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Three-degree-of-freedom mobile decoupling parallel robot mechanism

A technology of robots and degrees of freedom, applied in the field of robots, can solve problems such as small workspace, and achieve the effects of easy control, large workspace, and simple trajectory planning

Inactive Publication Date: 2015-07-22
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Some of these mechanisms have a small working space and are only applicable to the field of micro-motion, or only instantaneous decoupling

Method used

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  • Three-degree-of-freedom mobile decoupling parallel robot mechanism

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Embodiment Construction

[0007] exist figure 1 In the schematic diagram of the structure of the three-degree-of-freedom mobile decoupling parallel robot mechanism shown, one end of a connecting rod 3 in the first branch is connected to the fixed platform 1 through the rotating joint 2, and the other end of the connecting rod is connected to the fixed platform 1 through the rotating joint 4 It is connected with another connecting rod 6, and the other end of the connecting rod is connected with one end of the third connecting rod 7 through the moving pair 5, and the other end of the connecting rod is connected with the moving platform 9 through the moving pair 8, and the axes of the two rotating pairs are parallel , the direction of the two moving pair guides forms a plane parallel to the axis of the rotating pair; one end of a connecting rod 11 of the second branch is connected to the moving platform through the rotating pair 10, and the other end of the connecting rod is connected to the moving platfor...

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Abstract

A three-degree-of-freedom mobile decoupling parallel robot mechanism is mainly composed of a fixed platform, a movable platform and three branches for connecting the two platforms. One end of a connecting rod of the first branch is connected with the fixed platform through a rotating pair, the other end of the connecting rod is connected with the other connecting rod through the rotating pair, the other end of the other connecting rod is connected with one end of a third connecting rod through a movable pair, and the other end of the third connecting rod is connected with the movable platform through the movable pair; one end of a connecting rod of the second branch is connected with the movable platform through the rotating pair, the other end of the connecting rod is connected with the other connecting rod through the rotating pair, and the other end of the other connecting rod is connected with the fixed platform through a cylinder pair; one connecting rod of the third branch is connected with the fixed platform through the movable pair, the other end of the connecting rod is connected with the other connecting rod through the movable pair, and the other end of the other connecting rod is connected with the movable platform through the movable pair. The three-degree-of-freedom mobile decoupling parallel robot mechanism has the advantages of being large in working space, simple in manufacturing and mounting, completely decoupled in moving, easy to control and the like.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot mechanism. Background technique [0002] Compared with the series mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, strong bearing capacity, small influence of cumulative error, and high precision. The driving device can be placed on the fixed platform or close to the fixed platform, which is beneficial to reduce movement. Load, low system inertia and good dynamic response, etc., are widely used in simulators, robots, CNC machine tools, sensors, micro-operation fields, etc. As an important branch of the parallel mechanism, the three-dimensional mobile parallel mechanism has received deep attention from domestic and foreign academic circles. Many scholars have conducted in-depth research on it and achieved a series of results, such as Delta and Star mechanisms, which are widely used in picking And placement, processing operations and ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 张立杰卢文娟曾达幸张一同
Owner YANSHAN UNIV
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