High-speed parallel manipulator with six degrees of freedom
A technology of degrees of freedom and manipulators, applied in the field of robotics, can solve problems such as increasing the mass and inertia of moving parts, making it difficult to achieve high-speed movement, and affecting the dynamic performance of the mechanism, so as to reduce the quality of moving parts, compact structure, and reduce the complexity of the mechanism. Effect
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[0013] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0014] Such as figure 1 As shown, a high-speed six-degree-of-freedom parallel manipulator of the present invention includes a fixed frame 2, a moving platform 7, and six branch chains with the same structure arranged between the fixed frame 2 and the moving platform 7. On the fixed frame 2 Six driving devices 1 are installed, and each branch chain is composed of a near frame bar 3, an upper connecting shaft 4, two mutually parallel and equal long far frame bars 5a, 5b and a lower connecting shaft 6; in the six branch chains, all One end of the near-frame rod 3 is affixed to the output ends of the six driving devices 1 installed on the fixed frame 2 in one-to-one correspondence, and each driving device 1 provides a rotational degree of freedom for the near-frame rod 3 affixed thereto; In each branch chain, t...
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