Five-degree-of-freedom parallel manipulator capable of realizing high-velocity motion

Abstract

The invention discloses a five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion comprises a fixed mount, a movable platform and five branched chains with the same structure, wherein the branched chains are symmetrically arranged between the fixed mount and the movable platform; the fixed mount is fixedly connected with five driving devices; the movable platform comprises two ball arm seats, two mutually-parallel connecting rods with the equal length and a central plate; two groups of plane-surface parallelogram structures are respectively formed; a transmission mechanism is meshed by two groups of gears; the translational motion of the the two ball arm seats relative to the central plate or the rotation of the two groups of parallel connecting rods relative to the central plate is converted into two power inputs of a two-degree-of-freedom wrist; and under the action of the driving device, the three-dimensional translational motion of the movable platform and the two-dimensional rotation of the two-degree-of-freedom wrist are realized. The five-degree-of-freedom parallel manipulator capable of realizing the high-velocity motion, which is disclosed by the invention, has the advantages of symmetrical integral structure, even stressing of the movable platform, light motion part quality and big possibility of realizing high-velocity motion, and the complex fetching and releasing requirements can be satisfied.

Description

technical field [0001] The invention relates to a robot, in particular to a parallel mechanism capable of high-speed motion with three-dimensional translation and two-dimensional rotational degrees of freedom. Background technique [0002] At present, the domestic five-degree-of-freedom parallel mechanism is mostly used in the fields of machining, measurement, spraying, assembly, etc., but in the field of high-speed material picking and placing, there is still a lack of five-degree-of-freedom parallel manipulators that can achieve high-speed movement. Most of them use serial manipulators or three-translational parallel mechanisms as the main body to connect two-degree-of-freedom rotors in series to realize material pick-and-place operations. Its limitation is that it increases the mass and inertia of the moving parts of the mechanism, which affects the dynamic performance of the mechanism, making it difficult for the mechanism to achieve high-speed movement. Contents of th...

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Problems solved by technology

Its limitation is that it increases the mass and inertia of the moving parts of the mechanism, which affects the dynamic performance of the mechanism, making it difficult for the mechanism to achieve high-speed movement

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