Five degrees of freedom parallel robot

A technology of robot and degree of freedom, applied in the field of robotics, can solve problems such as insufficient rigidity and large working space, and achieve the effect of easy movement, large mechanism rigidity and easy control

Active Publication Date: 2021-11-16
ZHENGZHOU UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

The control of the series mechanism is simple and the working space is large, but its rigidity is insufficient, and the error is accumulated

Method used

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  • Five degrees of freedom parallel robot

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Embodiment Construction

[0013] Such as figure 1 As shown, a five-degree-of-freedom parallel robot includes a fixed platform 1 and a moving platform 2 . Two planar link mechanisms are arranged symmetrically on both sides of the fixed platform 1 , the output end 3 of the planar link mechanism is hinged to the spherical rod 4 , and the other end of the spherical rod 4 is hinged to the movable platform 2 . An intermediate driving mechanism is arranged in the middle of the fixed platform 1, and the two ends of the intermediate driving mechanism are respectively hinged with the fixed platform 1 and the moving platform 2. The two planar linkage mechanisms are arranged in parallel; the middle drive mechanism is arranged on the symmetrical center plane. In this way, the output ends of the two planar linkage mechanisms have the same movement structure, the mechanism has a large rigidity, a simple structure, and the movement is easy to realize. The output end of the planar linkage mechanism has 3 degrees of f...

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Abstract

The purpose of the present invention is to provide a five-degree-of-freedom parallel robot that can process complex curved surfaces, has a symmetrical structure, and has high rigidity, including a fixed platform and a moving platform. Two planar linkage mechanisms are arranged symmetrically on both sides of the fixed platform. The output end of the planar linkage mechanism is hinged to the spherical rod, and the other end of the spherical rod is hinged to the moving platform; The moving platform is hinged. The output ends of the two planar linkage mechanisms have the same motion structure, high rigidity, simple structure, good interchangeability, easy control, and easy realization of motion. Different planar linkages can be adapted to different working occasions. The parallel mechanism has high movement speed and high precision. The robot of the present application can be used to process complex curved surfaces such as eddy currents, and perform welding, curved surface detection, glue coating, laser processing and other work.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a five-degree-of-freedom parallel robot. Background technique [0002] In the field of modern machinery manufacturing, the structural design and processing technology of parts are becoming more and more complex, and parts with complex space surfaces have been widely used in many important fields, such as aircraft, cars, turbine blades, etc. Machine tools with at least five degrees of freedom are required for processing, testing, gluing, and welding such parts. [0003] At present, common robot mechanisms are divided into two types: series and parallel. The series mechanism is easy to control and has a large working space, but its rigidity is insufficient, and the error is accumulated. The parallel mechanism has high rigidity, no error accumulation, high precision and good dynamic performance. The moving platform has 3 rotations, 3 movements and 6 degrees of freedom. For machine tool app...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0072
Inventor 高建设陶征苏宇锋王保糖饶晓波
Owner ZHENGZHOU UNIV
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