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
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[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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