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Multi-motion-mode parallel robot mechanism involving motion bifurcation closed chain

A multi-motion mode and motion bifurcation technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of less configuration

Active Publication Date: 2020-08-11
SHANGHAI UNIV OF ENG SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there are still few configurations of such multi-motion mode parallel mechanisms at present.

Method used

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  • Multi-motion-mode parallel robot mechanism involving motion bifurcation closed chain
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  • Multi-motion-mode parallel robot mechanism involving motion bifurcation closed chain

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[0039] The present invention will be further described below in combination with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0040] A multi-movement mode parallel robot mechanism with closed chain of motion bifurcation in the present invention is as follows: Figure 5As shown, it is composed of the moving platform 7, the fixed platform 0, and three same mixed branch chains connecting the moving platform and the fixed platform, which contain motion bifurcated closed chains; the three hybrid branch chains containing motion bifurcated closed chai...

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Abstract

The invention relates to a multi-motion-mode parallel robot mechanism involving a motion bifurcation closed chain. The multi-motion-mode parallel robot mechanism involving the motion bifurcation closed chain can realize four-degree-of-freedom spatial motions and solves the problems of single degree of freedom and fixed motion mode of a traditional parallel mechanism, and can be used as motion executing mechanisms of a variable-freedom-degree extensible mechanism, multi-axis linkage multi-face machining equipment and a multi-gait flexible moving device. The mechanism is composed of a movable platform (7), a fixed platform (0) and three series-parallel branched chains, namely the series-parallel branched chain I (I), the series-parallel branched chain II (II) and the series-parallel branchedchain III (III), the three series-parallel branched chains are used for connecting the movable platform (7) and the fixed platform (0), and are the same and are symmetrically placed. According to themulti-motion-mode parallel robot mechanism, the motion bifurcation closed chain is connected in series with a moving pair I (P15), a rotating pair III (R16), a rotating pair IV (R17) and a rotating pair V (R18) to obtain the series-parallel branched chains; by controlling the motion bifurcation closed chain to enter different single-degree-of-freedom motions, the parallel robot mechanism can havefour-degree-of-freedom motion modes of two-rotation three-movement, two-rotation two-movement, two-rotation one-movement and three-rotation one-movement.

Description

technical field [0001] The invention belongs to the technical field of parallel mechanisms, and relates to a multi-motion mode parallel robot mechanism with a closed chain of motion bifurcations. Background technique [0002] The early traditional parallel robot mechanism has the characteristics of high precision and good bearing capacity, and is widely used in engineering fields, medical robots and other fields. But because the degree of freedom of the mechanism itself is fixed and the movement mode is single, its configuration cannot be changed to adapt to different working environments. [0003] In recent years, with the continuous deepening of robot applications, robot mechanics is no longer satisfied with a single degree of freedom and a single motion mode. It requires the mechanism to have strong adaptability. Faced with different working environments, it can be adjusted by changing its own configuration. Complete different tasks, with good adaptability and variable s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0036
Inventor 王艳许勇董飞宋伟张强强赵传森
Owner SHANGHAI UNIV OF ENG SCI
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