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A Three-Rotation-DOF Space Decoupling Mechanism for Virtual-Axis Machine Tools and Robots

A robot and three-rotation technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficult control, incomplete decoupling, and complex structures

Active Publication Date: 2021-09-10
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a three-rotational degree of freedom space decoupling mechanism for virtual-axis machine tools and robots in order to overcome the above-mentioned defects in the prior art. By designing a space decoupling mechanism with three rotational degrees of freedom, It solves the problem that the existing space decoupling mechanism cannot be completely decoupled, the structure is complex and the control is difficult, making the movement control of the mechanism simpler and the positive and negative solutions easier

Method used

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  • A Three-Rotation-DOF Space Decoupling Mechanism for Virtual-Axis Machine Tools and Robots

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Embodiment 1

[0028] A three-rotation-degree-of-freedom space decoupling mechanism for virtual-axis machine tools and robots, the structure of which is as follows figure 1 As shown, it includes a static platform 5, a dynamic platform 6, and a first kinematic branch chain II 1ab, a second kinematic branch chain II 2ab, and a third kinematic branch chain III 3ab connected between the static platform 5 and the dynamic platform 6.

[0029] The first motion branch chain I 1ab is mainly composed of the first rotation pair I 1a-1, the second rotation pair I 1a-2, the third rotation pair I1a-3, the fourth rotation pair I 1a-4, and the first connecting rod I 1b -1. The second connecting rod I 1b-2 and the third connecting rod I 1b-3 are composed, and the driving pair is the second rotating pair I 1a-2. The second kinematic branch chain II 2ab is mainly composed of the first rotating pair II 2a-1, the second rotating pair II 2a-2, the third rotating pair II 2a-3, the first connecting rod II 2b-1, the...

Embodiment 2

[0035] The specific application of the three-rotational degrees of freedom space decoupling mechanism for virtual axis machine tools and robots: the three drive pairs are driven separately, and each drive only controls one rotational degree of freedom of the braking platform, which can realize the complete decoupling of the three rotational degrees of freedom . The first connecting rod I 1b-1 and the first connecting rod II 2b-1 are connected to the static platform 5 through the first rotating pair I 1a-1 and the first rotating pair II2a-1 respectively, and the first rotating pair I 1a-1 There are four rotating pairs whose axes are parallel to each other between the first rotating pair II 2a-1, which are the second rotating pair I 1a-2, the third rotating pair I 1a-3, the fourth rotating pair I 1a-4 and The second rotary pair II 2a-2, and the axes of the first rotary pair I 1a-1 and the second rotary pair II 2a-2 are collinear and perpendicular to the axes of the four parallel...

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Abstract

The invention relates to a three-rotation-freedom space decoupling mechanism for virtual-axis machine tools and robots, comprising a static platform (5), a moving platform (6), and a connection between the static platform (5) and the moving platform (6) The first movement branch I (1ab), the second movement branch II (2ab), the third movement branch III (3ab), the first link I (1b- 1) one end is connected with the static platform (5) through the first rotating pair I (1a-1), and a surface of the sixth connecting rod III (3b-6) in the third moving branch III (3ab) is connected to the static platform (5). One surface of the moving platform (6) is fixedly connected. Compared with the prior art, the present invention is simple in structure and easy to control, can realize motion decoupling with three rotational degrees of freedom, is easy to calibrate, and has a good linear relationship.

Description

technical field [0001] The invention belongs to the technical field of machine tools and robots, and in particular relates to a three-rotation-degree-of-freedom space decoupling mechanism for virtual-axis machine tools and robots. Background technique [0002] In the motion control process of the robot manipulator arm, it is usually required that the end takes the least time from the initial state to the target pose in order to improve the execution efficiency of the robot. In the process, each degree of freedom has the problem of rotation sequence when reaching the target. Therefore, in actual control, other joints of the robot are often locked and one joint is moved or rotated in turn. This working method is obviously inefficient and uneconomical. . [0003] The motion decoupling parallel robot means that any degree of freedom of the output motion depends only on a single drive unit, and other drive units will not affect this degree of freedom. Therefore, the fully decou...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
Inventor 张帆蒋家鹏崔国华张丹孙晶潘睿俊郑民华
Owner SHANGHAI UNIV OF ENG SCI
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