High-speed six-degree of freedom parallel manipulator

Abstract

The invention discloses a high-speed six-degree of freedom parallel manipulator which comprises a fixed frame, a movable platform, a three-degree of freedom wrist and six moving branched chains that are arranged between the fixed frame and the movable platform and have the same structure; the fixed frame is fixedly connected with six driving devices; the movable platform comprises a centre plate, three subangle gear sets and six connecting rods, wherein each subangle gear set comprises a center bevel gear and two subangle bevel gears; the center bevel gears are rotatablely connected with the centre plate; the subangle bevel gears are rotatablely connected with the centre plates; every two subangle bevel gears are arranged at the two sides of each center bevel gear and are meshed and connected with the center bevel gear; one ends of the connecting rods are fixedly connected with a lower connecting shaft, and the other ends of the connecting rods are fixedly connected with one subangle bevel gear in the subangle gear sets; the three-degree of freedom wrist is fixedly connected on the center plate; three groups of gear transmission mechanisms are arranged around the three-degree of freedom wrist; and the three center bevel gears are respectively used for providing three power input for the three groups of gear transmission mechanisms, so that the three-degree of freedom wrist is driven to realize three-dimensional controllable rotation.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel mechanism with six degrees of freedom in space. Background technique [0002] At present, domestic research on spatial six-degree-of-freedom parallel mechanisms is still focused on mechanisms for machining, measurement, and simulation training purposes, while there is less research on spatial six-degree-of-freedom parallel mechanisms that can achieve high-speed motion for material pick-and-place. There are only a few spatial six-degree-of-freedom parallel mechanisms that can be applied to material pick-and-place in the world. Patent document US20110097184 A1 discloses a parallel mechanism that can realize three-dimensional translation and three-dimensional rotation, including a fixed frame, a moving platform, a three-degree-of-freedom wrist, and three branch chains with the same structure symmetrically arranged between the fixed frame and the moving platform. ; The fixed frame is...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the driving end of the three-degree-of-freedom wrist is fixed between the two remote frame rods, which increases the mass and inertia of the moving parts of the mechanism, affects the dynamic performance of the above-mentioned mechanism, and makes it difficult for the mechanism to achieve high-speed movement

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