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Asymmetric space 5-degree of freedom series-parallel robot

A degree of freedom, asymmetric technology, applied in the field of robotics, can solve the problems of interference, a large number of moving components, and complex mechanisms, and achieve the effect of less number, less complexity, and less possibility of interference.

Active Publication Date: 2004-09-01
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the structure of this type of robot, there are passive sliding and/or rotating devices, not only the mechanism is complex, but a

Method used

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  • Asymmetric space 5-degree of freedom series-parallel robot
  • Asymmetric space 5-degree of freedom series-parallel robot
  • Asymmetric space 5-degree of freedom series-parallel robot

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] Such as figure 1 , figure 2 As shown, the asymmetric space 5-DOF hybrid robot of the present invention includes a fixed frame 5 , a first length adjustment device 4 , a second length adjustment device 2 , a third length adjustment device 3 , a moving platform 6 and a positioning head 7 . The upper part of the first length adjusting device 4 is arranged in the middle of the fixed frame 5 through the first hinge 41, and its end is rigidly connected with the moving platform 6; the second length adjusting device 2 and the second The upper part of the three-length adjusting device 3 is symmetrically arranged on both sides of an end face of the fixed frame 5 through the second hinge 21 and the third 31 respectively, and their ends are respectively connected with the described hinges 22 and 32 with three degrees of freedom of rotation. The moving p...

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Abstract

The invention discloses a nonsymmetrical 5-freedom combined robot, including fixing frame, three length regulators, moving platform and positioning head; the top of the first length regulator is set on the fixing frame through the hinge composed of two homocentric rings from inner to outer and the end of the first length regulator is rigidly linked with the moving platform; the tops of the second and third ones are set on two sides of one end surface of the fixing frame, symmetrically, through the hinges composed of two fork structures, respectively, and their ends are hinged with the moving platform; the positioning head is linked with the bottom of the moving platform. Its advantages: module design to realize plug and play (PnP); few moving components to reduce the possibility of interference between components during moving; the end executive component can realize 5-freedom motion, having performances of high speed, precision and rigidity and characters of large working space.

Description

technical field [0001] The invention relates to a robot, in particular to an asymmetric space hybrid robot. Background technique [0002] Known by patents GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525) and EP0674969 (or US6336375), the structure of an existing class of spatial hybrid robots with positioning heads includes at least three axially elongated Or a shortened adjustment device; one end of the adjustment device is fastened to the fixed frame through a hinge, so that it can rotate in various directions relative to the fixed frame, and the other end of the adjustment device is connected to the positioning head through a hinge; in this structure There is also an additional passive branch chain, and the additional passive branch chain is fixedly connected with the positioning head, and connected with the fixed frame through a hinge, so as to limit certain degrees of freedom of the positioning head. In the structure of this...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0266B25J9/0069
Inventor 黄田李曚李占贤张大卫赵学满
Owner TIANJIN UNIV
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