High-speed five-degree of freedom parallel manipulator

Abstract

The invention discloses a high-speed six-degree of freedom parallel manipulator. The parallel manipulator comprises a fixed frame, a movable platform, a two-degree of freedom wrist and five branched chains which are arranged between the fixed frame and the movable platform and have the same structure, wherein the five branched chains with the same structure drive the movable platform to carry out three-dimensional translational motion; the movable platform comprises a center plate, two groups of subangle gear sets, four connecting rods and a fixed connecting rod; the fixed connecting rod and the four connecting rods are radially and uniformly distributed on the center plate; one end of the fixed connecting rod is fixedly connected with the center plate; one ends of the four connecting rods are respectively fixedly connected rotating shafts of subangle bevel gears in the two groups of subangle gear sets; and through the meshing function between the two groups of subangle gear sets and center bevel gears, the motion is transmitted to the two-degree of freedom wrist so as to generate two-degree of freedom controllable rotation. The parallel manipulator is symmetrical in structure, even in stress, little in mass of movement parts, and excellent in dynamic performance; and through the parallel manipulator, high-speed motion can be realized, and complex grabbing operation requirements are satisfied.

Description

technical field [0001] The invention relates to a robot, in particular to a high-speed parallel mechanism with five degrees of freedom in space. Background technique [0002] At present, domestic research on spatial five-degree-of-freedom parallel mechanisms is still focused on mechanisms in the fields of machining, spraying, and measurement. However, research on spatial five-degree-of-freedom parallel mechanisms that can achieve high-speed movement for materials is still lacking. Contents of the invention [0003] In view of the above-mentioned prior art, the present invention provides a high-speed five-degree-of-freedom parallel manipulator. The structure of the mechanism in the present invention is symmetrical, the force is uniform, the mass of the moving parts is small, and the dynamic performance is good. It can realize high-speed movement and meet complex pick-and-place operations. requirements. [0004] In order to solve the above-mentioned technical problems, the ...

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Problems solved by technology

[0002] At present, domestic research on parallel mechanisms with five degrees of freedom in space is still focused on mechanisms in the fields of machining, spraying, and measurement. However, there is still a lack of research on parallel mechanisms with five degrees of freedom in space that can achieve high-speed movement and are applied to materials.

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