Three-degree-of-freedom motion decoupled parallel robot mechanism

A robot and degree of freedom technology, applied in the field of robotics, can solve the problems of incomplete decoupling of mechanism movement, difficult manufacturing and assembly, etc., and achieve the effect of simple manufacturing and installation, large working space and good transmission characteristics

Inactive Publication Date: 2013-05-01
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The structural performance and application occasions of these robot mechanisms are different, and some mechanisms are not completely decoup...

Method used

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  • Three-degree-of-freedom motion decoupled parallel robot mechanism

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Embodiment Construction

[0010] exist figure 1 In the schematic diagram of the decoupling parallel robot mechanism with three free moving motions shown, the cylindrical pair 2 in the first branch is fixedly connected with the fixed platform 1, and the cylindrical pair is connected with the revolving pair R1 4 through the connecting rod 3, and the revolving pair is connected through the connecting rod 3. Rod 5 is connected with rotating pair R2 6, and this rotating pair is connected with rotating pair R3 8 through connecting rod 7, and this rotating pair is connected with moving platform 9, wherein the axes of cylinder pair, rotating pair R1 and rotating pair R2 are parallel to each other, and The axis of revolving pair R3 is vertical. The revolving pair R4 16 in the second branch is connected with the fixed platform, the revolving pair is connected with another revolving pair R5 14 through the connecting rod 15, the revolving pair is connected with the moving pair P1 12 through the connecting rod 13, ...

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Abstract

The invention discloses a three-degree-of-freedom motion decoupled parallel robot mechanism, which comprises a fixed platform, a moving platform and three branches connecting the two platforms. The first branch consists of a cylinder pair, three rotating pairs and connecting rods thereof. The second branch consists of two rotating pairs, two moving pairs and connecting rods thereof. The third branch consists of a cylinder pair, two rotating pairs and connecting rods thereof. The mechanism is easy to manufacture and mount, low in cost, large in working space and high in transmission property, and can be widely used for numerical control machine tools, measurers, pick-up and placement, machining operation and the like, three motions of the moving platform are completely decoupled, the control is easy, and trajectories are easy to plan.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot. Background technique [0002] Since Gough introduced the parallel robot into the fatigue test for the first time and was used by Stewart in the flight simulator, more and more scholars have studied and discussed the parallel mechanism. Because the parallel mechanism has the advantages of small inertia, high load capacity, and high rigidity, it can be used in many fields, such as virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc. However, many occasions do not need to use the six-degree-of-freedom mechanism, so the parallel mechanism with less degrees of freedom, especially the three-degree-of-freedom parallel mechanism, is more and more widely used. Many scholars at home and abroad have conducted in-depth research on 3D mobile parallel mechanisms and achieved a series of results, such as Delta and Star mechanisms, which are widely ...

Claims

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Application Information

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IPC IPC(8): B25J9/08B23Q1/48
Inventor 曾达幸卢文娟张立杰
Owner YANSHAN UNIV
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