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Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation

A three-dimensional translation and three-dimensional rotation technology, applied in the field of robotics, can solve problems such as increasing the mass and inertia of moving parts, affecting the dynamic performance of the mechanism, and difficult to achieve high-speed motion, meeting the requirements of complex pick-and-place operations, reducing mass, Simple and compact structure

Inactive Publication Date: 2015-06-03
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation
  • Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation
  • Parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation

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Embodiment Construction

[0014] The present invention will be further described in detail below in combination with specific embodiments.

[0015] like figure 1 As shown, the present invention is a parallel mechanism that can realize three-dimensional translation and three-dimensional rotation, including a fixed frame 2 and a moving platform 9, and six driving devices 1 are fixedly connected to the fixed frame 2.

[0016] like figure 2 As shown, the moving platform 9 includes a center plate 10 and a rocker 15 vertically penetrating through the center of the center plate 10, and a Hooke hinge is used between the center plate 10 and the rocker 15 to connect, as figure 2 and image 3 As shown, the Hooke hinge includes a Hooke inner ring 11 and a Hooke outer ring 12, the Hooke inner ring 11 is rotatably connected to the Hooke outer ring 12, and the Hooke outer ring 12 is connected to the center plate 10 Rotationally connected, the upper and lower parts of the rocker 15 are respectively a first lead s...

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Abstract

The invention discloses a parallel mechanism capable of realizing three-dimensional translation and three-dimensional rotation. The parallel mechanism comprises a fixed frame and a movable platform, wherein the fixed frame is fixedly connected with six driving devices, the movable platform comprises a central plate and a rocking rod, the central plate and the rocking rod are rotatably connected by utilizing a hooke joint, and the upper part and the lower part of the rocking rod are respectively a first lead screw and a second lead screw with different rotation directions; three first branch chains are connected between the fixed frame and the central plate, and three second branch chains are connected with the fixed frame and three bulb rods; the rocking rod is driven by the three first branch chains to realize the three-dimensional translation, and the rocking rod is driven by the three second branch chains to realize two-dimensional rotation relative to the central plate by the hooke joint; the rocking rod realizes autorotation by the relative movement of a nut and a hooke inner ring; and therefore, the rocking rod has three translation degrees of freedom and also has three rotation degrees of freedom. The parallel mechanism capable of realizing the three-dimensional translation and the three-dimensional rotation, which is disclosed by the invention, has the advantages that the structure is simple and compact, six degrees of freedom by utilizing the hooke joint and a screw pair are smartly realized, the mechanism complexity is reduced and the high-speed, high-precision complex grabbing is easily realized.

Description

technical field [0001] The invention relates to a robot, in particular to a robot parallel mechanism with six 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 with...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 赵学满王攀峰
Owner TIANJIN UNIV
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