Belt-driven variable-drive kinematic chain and parallel robot with same

Abstract

The invention relates to a belt-driven variable-drive kinematic chain and parallel robot with the same. The kinematic chain comprises a supporting module, a driving module, a drive switching device, two-stage rods and a belt transmission system. The driving module comprises a servo motor, a center shaft and a motor cover, the drive switching device comprises an electromagnetic clutch and an electromagnetic brake, the two-stage rods are sequentially connected outwards from a driving end through a rotating pair, and the belt transmission system is connected with the driving module and a two-stage rod rotating joint. By switching of electrification states of the electromagnetic clutch or the electromagnetic brake, acting positions of a driving torque and a reaction torque are changed, configuration modes of driving and driven rods and the joint are changed, and three driving modes can be realized by a single kinematic chain. By introduction of the belt transmission system and the drive switching device to a traditional kinematic chain, mechanism mass distribution is slightly changed; by the kinematic chain, variable-drive parallel robots in various configurations can be formed, and mechanism performances are improved through drive variation under the condition that mechanism configuration and size are unchanged.

Description

technical field [0001] The invention relates to the fields of mechanics and parallel robots, in particular to a variable drive kinematic chain with belt transmission and a parallel robot with the kinematic chain. Background technique [0002] Parallel robots, as a complementary type of serial robots, are multi-closed-loop mechanisms based on multi-branch connections. After nearly 30 years of development, parallel robots have been widely researched and applied in fields such as motion simulators and high-speed sorting. Parallel robots have many potential advantages, the more prominent ones are the characteristics of high stiffness, high speed, high acceleration and high load-carrying capacity brought by its closed-loop structure. However, the multi-closed-loop mechanism also brings some disadvantages to the parallel robot, the most prominent of which is the small working space and complex singular problems inside the working space. The singular trajectory in the workspace d...

AI Technical Summary

Problems solved by technology

However, the multi-closed-loop mechanism also brings some shortcomings to the parallel robot, the most prominent of which is the small working space and complex singular problems inside the working space.

The singular trajectory in the workspace divides the workspace into several small areas. The parallel robot can only select one of the areas to work in actual work, and the utilization rate of the workspace is low.

In addition, the kinematic performance of the parallel robot drops sharply near the singular region, the stiffness is poor, and the terminal is even uncontrollable.

[0003] At present, there are two main methods to solve the above problems. One is to increase the area or volume of the non-singularity working space by changing the configuration and size of the mechanism, but this will increase the volume of the mechanism and decrease the dynamic performance.

Another method is to improve the performance of the mechanism by adding redundant drives to overcome the singularity in the workspace. However, adding redundant drives often requires adding additional kinematic chains and drive motors, which increases the cost of the system. In addition, redundant drives exist The problem of coordination and cooperation between the various drives makes the control complex and requires the introduction of complex force control algorithms

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