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High-speed six-degree of freedom parallel manipulator

A degree of freedom, manipulator technology, applied in the field of robotics, can solve problems such as difficulty in achieving high-speed motion, affecting the dynamic performance of the mechanism, increasing the mass and inertia of moving parts, and achieving the effect of good dynamic performance, uniform force, and high-speed motion

Inactive Publication Date: 2014-05-07
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • High-speed six-degree of freedom parallel manipulator
  • High-speed six-degree of freedom parallel manipulator
  • High-speed six-degree of freedom parallel manipulator

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Embodiment Construction

[0016] The present invention will be further described in detail below in conjunction with specific embodiments.

[0017] Such as figure 1 As shown, a high-speed six-degree-of-freedom parallel manipulator of the present invention includes a fixed frame 2, a movable platform 7, a three-degree-of-freedom wrist 12, and six movement branches with the same structure arranged between the fixed frame 2 and the movable platform 7. There are six driving devices 1 fixed on the fixing frame 2.; Each motion branch chain includes a near frame rod 3 and two parallel and equal-length far frame rods 5a, 5b. One end of the near frame rod 3 is fixedly connected to the output end of a driving device 1. The near frame rod 3 The other end is fixedly connected to the upper connecting shaft 4; the driving device 1 provides a degree of freedom of rotation or movement for the near frame rod 3; the same ends of the two remote frame rods 5a, 5b are respectively connected to the respective support through a...

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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 mechanical processing, measurement, and simulation training purposes, while there is less research on spatial six-degree-of-freedom parallel mechanisms that can achieve high-speed movement for material handling. There are only a few spatial six-degree-of-freedom parallel mechanisms that can be applied to material handling in the world. Patent document US20110097184 A1 discloses a parallel mechanism that can realize three-dimensional translational and three-dimensional rotation, including a fixed frame, a moving platform, a three-degree-of-freedom wrist, and three branches with the same structure symmetrically arranged between the fixed frame and the moving platform. The fixed frame is fixedly...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
CPCB25J9/0051
Inventor 王攀峰赵学满
Owner TIANJIN UNIV
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