Three-horizontal movement one-rotation parallel robot

Abstract

The invention provides a three-horizontal movement one-rotation parallel robot which comprises an output moving platform (1), a middle platform (2), a static platform (0), a ball pair parallelogram type branch chain I, a ball pair parallelogram type branch chain II, and two constraint-free S-S-R or S-S-P or S-P-S branch chains, wherein the ball pair parallelogram type branch chain I and the ball pair parallelogram type branch chain II are the same. The three-horizontal movement one-rotation parallel robot is characterized in that on the ball pair parallelogram type branch chain I or the ball pair parallelogram type branch chain II, one end of a drive rod (3) is connected with the static platform (0) through a first rotation pair (R11), the other end of the drive rod (3) is fixedly connected with a short edge rod at one end of a ball pair parallelogram composed of four ball pairs and four rods, and a short edge rod at the other end of the ball pair parallelogram is fixed to the middle platform (2); while on the branch chain I and the branch chain II, the axes of the two rotation pairs connected with the static platform (0) cannot be parallel to each other; the output moving platform (1) is connected with the static platform (0) through the two constraint-free S-S-R or S-S-P or S-P-S branch chains after being connected with the middle platform (2) through a second rotation pair (R0). The parallel robot has the advantages of being simple in structure, easy to manufacture, high in positioning accuracy and the like.

Description

technical field [0001] The invention relates to a parallel robot, which provides a novel three-translation-rotation parallel robot for robot operators. Background technique [0002] The manipulator with parallel structure has been applied in industry, especially the Delta manipulator, which realizes the three-translation function in space, has played a very good role in high-speed pick-and-place, positioning assembly, handling, sorting, loading and unloading and other processes; and The parallel manipulator with the functions of three translations and one rotation is even more indispensable when the attitude of the workpiece needs to be adjusted. For this reason, in 1988, on the basis of the three-translation Delta operator, R.Clavel connected a R-U-P-U-R branch chain or an S-P-S branch chain in series to form a hybrid operator with the function of three translation and one rotation; in 2003, Yang Tingli applied for a patent In 200310106012.4, a group of five three-translat...

AI Technical Summary

Problems solved by technology

However, compared with the Delta operator with three translations, on the one hand, these mechanisms are complex in structure and have not been well developed and applied. On the other hand, new structures and applications that realize the function of three translations and one rotation need to be developed

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