Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism

Abstract

A connecting branch structure for the parallel robot is composed of the sequentially connected multi-freedom hinge, parallelogram mechanism and moving set. A six-freedom parallel robot using said connecting branch structure consisting of movable platform, fixed platform and three said connecting branch structures. Its advantages are high flexibility and high rigidity.

Description

technical field [0001] The invention relates to an industrial robot mechanism, in particular to a connection branch structure in a parallel robot mechanism, and a six-degree-of-freedom parallel robot mechanism composed of a moving platform, a fixed platform and a connection branch structure. Background technique [0002] Among existing robots in service with robotized tasks, there are two types of mechanisms: series and parallel. The tandem type is an open chain in which the rods are connected sequentially through kinematic pairs. This type of robot has a large working space and high flexibility. The disadvantages are: ①The accuracy of the end piece is very low due to the accumulation of errors of each rod; ②Stiffness Low; ③ large inertia, poor dynamic performance. Therefore, the serial robot is not suitable for the operation occasions that require high positioning and force control precision. In order to avoid such shortcomings, the robot mechanism can be parallel. [000...

AI Technical Summary

Problems solved by technology

The tandem type is an open chain in which the rods are connected sequentially through kinematic pairs. This type of robot has a large working space and high flexibility. The disadvantages are: ①The accuracy of the end piece is very low due to the accumulation of errors of each rod; ②Stiffness Low; ③ large inertia, poor dynamic performance

Assume that the ball hinge can achieve a swing capability of ±45° around the swing center line α, but since the attitude of the center line α changes at any time with the movement of the moving pair, this greatly reduces the flexibility of the moving platform

For example, when the moving platform is to rotate at an angle of 15°, the figure 1 It can be seen that the rotation of the ball hinge has exceeded its predetermined swingable range of ±45°, that is, 54.2° > 45°, so it can be seen that the mechanism cannot make the movable platform realize the flexibility of ±15°

Flexibility plays a decisive role in industrial applications. Due to limited flexibility, it is difficult for many parallel mechanisms to be further widely used in industry.

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