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2PR and PRS spatial parallel robot mechanism

A robot and parallel technology, applied in the field of robotics, can solve the problems of high manufacturing cost, poor manufacturability, and complex structure

Inactive Publication Date: 2015-08-26
GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there are still some shortcomings in the existing parallel robot mechanism, such as poor manufacturability, complex structure, high manufacturing cost, etc.

Method used

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  • 2PR and PRS spatial parallel robot mechanism

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Embodiment Construction

[0022] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0023] In one embodiment, such as figure 1 As shown, a 2PR&PRS space parallel robot mechanism is composed of a moving platform 1, a fixed platform 9 and three branch chains connecting the above two platforms, the first branch chain and the second branch chain structure of the three branch chains are the same, the The two branch chains are composed of a rotating pair, a moving pair and the connecting rod between them from top to bottom, and the third branch chain of the three branch chains is composed of a ball pair, a rotating pair, and a cylinder from top to bottom. The pair and the connecting rod between them;

[0024] One end of the first connecting rod L1 of the first branch chain is connected to the moving platform 1 through the first rotating pair 5, and th...

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Abstract

The invention relates to a 2PR and PRS spatial parallel robot mechanism. The 2PR and PRS spatial parallel robot mechanism comprises a moving platform, a fixed platform and three branch chains for connecting the two platforms; the first branch chain and the second branch chain in the three branch chains are the same in structure, and each of the first branch chain and the second branch chain comprises a revolute pair, a sliding pair and a connecting rod therebetween from the top down; the third branch chain in the three branch chains comprises a ball pair, a revolute pair, a sliding pair and connecting rods among the ball pair, the revolute pair and the sliding pair. According to the 2PR and PRS spatial parallel robot mechanism, three mobile movement output can be realized, the mechanism is simple, the processing and the manufacturing are easy, and the kinematic model is simple and can enable kinematic calibration and control to be easy; meanwhile, the mechanism is less in joint, so that the structural rigidity is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a 2PR&PRS space parallel robot mechanism. Background technique [0002] Parallel Mechanism (PM for short) can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. . [0003] Parallel robots and traditional industrial serial robots have a philosophical relationship of opposites and unity. Compared with serial robots, parallel robots have the following characteristics: no cumulative error, high precision; the driving device can be placed on a fixed platform or close to the fixed platform. Position, so that the moving part is light in weight, high in speed, and good in dynamic response; compact in structure, high in rigidity, and large in carrying capacity; the completely symmetrical parallel mechanism has better isotropy;...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
Inventor 陈佰炜李军安蔡桂钧
Owner GUANGXI ZHITONG ENERGY SAVING ENVIRONMENTAL PROTECTION TECH
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