Five-degree-of-freedom precise series-parallel robot with mobile platform additional constraints

Abstract

The invention relates to a five-degree-of-freedom precise series-parallel robot with mobile platform additional constraints. The robot comprises a rotating platform, a base support, a mobile platform,a precise spherical hinge connection pair, a first series connection joint, a movement tail end, a base, a first rod, a second rod and a third rod, wherein the first rod and the second rod are the same in structure, and the two rods penetrate through a first hinge and are connected to the rotating platform; the third rod is connected to the base through a hinge and is located below the first rodand the second rod; and one end of the first rod and one end of the second rod are connected with the mobile platform through a second hinge, and one end of the third rod is connected with the mobileplatform through the precise spherical hinge connection pair. According to the five-degree-of-freedom precise series-parallel robot with the mobile platform additional constraints, due to the structural characteristic that the precise spherical hinge connection pair is connected between the third rod and the mobile platform, the mobile platform is subjected to the additional constraints, the motion space of the mobile platform is a plane perpendicular to the ground, the precision is relatively high, the overall structure is provided with fewer joints and parts, and machining, manufacturing andassembling are convenient.

Description

technical field [0001] The invention relates to a serial-parallel robot, in particular to a five-degree-of-freedom precision serial-parallel robot with additional constraints on a moving platform. Background technique [0002] As the product of the combination of parallel structure and modern numerical control technology, serial-parallel robot is a new type of manufacturing equipment that has appeared since the end of the last century. Compared with the traditional serial robot, the serial-parallel robot has the characteristics of large rigidity ratio, fast response speed, and suitable for complex surface processing, so it has a wide range of application prospects in the manufacturing field. The five-degree-of-freedom precision series-parallel robot with additional constraints on the moving platform combines the advantages of the series structure and the parallel structure. The series-parallel robot with class structure has a good application prospect. [0003] The existin...

AI Technical Summary

Problems solved by technology

Its shortcoming is that, because the three rods have the same structure, the rods do not produce redundant constraints on the positioning head, and the first hinge connecting the three rods to the fixed frame adopts a hinge connection with three degrees of freedom, and the rotation axes of the three hinges It must be strictly kept at one point, otherwise it will affect the motion accuracy of the positioning head

In addition, the number of structural joints and structural parts are large, the assembly is complicated, and the precision of manufacturing and assembly is high.

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