Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)

A degree of freedom, moving platform technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex kinematics, unfavorable production efficiency, improvement and other problems, achieve high-speed and high-acceleration dynamic response characteristics, and relatively simple kinematics , the effect of improving production efficiency

Active Publication Date: 2013-02-13
TSINGHUA UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The H4 parallel mechanism meets the application requirements for manipulators to realize SCARA motion on the production line, but the double-moving platform structure of this type of mechanism increases its structural complexity, which in turn leads to complex kinematics characteristics, which are highly sensitive to high-speed and high-dynamic response. produce adverse effects, which is not conducive to the improvement of production efficiency

Method used

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  • Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)
  • Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA)

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Embodiment 1

[0017] The structure of a four-degree-of-freedom single-platform parallel mechanism that can realize SCARA motion in this embodiment is as follows: figure 1 As shown, it includes a fixed platform 17, a moving platform 11, and the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV, and the four branch chains are respectively connected to the fixed platform 17 and the moving platform 11, and form a space closed-loop mechanism with the fixed platform 17 and the moving platform 11.

[0018] The structures of the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV are exactly the same. In the figure, the fourth branch chain IV is taken as an example, including: a driving arm 16, a left connecting rod 14 , right connecting rod 15, support rod 13, connector 12 and kinematic pair. There are seven kinematic pairs, one is the revolving pair R connected between the fixed plat...

Embodiment 2

[0021] The structure of a four-degree-of-freedom single-platform parallel mechanism that can realize SCARA motion in this embodiment is as follows: figure 2 As shown, similar to Example 1, it also includes the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV with the same structure. The difference between this embodiment and the first embodiment is that the first branch chain I, the second branch chain II, the third branch chain III and the fourth branch chain IV all adopt the driving form of the active drive of the moving pair. Embodied in the specific structure: the slider 23 of its fourth branch chain IV is connected with the left connecting rod 21 through a ball joint, the slider 23 is connected with the right connecting rod 22 through a ball joint, and the slider 23 is connected with the fixed platform 24 is connected by a mobile pair and the mobile pair is actively driven. In this embodiment, the fixed platform...

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Abstract

The invention relates to a four-freedom-degree single-action platform parallel mechanism capable of achieving motion of a selective compliance assembly robot arm (SCARA) and belongs to the technical field of parallel robots. The four-freedom-degree single-action platform parallel mechanism comprises a movable platform, a fixed platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein an actuator is installed on the movable platform, and the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected between the movable platform and the fixed platform and have the same structure. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain all contain movement pairs in active driving. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are respectively connected with the movable platform and the fixed platform to form a space parallel closed-loop mechanism, the space parallel closed-loop mechanism drives the movable platform to move through four input moving parts, and three-dimensional translational motion and one-dimensional rotation motion in a space are achieved. The parallel mechanism has the advantages of being simple in structure and relatively simple in kinematics, and the structural characteristics of a single platform are favorable for achieving high-speed and high-accelerating dynamic response characteristics.

Description

technical field [0001] The invention belongs to the field of parallel robots, in particular to a four-degree-of-freedom single-platform parallel mechanism that can realize high-speed motion and is applied to production lines such as packaging, manufacturing, assembly, and material picking. Background technique [0002] SCARA (Selective Compliance Assembly Robot Arm) means an assembly robot arm with selective compliance. This robot arm was first realized through a series mechanism and is widely used in industrial fields such as automatic handling, spraying, welding and assembly. The parallel mechanism is a closed-loop mechanism composed of multiple branch chains opposite to the series mechanism. Its unique structure makes this type of mechanism have higher dynamic response performance, and it is easier to realize high-speed and high-acceleration motion. In this field, Clavel proposed a Delta parallel mechanism consisting of three symmetrical branch chains that can realize thr...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 刘辛军谢福贵王立平尤政
Owner TSINGHUA UNIV
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