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

A technology of high-speed motion and degrees of freedom, applied in the field of robotics, can solve problems such as affecting the dynamic performance of the mechanism, increasing the mass and inertia of the moving parts of the mechanism, and difficult to achieve high-speed motion, achieving light weight, uniform force, and satisfying complex pick and place. effect of operation

Active Publication Date: 2014-11-05
天津大学中原先进技术研究院(开封)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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

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Embodiment Construction

[0019] The present invention will be further described in detail below in combination with specific embodiments.

[0020] Such as figure 1 As shown, the present invention is a five-degree-of-freedom parallel manipulator that can realize high-speed motion, including a fixed frame 2, a moving platform 7, and five branch chains with the same structure that are symmetrically arranged between the fixed frame 2 and the moving platform 7. Five driving devices 1 are fixedly connected to the fixed frame 2 .

[0021] Each branch chain is made of near frame bar 3, upper connecting shaft 4, two mutually parallel and equal long far frame bars and lower connecting shaft 6; The output end of a driving device 1 on the fixed frame 2 is affixed, and the other end of the near frame bar 3 is affixed with the upper connecting shaft 4 in the branch chain; The upper connecting shaft 4 in the branch chain is ball-hinged, and the other ends of the two far-end rods are respectively connected to the l...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/08
Inventor 王攀峰赵学满
Owner 天津大学中原先进技术研究院(开封)有限公司
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