, the bearing capacity of the end effector is seriously affected, and the weight of the drive unit accounts for more than half of the weight of each joint.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] see figure 1 — image 3 , the new three-degree-of-freedom underactuated mechanism includes a base, a moving platform (11), three motion branch chains with the same structure symmetrically and uniformly arranged, two power sources and a position detection device, and is characterized in that: three motion branch chains The chains are respectively movably connected with the moving platform (11), which is not only convenient for processing and assembly but also flexible in movement; the moving platform (11) sinks toward the base and is concave in shape, which can make the structure more compact and enhance the rigidity of the mechanism; The two motors (3, 21) directly drive the two kinematic branch chains to form three kinematic branch chains for the under-actuated mechanism to make the moving platform (11) move in three degrees of freedom, reducing the cost and reducing the weight of the mechanism; The position detection device is connected with the under-actuated motion...

Embodiment 2

[0021] This embodiment is basically the same as Embodiment 1, and the special feature is that the structure of the base is: two motor support bases (2, 20) and a rotary encoder support base (12) are respectively fixed on a method by screws. On the upper surface of the blue plate (1), the two motor support seats (2, 20) and the rotary encoder support seat (12) are all spaced apart by 120°. The structure in which the moving platform (11) is movably connected with the three motion branch chains is: the first, second and third three moving platform connecting rods (10, 28, 19) are respectively fixed at the ends of the moving platform (11) by screws. On the lower surface, the three moving platform connecting rods (10, 28, 19) are evenly distributed in the circumferential direction of 120°, and the other ends of the three moving platform connecting rods (10, 28, 19) respectively pass through the first, second and third spherical pairs ( 9, 27, 18) are connected with the connecting r...

Embodiment 3

[0023] Such as figure 1As shown in -3, the new three-degree-of-freedom underactuated mechanism: the first motor (3) and the second motor (21) are respectively connected with the first reducer (4) and the second reducer (22) and pass through The bolt connection is fixed on the first motor support base (2) and the second motor support base (20), the rotary encoder (13) is fixed on the rotary encoder support base (12) through bolt connection, the first motor support base ( 2), the second motor support base (20) and the rotary encoder support base (12) are respectively fixed on the upper surface of the flange (1) by screws, the first motor support base (2), the second motor support base (20) ) and the rotary encoder support seat (12) are spaced 120° apart. One ends of the first, second and third moving platform connecting rods (10, 28, 19) are respectively fixed on the lower surface of the moving platform (11) by screws, and the three moving platform connecting rods (10, 28, ...

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Abstract

The invention relates to a novel three-degrees-of-freedom under-actuated mechanism. The mechanism comprises a base, a movable platform, three branch chains having an identical structure and distributed in axial symmetry, two power sources and a position detection device. The three branch chains are movably connected with the movable platform, the movable platform sinks towards the direction of the base and is in an inward concave shape, the two driving power sources directly drive the two moving branch chains to form the third moving branch chain, namely, the under-actuated mechanism, so that the movable platform moves in three degrees of freedom; and the position detection device is connected with the under-actuated moving branch chains to realize position detection. The mechanism is easy to machine and assemble, flexible in movement, compact in structure and good in rigidity; and as an under-actuated manner is adopted, the cost is lowered, the weight of the wrist part is reduced, and the mechanism can be used in occasions such as parallel robots, micro-robots and the like.

Description

technical field [0001] The invention relates to a novel three-degree-of-freedom underactuated mechanism, in particular to a concave three-degree-of-freedom underactuated parallel mechanism based on spherical pairs. Background technique [0002] The three-degree-of-freedom parallel mechanism is a very important few-degree-of-freedom parallel mechanism, and its moving platform can realize three-degree-of-freedom movement. Compared with the series mechanism, the parallel mechanism has the characteristics of compact structure, good bearing capacity, high motion precision and good mechanism rigidity. The underactuated mechanism refers to the mechanism whose control access is smaller than the degree of freedom of the system. An underactuated robot is a robot containing an underactuated mechanism. The extensive attention of scholars has become a new hot spot in the field of robotics research. For example, a robot needs at least six degrees of freedom to be able to achieve an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J13/08
Inventor 何斌曹进涛吕海峰蔡红霞胡小梅李静刘丽兰沈南燕田应仲杨浩
Owner SHANGHAI UNIV
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