SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot

Abstract

Provided is an SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot. The robot comprises a base, a movable platform, an SPS type support chain, an RPR type support chain, two RPS type support chains of the identical structure, a connecting rod and two T type shafts. The middle of the connecting rod is rotationally connected with the middle of the base, the two ends of the connecting rod are rotationally connected with the lower ends of the two RPS type support chains, and the upper ends of the two RPS type support chains are connected with ball pairs of the movable platform. The SPS type support chain and the RPR type support chain are symmetrically arranged on the two sides of the connecting rod, the two ends of the SPS type support chain are connected with the base and another ball pair of the movable platform, and the two ends of the RPR type support chain are connected with the movable platform and a universal pair of the base through the two T type shafts. The movable platform has the four-freedom-degree kinetic characteristic, and four freedom degrees comprise three horizontal-moving freedom degrees and one freedom degree of rotation around the connecting rod. The SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot is simple in structure; the working space for the position and the gesture of the movable platform is large, flexibility is good, precision is high, bearing capacity is high, and control is easy.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a parallel robot. Background technique [0002] For the convenience of illustration, let S, U, P and R denote the ball joint, the universal joint, the moving joint and the rotating joint respectively. In the past 20 years, the four-degree-of-freedom parallel mechanism has been a hot spot and frontier in the field of robotics research at home and abroad. At present, some four-degree-of-freedom parallel mechanisms have been successfully used in the manufacture of parallel machine tools, medical equipment, micro-electromechanical equipment, multi-dimensional force parallel sensors, etc. The Chinese authorized invention patents related to the four-degree-of-freedom parallel robot mechanism found in recent years are as follows: the patent with the publication number CN100586666 discloses a four-degree-of-freedom parallel mechanism with three-dimensional movement and one rotation; the patent wit...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the above-mentioned four-DOF parallel mechanisms have their own characteristics. Among the existing three-shift-one-rotation parallel mechanisms, the rotation of the moving platform is basically the rotation around the base or the normal line of the moving platform. The follow-up platform twists around the base or the normal line of the moving platform

When the torsion angle is large, the moving branch chains are likely to interfere with each other, reducing the actual working space and reducing the stiffness of the parallel mechanism, thus obtaining limited mechanical benefits

The existing four-degree-of-freedom parallel mechanism motion platform has different translational motions in different directions, and the translational work space is limited

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