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Space 5 freedom degree parallel robot mechanism

A degree of freedom, robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of repair, platform prosthesis fixation, heavy body and other problems, and achieve the effect of low manufacturing cost, few mechanism joints, and simple structure

Inactive Publication Date: 2013-04-17
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main problems in traditional knee replacement are: ①fixation of platform prosthesis; ②infection and repair; ③large alignment error of patellofemoral and tibiofemoral joints, etc.
At present, a large part of surgical robots at home and abroad are transformed from industrial robots, and the body is too heavy to be used in the operating room. Therefore, it is necessary to develop a surgical robot with a compact structure and suitable for the operating room.

Method used

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  • Space 5 freedom degree parallel robot mechanism
  • Space 5 freedom degree parallel robot mechanism
  • Space 5 freedom degree parallel robot mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] As shown in the attached figure, the 5-DOF parallel robot mechanism in this space consists of the lower platform (VI), the upper platform (VII), five branch chains (Ⅰ, Ⅱ, Ⅲ, Ⅳ, Ⅴ) connecting the above two platforms, and the terminal execution. Device (Ⅷ) composition. It is characterized in that: the lower platform (Ⅵ) and the upper platform (Ⅶ) are circular; the five branch chains are evenly distributed along the circumferential direction and have the same length; The other four branches of the same type (Ⅱ, Ⅲ, Ⅳ, Ⅴ) have the same configuration; each branch includes three connected kinematic pairs and a driving motor (3); the end effector (Ⅷ) and Connected to the upper platform (Ⅶ).

Embodiment 2

[0022] see figure 1 , figure 2 with image 3 , this embodiment is basically the same as Embodiment 1, and the special features are as follows

[0023] The special-shaped branch chain (I) consists of a cross universal pair (1), a motor base (2), a driving motor (3), a motor fixing plate (4), and a moving pair (6) from bottom to top It is combined with a cross universal pair (Ⅰ-8), and the other four branches of the same type (II, III, IV, Ⅴ) with the same configuration are composed of a cross universal pair (1) and a motor from bottom to top. seat (2), a driving motor (3), a motor fixing plate (4), a moving pair (6) and a ball pair (Ⅱ-8); the 5 branch chain lower connecting rods (5) are ball wires rod, the upper connecting rod (7) is screwed to the lower connecting rod (5) to form a moving pair (6); the moving pair (6) is a driving pair, and the lower end of the lower connecting rod (5) is connected to the drive motor (3) The output shaft and the five moving pairs (6) have...

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Abstract

The invention relates to a space 5 freedom degree parallel robot mechanism and belongs to the technical field of robots and space mechanisms. The mechanism comprises a lower platform, an upper platform, five branch chains for connecting the upper platform with the lower platform and an end effector which is installed on the upper platform, wherein one of branch chains consists of a cross universal pair, a motor base, a drive motor, a moving pair and a cross universal pair, the cross universal pair, the motor base, the drive motor, the moving pair and the cross universal pair are arranged from bottom to top, structures of the other four branch chains are the same, each of the other four branch chains consists of a cross universal pair, a motor base, a drive motor, a motor fixing plate, a moving pair and a cross universal pair, and the cross universal pair, the motor base, the drive motor, the motor fixing plate, the moving pair and the cross universal pair are arranged from bottom to top. By the aid of the upper platform of the mechanism, the motion input of the three-dimension translation and the two-dimension translation of a Cartesian coordinate system can be achieved, and the mechanism has the advantages of being good in rigidity and high in accuracy.

Description

technical field [0001] The invention relates to a parallel robot, in particular to a space 5-degree-of-freedom parallel robot mechanism. Background technique [0002] The Stewart platform proposed by Stewart in 1965 is composed of upper and lower platforms and 6 driving rods. The driving rods can be independently expanded and retracted, and are respectively connected with the upper and lower platforms by ball chains. In this way, the upper platform has 6 degrees of freedom. With the continuous deepening of research on various parallel mechanisms, people will collectively refer to all mechanisms that connect the upper and lower platforms through two or more branch chains, the mechanism has two or more degrees of freedom, and the driving mode is parallel drive. is a parallel mechanism. Compared with the traditional serial mechanism, the parallel mechanism has the advantages of large load capacity, high rigidity, fast movement speed, high precision, and good dynamic performanc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 雷静桃曹元龙王峰
Owner SHANGHAI UNIV
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