Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation

Abstract

The invention discloses a parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation. The parallel mechanism comprises a fixing frame and a movable platform. Five drive devices are fixedly connected to the fixing frame. The movable platform comprises a central plate and a rocker vertically penetrating through the center of the central plate. The central plate is connected with the rocker through a hooke hinge in a rotating mode. Two ball head rods are fixed at the upper end of the rocker. Three first branch chains are connected between the fixing frame and the central plate. Two second branch chains are connected between the fixing frame and the two ball head rods. The central plate is driven by the three first branch chains to be in three-dimensional translational motion. The rocker is driven by the two second branch chains to be in two-dimensional rotation relative to the central plate through the hooke hinge. Consequently, the rocker is enabled to have not only three translational motion freedom degrees but also two rotation freedom degrees. The parallel mechanism is simple and compact in structure, exquisitely realizes five freedom degrees through the hooke hinge, reduces mechanism complexity, and can realize high-speed high-precision complex grab easily.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with five degrees of freedom in space. Background technique [0002] At present, domestic research on spatial six-degree-of-freedom parallel mechanisms is still focused on mechanisms for mechanical processing or measurement purposes, while there is less research on spatial six-degree-of-freedom parallel mechanisms that can achieve high-speed motion for material pick-and-place. [0003] There are a few spatial six-degree-of-freedom parallel mechanisms that can be applied to material pick-and-place in the world. Patent document US20110097184A1 discloses a parallel mechanism that can realize three-dimensional translation and three-dimensional rotation, including a fixed frame, a moving platform, a three-degree-of-freedom wrist, and three branch chains with the same structure symmetrically arranged between the fixed frame and the moving platform. ; The fixed frame is affixed wit...

AI Technical Summary

Problems solved by technology

The limitation of the above-mentioned mechanism is that the driving end of the three-degree-of-freedom wrist is fixed between the two remote frame rods, which increases the mass and inertia of the moving parts of the mechanism, affects the dynamic performance of the above-mentioned mechanism, and makes it difficult for the mechanism to achieve high-speed movement

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