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
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[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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